fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 03:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity
43,506 Commits 852 Branches 161 Tags
9d9766c6cf0b10f6a634dc411dd9f9b412ab3aed
Commit Graph
1146 Commits
Author SHA1 Message Date
bresch 9d9766c6cf ekf2: use Joseph stabilized covariance update 2024-02-26 12:32:59 -05:00
bresch 37a40d3fc2 baro static pressure compensation tuning: remove dependency to baro bias 
`estimator_baro_bias` requires to have GNSS and baro hgt active and GNSS as the reference. This is quite restrictive. Instead, we can simply use a high-passed version of the baro error.
 2024-02-23 10:07:13 +01:00
Daniel Agar 506c60c471 ekf2: declination fusion don't use uninitialized parameter (EKF2_MAG_DECL) 2024-02-21 09:45:44 -05:00
Daniel Agar 8243b4f474 ekf2: move vel/pos reset helpers 2024-02-20 13:16:24 -05:00
Daniel Agar 22b957696d ekf2: velocity/position fusion helper minor consistency cleanup 2024-02-20 13:16:24 -05:00
Daniel Agar c338891677 ekf2: split vel_pos_fusion.cpp 2024-02-20 13:16:24 -05:00
Daniel Agar c4c41c49e5 ekf2: move fuseVelPosHeight() -> fuseDirectStateMeasurement() 
- don't bother keeping bad_vel_{N,E,D} and bad_pos_{N,E,D} fault status bits
 2024-02-20 13:16:24 -05:00
Daniel Agar 021dd0d0af ekf2: fix EV height bias predict call 
- needs to be called every iteration
 2024-02-20 11:47:53 -05:00
bresch c221da27a7 ekf2: set attitude validity flag using centralized function 2024-02-20 11:33:30 -05:00
Daniel Agar 1032dd3470 ekf: fix measurementUpdate comment typo 2024-02-19 09:41:49 +01:00
Daniel Agar 8dc3975456 ekf2: only populate gnss pos aid src status if ref initialized 
- this is a minor logging improvement when plotting the position from the beginning of the log (often a replay session)
 2024-02-15 13:13:10 -05:00
muramura f636414ca7 tuning_tools: Change 1G to a more accurate value 2024-02-09 10:26:57 -05:00
bresch 17d55dddd6 ekf2-drag: do not generate Kalman gain to save flash 2024-02-06 12:16:33 +01:00
bresch 1efb08375a ekf2: let drag fusion affect the complete state vector 
This improves tilt estimation and can extend the inertial dead-reckoning
validity period
 2024-02-06 12:16:33 +01:00
bresch 9c02e384e6 ekf2-agp: follow measurement reset 2024-01-30 11:23:55 -05:00
bresch 5d9081b0dd ekf2-agp: ensure logging of AGP aid_src topic 2024-01-30 11:23:55 -05:00
bresch 4268759d4a ekf2-agp: reset to measurement on fusion timeout 2024-01-30 11:23:55 -05:00
bresch 80f20e619c ekf2: zvup sequential fusion 2024-01-29 12:12:37 -05:00
Daniel AgarandPX4 BuildBot 1d70e32551 Update world_magnetic_model to latest Wed Jan 24 11:14:20 UTC 2024 
Co-authored-by: PX4 BuildBot <bot@px4.io>
 2024-01-26 09:08:51 -05:00
Daniel Agar 4e0967889c ekf2: add verbose print status (moved out of DEBUG_BUILD) 2024-01-24 21:49:26 -05:00
Daniel Agarandbresch 51155f7a29 ekf2: treat inhibited states as "consider states" and remove conservative covariance matrix fixes (#22597) 
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)

---------

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2024-01-24 14:14:09 -05:00
Mathieu Brescianiandbresch cb396a6339 ekf2: fix computation of tilt and yaw variances add them to logging 
Co-authored-by: bresch <bresch@users.noreply.github.com>
 2024-01-24 12:14:15 -05:00
bresch da28d9a7f2 ekf2-grav: rename g-force unit to g0 to avoid confusion with grams 2024-01-24 13:26:25 +01:00
Daniel Agar bf7da6430d ekf2: consolidate LPOS & GPOS accuracy methods 2024-01-22 12:34:08 -05:00
bresch 7c7a3c117a ekf2-gravity: nomalize gravity fusion and proper sequential fusion 2024-01-18 20:39:16 -05:00
bresch d624fbba07 ekf2-grav: lower gate to reject real acceleration more effectively 2024-01-18 20:39:16 -05:00
bresch c28972d15e ekf2-grav: only use filtered accel norm to start/stop the fusion 
Using the raw data makes the swith too sensitive to noise
 2024-01-18 20:39:16 -05:00
Daniel Agarandbresch ed0d26de8a ekf2: improve attitude estimation without horizontal aiding 
- fake_pos only if at rest or tilt variances becomes large
 - fake pos: don't run when grav fusion is enabled
 - gravity fusion enabled by default
 - gravity: only fuse when accel norm and lpf norm are consistent

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2024-01-17 10:27:25 -05:00
Daniel Agar 64f28c4c07 ekf2: delete unused gps error norm field 2024-01-12 10:14:32 -05:00
Daniel Agar 8a031677d5 ekf2: verbose debug print status include state variances 2024-01-11 11:53:20 -05:00
Daniel Agar 4cb293020a ekf2: remove sensor sample uORB::Subscription missed perf counters 
- these served their purpose, but are no longer useful
 - still worth keeping the IMU subscription missed perf count to catch any scheduling issues
 2024-01-11 11:52:29 -05:00
Daniel Agar 8bcba6128a ekf2: fix resetGlobalPosToExternalObservation whitespace 2024-01-11 10:59:56 -05:00
Roman Bapst 603c3f6636 added support to reset vehicle position based on external position (#22444) 
via command MAV_CMD_EXTERNAL_POSITION_ESTIMATE

Signed-off-by: RomanBapst <bapstroman@gmail.com>
 2024-01-11 13:09:22 +01:00
Daniel Agarandbresch d45c3d3407 ekf2: verbose (DEBUG_BUILD) print status with Matrix improved print 
* ekf2: verbose print status
 * matrix/Matrix improve print output
 * bold diagonal elements, print ring buffer entry size
 * print in scientific notation when >= 10 to respect max size

---------

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2024-01-10 09:46:04 -05:00
MaEtUgR 74549e29a5 [AUTO COMMIT] update change indication 2023-12-21 11:42:08 +01:00
bresch 36eb319834 ekf2-yaw_est: split imu and velocity updates 2023-12-18 18:11:20 +01:00
bresch bba30663cc update change indicator 
Caused by the GNSS checks being performed at the delayed-time horizon
 2023-12-18 18:11:20 +01:00
bresch a653073d4f ekf2: perform GNSS checks at delayed-time horizon 
- never fuse a measurement that is not passing the checks
- cleanup and simplify GNSS vel/pos control logic
 2023-12-18 18:11:20 +01:00
bresch 5ca22df55c ekf2-pos bias estimator: use enum 2023-12-05 11:22:59 -05:00
bresch a3515a2474 ekf2: scope HeightSensor enum 2023-12-05 11:22:59 -05:00
bresch 6bd1145006 ekf2: scope RngCtrl enum 2023-12-05 11:22:59 -05:00
bresch 1df52df27d ekf2: scope GnssCtrl enum 2023-12-05 11:22:59 -05:00
bresch 97423136d1 ekf2-AGP: scope control enum 2023-12-05 11:22:59 -05:00
Matthias Grob 4c0b6dbe86 Remove trailing whitespaces and trailing duplicate newlines 2023-12-01 13:11:00 -05:00
breschandDaniel Agar fe7988672f ekf2: auxiliary position fusion 
Co-authored-by: Daniel Agar <daniel@agar.ca>
 2023-12-01 11:50:22 +01:00
Matthias Grob 7b4712cb29 sensor_simulator: initialize VelocitySmoothing with desired limits 2023-11-30 17:16:02 +01:00
Daniel AgarandPX4 BuildBot a9213e3862 Update world_magnetic_model to latest Tue Nov 28 11:14:14 UTC 2023 
Co-authored-by: PX4 BuildBot <bot@px4.io>
 2023-11-28 11:04:02 -05:00
bresch 6320ca64a9 ekf2-terr: allow range fusion before takeoff 2023-11-21 21:56:34 -05:00
bresch 0f3378e194 ekf2: fix terrain range finder logging 2023-11-21 21:56:34 -05:00
bresch 1c3a1183c8 ekf2-flow: refactor control logic 
Use flow rates instead of integrals in backend. This allows us to delay
the data to the mitpoint integration time and simplifies the code in
general.
Gyro compensation can still be done in EKF2 if needed, but the
flow module normally already appends the correct gyro data to the flow
message.
 2023-11-21 21:56:34 -05:00