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Author SHA1 Message Date
Daniel Agar fd72578e98 ekf2: avoid constraining parameters every iteration 2024-07-25 09:51:35 +02:00
Daniel Agar 9ff6c4bf28 remove newlines 2024-07-19 18:25:43 -04:00
Daniel Agar 85de0ff227 boards: move ARK fmu-v6x/pi6x to dedicated RC drivers 2024-07-19 15:42:05 -04:00
Daniel Agar 3a3f04c0f4 drivers/rc: new standalone ghst_rc driver 
- extracted from monolithic drivers/rc_input which will eventually be
   dropped once all drivers migrated and boards updated
 2024-07-19 15:42:05 -04:00
Daniel Agar 7a6c4f0bfa drivers/rc: new standalone sbus_rc driver 
- extracted from monolithic drivers/rc_input which will eventually be
   dropped once all drivers migrated and boards updated
 2024-07-19 15:42:05 -04:00
Daniel Agar 561dceea7b drivers/rc: new standalone dsm_rc driver 
- extracted from monolithic drivers/rc_input which will eventually be
   dropped once all drivers migrated and boards updated
 2024-07-19 15:42:05 -04:00
Daniel Agar ca9948a84d msgs/EstimatorStatus.msg rename mag_test_ratio -> hdg_test_ratio 
- this is used for more than just mag
 2024-07-18 16:39:18 +02:00
Daniel Agar eac14b7db2 ekf2/commander: simplify navigation filter preflight checks 
- remove commander test ratio "tuning knobs" (COM_ARM_EKF_{HGT,POS,VEL,YAW})
   - these are effectively redundant with the actual tuning (noise & gate)
     in the estimator, plus most users have no idea why they'd be
     adjusting these other than to silence an annoying preflight complaint
 - remove ekf2 "PreFlightChecker" with hard coded innovation limits
 - ekf2 preflight innovation flags are now simply if any active source
   exceeds half the limit preflight
 2024-07-18 16:39:18 +02:00
Daniel Agar f8f8ddc101 ekf2: optical flow update last hor vel timestamp on success 2024-07-17 14:46:48 -04:00
Daniel Agar 691fdf713c ekf2: airspeed update last hor vel timestamp if successfully updating all states 2024-07-17 14:46:48 -04:00
Daniel Agar 57c1ba545f ekf2: fake_hgt don't use fuseVerticalPosition helper 
- fake_hgt shouldn't update _time_last_hgt_fuse
 2024-07-17 14:46:48 -04:00
Daniel Agar 6fe0fa6d63 ekf2: fake_pos don't use fuseHorizontalPosition helper 
- fake_pos shouldn't update _time_last_hor_pos_fuse
 2024-07-17 14:46:48 -04:00
Daniel Agar c5c27a87f1 ekf2: track last terrain fuse time and update logic 2024-07-17 10:16:32 -04:00
Daniel Agar f832ae688d ekf2: require valid filter vz for GPS vspeed check 2024-07-16 10:15:19 -04:00
Daniel Agar 397ff4a102 ekf2: sideslip symforce increase epsilon to avoid 1/e^2 numerical issues 2024-07-16 11:10:58 +02:00
Daniel Agar 13b62a74d6 ekf2: optical flow adjust jacobian epsilon to avoid numerical issues 
- in the generated code there's a 1 / eps^2 term if the height and
   terrain estimates are the same
 2024-07-16 11:10:58 +02:00
Daniel Agar 48f1687d3a ekf2: cleanup legacy EKF solution_status_flags 2024-07-16 10:11:27 +02:00
Daniel AgarandMathieu Bresciani 1cd7d54170 ekf2: consolidate GNSS yaw in gnss_yaw_control.cpp and fix naming (GPS->GNSS) 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2024-07-15 12:50:51 -04:00
Daniel Agar 8e5f28f834 ekf2: rng only reset vz as a last resort 2024-07-15 11:39:56 -04:00
Daniel Agar 80ee622f77 ekf2: baro only reset vz as a last resort 2024-07-15 11:39:56 -04:00
Daniel Agar 40349fa3dc ekf2: EV velocity control should own vertical velocity reset if height failing 2024-07-15 11:39:56 -04:00
Daniel Agar 177613eb68 ekf2: GNSS velocity control should own vertical velocity reset if height faiing 
- GNSS height control using the velocity sample directly is ignoring
   potential position offsets
 2024-07-15 11:39:56 -04:00
Daniel Agar e03aef616c ekf2: add terrain/dist_bottom reset deltas (vehicle_local_position/vehicle_global_position) 2024-07-15 10:25:42 -04:00
Daniel Agar a5a67315fd ekf2: optical flow magnitude check compensated 
- additionally don't use flow for reset if magnitude isn't acceptable
 2024-07-15 09:46:59 -04:00
Daniel Agar dc5f8118b0 ekf2: range finder cleanup duplicate logic 2024-07-15 11:37:36 +02:00
Daniel Agar 9124a7b471 ekf2: add IMU delta_ang_dt/delta_vel_dt safety constrain before pushing into buffer 2024-07-10 21:20:47 -04:00
Daniel Agar ac77049c47 ekf2: directly use IMU sample to find corresponding aid source sample 
- I think this helps make it clear we're using a sensor sample
   corresponding with a particular IMU sample
 2024-07-10 21:20:47 -04:00
Daniel Agar f93dc61770 ekf2: use bias corrected angular velocity 
- avoid unnecessarily storing _ang_rate_delayed_raw
 2024-07-10 21:20:47 -04:00
Daniel Agar 75bb339d94 ekf2: remove warning events logging 
- some of these warning flags aren't even being used, and most of the rest we can figure out from other sources
 2024-07-10 10:43:55 -04:00
Daniel Agar c29b4ff87e ekf2: apply astyle formatting and enforce 2024-07-10 10:43:55 -04:00
Daniel Agar 223397c20e ekf2: always add accel/gyro bias process noise 
- continue adding accel/gyro bias process noise even if inhibited
 2024-07-10 11:49:01 +02:00
Daniel Agar 62ff39a669 ekf2: EV vel (body) update last fuse timestamps 
- these are set by the NED fuseVelocity() helper so also need to be set in the body frame velocity case
 2024-07-09 10:16:12 -04:00
Daniel Agar 5d08b97fd7 ekf2: add vehicle_local_position dist_bottom_var 2024-07-09 10:10:01 -04:00
Daniel Agar 3e3b886b5d ekf2: add terrain estimator_status_flags 2024-07-09 10:10:01 -04:00
Daniel Agar 64a6971bdb ekf2: only limit opt flow HAGL if range only terrain 
- increase HALG limit from 75%->90% of sensor max
 2024-07-09 10:10:01 -04:00
Daniel Agar c56f84fe8a ekf2: range, check if terrain valid for reset on fusion timeout 2024-07-09 10:10:01 -04:00
Daniel Agar e52025cc20 ekf2: optical flow fusion timeout only reset if quality is good 2024-07-09 10:10:01 -04:00
Daniel Agar 6be06ecbb3 ekf2: optical flow failing also reset terrain if needed 2024-07-09 10:10:01 -04:00
Daniel Agar ea8f14b883 ekf2: optical flow logic, timeout if bad_tilt, etc 
- previously we could get stuck with optical flow still technically
   active (_control_status.flags.opt_flow=true), but nothing being
updated due to excessive tilt, etc
 2024-07-09 10:10:01 -04:00
Daniel Agar 8bf15b01c4 ekf2: optical flow don't compute innovation variance twice 
- collapse updateOptFlow() and startFlowFusion() to avoid recomputing H
 - this is a relatively expensive call we can easily avoid with the
   right structure
 2024-07-09 10:10:01 -04:00
Daniel Agar f709ed409d ekf2: optical flow stop reset all flags 2024-07-09 10:10:01 -04:00
Daniel Agar 9dfd82ab06 ekf2: optical flow remove _flow_data_ready flag 2024-07-09 10:10:01 -04:00
Daniel Agar 7047f9441c ekf2: fix calcOptFlowBodyRateComp() gyro bias 
- adjust flow sample gyro_rate immediately after popping from ring
   buffer
 - always update flow gyro bias (calcOptFlowBodyRateComp()) regardless
   of flow quality or magnitude
 2024-07-09 10:10:01 -04:00
Daniel Agar 4d324da9f8 ekf2: update flow aid src status every sample 2024-07-09 10:10:01 -04:00
Daniel Agar bcd666b3f8 ekf2: fix optical flow start logic 
- remove fallthrough that enables flow regardless of success
 - add appropriate start messages for each case
 2024-07-09 10:10:01 -04:00
Daniel Agar bf4e564b23 ekf2: resetTerrainToFlow() reset aid src status appropriately 2024-07-09 10:10:01 -04:00
Daniel Agar ced609daa8 ekf2: flow fusion start require valid fusion 2024-07-09 10:10:01 -04:00
Daniel Agar 1df8f3f9d2 ekf2: resetFlowFusion() reset aid src status appropriately 2024-07-09 10:10:01 -04:00
Daniel Agar 0742d356f5 ekf2: more conservative clipping checks for bad_acc_clipping fault status (#23337) 
- track accel clipping count per axis
 - only set bad_acc_clipping fault_status if at least one axis is
   clipping continuously or if all have been clipping at warning level
 - Note: this doesn't impact the clipping projections that boost the
   accel process noise, pause bias estimation, and skip gravity fusion
   on a per sample basis
 2024-06-28 16:45:08 -04:00
Daniel Agar 30b854da35 ekf2: verbose logging control (new EKF2_LOG_VERBOSE) 
- new parameter EKF2_LOG_VERBOSE to enable (currently enabled by default)
 - force advertise topics immediately (based on EKF2_LOG_VERBOSE and per aid source configuration)
 - logger optionally log all estimator topics at minimal rate
 2024-06-27 01:10:57 -04:00
Daniel Agar 78fd9a15f8 flight_mode_manager: delete unused avoidance waypoint 2024-06-27 01:08:16 -04:00
Daniel Agar 338bcc6ca3 ekf2: disable EKF2_EV_CTRL and EKF2_AGP_CTRL by default 2024-06-26 17:10:28 -04:00
Daniel Agar 30ce560e3a ekf2: mag control reset filtered test ratio on start (if aligning yaw) 2024-06-20 13:41:54 -04:00
Daniel Agar dcb1103299 ekf2: move estimator_status test ratios to filtered values 2024-06-20 13:41:54 -04:00
Daniel Agar 741c7ab610 Update submodule GPS drivers to latest Wed Jun 19 00:38:26 UTC 2024 
- GPS drivers in PX4/Firmware (e5d44cc1ba691f075bc2bce52dea7ec88af9e6cd): https://github.com/PX4/PX4-GPSDrivers/commit/0b79ec4dbe3e5ac5925c011067e7e294033a0a32
    - GPS drivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/a41210ede8c2d22dd8e9fdcf388fca927c1fc5e1
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/0b79ec4dbe3e5ac5925c011067e7e294033a0a32...a41210ede8c2d22dd8e9fdcf388fca927c1fc5e1

    a41210e 2024-06-18 Daniel Agar - sbf: fix code style
 2024-06-18 21:03:27 -04:00
Daniel Agar e33ba810e9 boards: px4_fmu-v5x_test disable differential_drive module to fix flash overflow 2024-06-18 18:48:13 -04:00
Daniel Agar 69a4a11c7f boards: cuav/nora disable modules to fix flash overflow 2024-06-18 18:47:42 -04:00
Daniel AgarandPX4 BuildBot 81f26be846 Update submodule GPS drivers to latest Tue Jun 18 12:39:32 UTC 2024 
- GPS drivers in PX4/Firmware (c29d189788090f6994e488f65789a8fe6b835d8d): https://github.com/PX4/PX4-GPSDrivers/commit/d92cf3a2b2704d5509b651bfca33cdfea3a7a18a
    - GPS drivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/0b79ec4dbe3e5ac5925c011067e7e294033a0a32
    - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/d92cf3a2b2704d5509b651bfca33cdfea3a7a18a...0b79ec4dbe3e5ac5925c011067e7e294033a0a32

0b79ec4 2024-04-12 Thomas Frans - sbf: fix issue with automatic base config in QGC
5810dac 2024-04-12 Thomas Frans - style: add editorconfig file for consistent style
915024c 2024-03-26 Julian Oes - sbf: fix subsequent init in QGC
3ea1d76 2024-03-04 Julian Oes - sbf: don't foget to configure RTCM
c6da592 2024-03-04 Julian Oes - sbf: don't change baudrate of USB port

Co-authored-by: PX4 BuildBot <bot@px4.io>
 2024-06-18 13:55:02 -04:00
Daniel Agar 8b9900cce3 mc_pos_control: new velocity low pass and notch filter (optional, disabled by default) 
- MPC_VEL_LP: new velocity first order low pass filter (off by default)
 - MPC_VEL_NF_FRQ/MPC_VEL_NF_BW: new velocity notch filter (off by default)
 - MPC_VELD_LP: existing velocity derivative low pass filter, but I've dropped the remaining controllib usage
 2024-06-18 11:47:19 -04:00
Daniel Agar 206488b844 ekf2: innovation sequence monitoring for all aid sources 
- add new 'innovation_filtered' and 'test_ratio_filtered' fields to
   estimator_aid_source topics
 2024-06-17 15:30:42 -04:00
Daniel Agar f9160853fa rc_update: purge deprecated RC switch parameters 
- these are old RC switch configuration parameters that haven't been used for
   years, but were hardcoded into old versions of QGC
 - RC_MAP_RATT_SW, RC_MAP_POSCTL_SW, RC_MAP_ACRO_SW, RC_MAP_STAB_SW, RC_MAP_MAN_SW deleted

 -
 2024-06-17 12:03:13 -04:00
Daniel Agar c0d6b67633 matrix: Vector2/Vector4 override ops so specific Vector type is returned 
- mirrored from Vector3
 2024-06-14 10:53:27 -04:00
Daniel Agar 783cf9aede vscode: cmake default status bar visibility 
- this is important for setting the active PX4 configuration
 2024-06-14 10:52:19 -04:00
Daniel Agar fb659ae200 ekf2: stopMagFusion() reset yaw_align if mag heading was active 
- we also need to clear mag_aligned_in_flight
 2024-06-06 10:08:20 -04:00
Daniel Agar bfe3c86aeb ekf2: merge mag yaw angle observability into heading consistency 
- the additional hyteresis logic for "yaw angle observable" was
   needed when it controlled time dependent mag_3d
 2024-06-06 10:07:31 -04:00
Daniel Agar 157f7cf40b simplify world_magnetic_model interface (degrees in, degrees out) 
- this hopefully helps avoid accidental mis-use
 - try to clarify units everywhere
 2024-06-04 09:14:36 -04:00
Daniel Agar 5fa3b9d86a lib/world_magnetic_model: fetch_noaa_table.py refactor and scaling improvements 
- upate to NOAA grid API to build WMM table in one pass
 - refactor declination/inclination/totalintensity table printing to
   shared method
 - compute scaling factor to maximize resolution
 2024-06-04 09:14:36 -04:00
Daniel Agar f3d152741c boards: sky-drones_smartap-airlink_default disable gyro_fft module to save flash 2024-05-29 20:38:49 -04:00
Daniel Agar b36f47535e boards: px4_fmu-v6c_default disable gyro_fft module to save flash 2024-05-29 20:38:49 -04:00
Daniel Agar a80c96e575 boards: px4_fmu-v5x_test disable payload_deliverer module to save flash 2024-05-29 20:38:49 -04:00
Daniel Agarandbresch d359f6236e ekf2: symforce zero more efficiently (#23133) 
- increase symforce CppConfig zero_initialization_sparsity_threshold so
   that a Matrix setZero() call is performed instead of individually zeroing

Co-authored-by: bresch <brescianimathieu@gmail.com>
 2024-05-17 11:20:30 +02:00
Daniel Agar bb5dfc7d51 integrationtests: mavros/mission_test.py bump yaw_error_std threshold (heading init is delayed, but not wrong) 2024-05-17 11:19:04 +02:00
Daniel Agar 5173830718 ekf2: mag fusion don't update all states or tilt by default 
- cleanup some of the legacy mag flags
 2024-05-17 11:19:04 +02:00
Daniel Agar bfc39cf341 ekf2: mag control always populate estimator aid src 2024-05-17 11:19:04 +02:00
Daniel Agar 95ae5a657d ekf2: merge mag_3d_control + mag_control 2024-05-17 11:19:04 +02:00
Daniel Agar 224d6f2fa7 ekf2: ekf_helper.cpp remove duplicate method comments (comment on declaration only, not definition) 2024-05-02 17:40:58 -04:00
Daniel Agar c1fc893cca ekf2: move gyro/accel/wind covariance reset helpers to covariance.cpp 2024-05-02 17:40:58 -04:00
Daniel Agar 63c2ea33c1 ekf2: move Ekf::resetQuatStateYaw() to yaw_fusion.cpp 2024-05-02 17:40:58 -04:00
Daniel Agar 1ca4056b6a ekf2: delete unused Ekf::resetImuBias() 2024-05-02 17:40:58 -04:00
Daniel Agar 6b3b66619b ekf2: move baro dynamic pressure compensation to aid_sources/barometer 2024-05-02 17:40:58 -04:00
Daniel Agar 4f0eb72fc9 ekf2: move IMU down sampler to imu_down_sampler/ 2024-05-02 17:40:58 -04:00
Daniel Agar 58637d3825 ekf2: move terrain estimator and derivation to terrain_estimator/ 2024-05-02 17:40:58 -04:00
Daniel Agar 58de8cbb77 ekf2: move fake_height, fake_pos, zero_innovation_heading to aid_sources/ 2024-05-02 17:40:58 -04:00
Daniel Agar 49c782bad9 ekf2: move bias estimators to bias_estimtor/ 2024-05-02 17:40:58 -04:00
Daniel Agar e262fde4dc ekf2: move aux global position fusion to aid_sources/aux_global_position 2024-05-02 17:40:58 -04:00
Daniel Agar b8d46e60a5 ekf2: move mag fusion to aid_sources/magnetometer 2024-05-02 17:40:58 -04:00
Daniel Agar 3f6c3e0649 ekf2: move output predictor to output_predictor/ 2024-05-02 17:40:58 -04:00
Daniel Agar 24fdd696cb ekf2: move range finder files to aid_sources/range_finder 2024-05-02 17:40:58 -04:00
Daniel Agar 3dbd3f8a1a ekf2: move airspeed fusion file to aid_sources/airspeed 2024-05-02 17:40:58 -04:00
Daniel Agar 789b2b3d8a ekf2: move sideslip fusion file to aid_sources/sideslip 2024-05-02 17:40:58 -04:00
Daniel Agar eb8ee74066 ekf2: move baro height file to aid_sources/barometer 2024-05-02 17:40:58 -04:00
Daniel Agar de178b1435 ekf2: move gravity fusion file to aid_sources/gravity 2024-05-02 17:40:58 -04:00
Daniel Agar 78f2ccbb60 ekf2: move optical flow files to aid_sources/optical_flow 2024-05-02 17:40:58 -04:00
Daniel Agar fcf94e7670 ekf2: move GNSS files to aid_sources/gnss 2024-05-02 17:40:58 -04:00
Daniel Agar 31ae5b77fe ekf2: move drag_fusion file to aid_sources/drag 2024-05-02 17:40:58 -04:00
Daniel Agar c3fb0b1090 ekf2: move auxvel file to aid_sources/auxvel 2024-05-02 17:40:58 -04:00
Daniel Agar b5d1e87368 ekf2: move EV files to aid_sources/external_vision 2024-05-02 17:40:58 -04:00
Daniel Agar c64104e9f1 sensors/vehicle_angular_velocity: silence gyro selection fallback warning (PX4_WARN -> PX4_DEBUG) 
- this warning was to catch any potential errors in sensor selection
   relative to what's actually available, we don't need to complain
   about initial selection before the EKF selector is available
 2024-05-02 11:53:31 -04:00
Daniel Agar 33234f4dc0 drivers/ins/vectornav: add missing sensor_gps velocity magnitude 2024-05-01 20:40:28 -04:00
Daniel Agar b6da0b141d ekf2: GPS yaw only invalidate yaw_align if stopping due to fusion failure 2024-04-29 21:04:21 -04:00