bresch
8873e92c7c
ekf: force fallback to baro if GPS is stopped while in GPS height mode
...
Otherwise, no height aiding source is used
2021-10-26 10:05:28 +02:00
mcsauder
21163d859e
Whitespace cleanup.
2021-10-19 13:29:26 -04:00
Daniel Agar
4cf8eb8226
ekf2: EKF vehicle_at_rest always require some rotation in addition to vibration metrics
2021-10-18 21:39:40 -04:00
Daniel Agar
56823b5ac9
ekf2: EKF control don't allow invalid flow gyro to propagate
2021-10-14 16:31:22 -04:00
Mathieu Bresciani
56b0c46444
ekf2: improve optical flow angular rate compensation
2021-10-12 13:17:29 -04:00
Daniel Agar
ddd1dea4f0
ekf2: avoid uint64 timestamp conversion to float
2021-10-06 09:27:06 -04:00
Paul Riseborough
ed7c5991eb
ekf2: Fix dimensional error in gyro and accel bias variance conversions
2021-09-29 09:58:41 -04:00
Daniel Agar
fb4ac0f08c
ekf2: remove redundant IMU vibration metrics
...
- consume IMU vibration metrics from vehicle_imu_status
2021-08-08 06:26:03 -07:00
bresch
01d0b8800e
commander: report GNSS yaw fault to user
2021-08-05 11:10:02 +02:00
bresch
11cd51c132
EKF: allow emergency reset in GNSS yaw and EV yaw aiding modes
2021-08-05 11:10:02 +02:00
bresch
4ebfbc6eab
GNSS yaw: use NIS sequence to detect bias in state
...
A constant large value in the (signed) normalized innovation test ratio is a sign
of bias in the state estimate. This metric can be used to trigger a
covariance boost or reset
2021-08-05 11:10:02 +02:00
bresch
30c7a596af
GNSS yaw: allow unlimited resets on ground
2021-08-05 11:10:02 +02:00
bresch
e90e1c7e2a
GNSS yaw: use dedicated observation noise
2021-08-05 11:10:02 +02:00
Daniel Agar
93aa6e3f78
ekf2: baro bias publish minor cleanup
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- naming consistency (estimator prefix as "namespace")
- only publish if baro is available and bias is changing as a small logging optimization
- avoid unnecessary copying (get const reference to status directly)
- trivial code style fixes
2021-08-02 13:59:38 -04:00
bresch
521b9f5dcc
control: do not constantly ask for mag reset if yaw not aligned
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This also prevents triggering the `_mag_yaw_reset_req` flag in magless
mode; preventing the GNSS fustion from starting.
2021-07-27 13:34:53 +02:00
Mathieu Bresciani and Daniel Agar
17ebcd2456
mag_control: fuse fake heading during leveling fine alignment ( #17964 )
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Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-07-27 11:50:50 +02:00
bresch
54c7e74de3
EKF: add baro bias estimator using GNSS altitude
2021-07-19 16:53:45 -04:00
mcsauder
f34862f143
Delete redundant Ekf class member variable constructor initilizations and add missing C++ style initializers to the header file.
2021-07-17 12:24:56 -04:00
Daniel Agar
c8e6d93cc0
ekf2: backend apply code style (generated code still exempt)
2021-07-15 21:15:41 -04:00
Daniel Agar
2cf66a5d8f
ekf2: move EKF out of ecl
2021-07-15 10:38:24 -04:00
bresch