The duration of a unit test had to be increased because the incorrect
covariance matrix update, was making the unit test passing faster
(over-optimistic variance).
When a state stops to be estimated it becomes a "consider state". Its value and variance are frozen but its covariance with other states continue to evolve normally.
- removes conservative accel bias variance limiting
- force symmetry is skipped after fusion of NED vel/pos (a direct measurement)
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Co-authored-by: bresch <brescianimathieu@gmail.com>
- split mag_3d into new standalone mag fusion and mag fusion allowed to update all states (full mag_3d)
- new dedicated control logic for mag/mag_3d fusion and standalone mag heading fusion
- if WMM available use for mag_I and mag_B init
- mag states reset if external yaw reset (yaw estimator, GPS yaw, etc)
- mag reset if declination changed (eliminate _mag_yaw_reset_req)
- mag fusion (but not mag_hdg or mag_3d) can be active during gps_yaw or ev_yaw (if yaw aligned north)
Co-authored-by: bresch <brescianimathieu@gmail.com>
* ekf2-test: remove outdated codegen comparison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>
- move vehicle at reset detection ekf2 -> land_detector
- ekf_unit: reduce init period
- Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough.
- ekf_unit: reduce minimum vel/pos variance required after init
- Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly.
Co-authored-by:: bresch <brescianimathieu@gmail.com>
bresch