* ekf2-test: remove outdated codegen comparison
The definition of states changed so the comparison with the old
derivation cannot work anymore.
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Co-authored-by: bresch <brescianimathieu@gmail.com>
This can be useful if using a full EV + GNSS setup and you start indoors, then fly outside. Once GPS is good and the only missing requirement is yaw alignment the yaw estimator reset is performed and EV yaw will automatically stop itself.
- set vision attitude error filter uninitialized if vision data stops
- ev error filter is only compiled when ev config is selected
Co-authored-by: bresch <brescianimathieu@gmail.com>
When at rest, directly fuse the gyro data as an observation of its bias.
This allows to strongly observe the gyro biases without having to fuse a
constant heading that makes the ekf too confident about its heading.
- pass new airspeed sample around when available
- can't completely eliminate _airspeed_sample_delayed until resetWind()
called from sideslip fusion is updated
- EKF isTimedOut(), isRecent(), and isNewestSampleRecent() need to handle the case where the timestamp has never been set
- reset() more thoroughly reset fields (mainly impacts unit tests)
- refactor all EKF backend output predictor pieces into new OutputPredictor class
- output states are now calculated immediately with new high rate IMU rather than after EKF update
- IMU delayed sample is passed as around as control data to avoid storing an extra copy and make the requirement clear
- move EV yaw and EV position to new state machines
- EV yaw and EV pos now configured via EKF2_EV_CTRL (migrated from EKF2_AID_MASK)
- new EV position offset estimator to enable EV position while GPS position is active (no more EV pos delta fusion)
- yaw_align now strictly means north (no more rotate external vision aid mask)
- automatic switching between EV yaw, and yaw align north based on GPS quality
- respect new EKF2_EV_CTRL parameter for VPOS usage
- EV hgt rotate EV position before usage (there's often a small offset in frames)
- EV hgt reset use proper EV velocity body frame
- try to keep EV hgt and EV vel state machines consistent
- small incremental piece of https://github.com/PX4/PX4-Autopilot/pull/19128
During the whole flight, if the difference between the yaw estimate from
EKF2 and the emergency estimator is large and that the GNSS velocity
fusion is failing continuously, immediately reset to the emergency yaw
estimate.
- working towards keeping all height source (baro/ev/gnss/rng) handling as consistent as possible, possibly refactoring these out into separate classes later
- for accel/gyro/mag estimated bias only consider them stable (valid
for calibration updates) if the value isn't changing (10% of limit) over
the validity period
- a growing number of samples come into the backend with the time
already delayed (sensor's interrupt setting timestamp sample)
- if the incoming timestamp is already delayed then the new data checks
(relative to latest IMU) can be slightly wrong
- handle almost all timestamps and checks on delayed time horizon,
except for explicit checks of new samples
- isRecent() and isTimedOut() helpers use delayed time
- add new isNewestSampleRecent() used for checking the incoming
timestamp of the incoming (adjusted) data
Daniel Agar