a4fe2b1e72
yaw_align: let the mag control logic do the alignement and resets
2021-05-12 08:33:07 +10:00
2cc023038b
mag control: select mag mode before doing the reset
2021-05-12 08:33:07 +10:00
fe943cf104
mag reset: force align in MC custom mode (aka. indoor mode)
...
Checking the parameter is enough to decide if we want to force the yaw
alignment or not
2021-05-12 08:33:07 +10:00
cadcc58415
mag reset: do not stop the fusion from inside the reset function
...
The start/stop is already handled in the dedicated mag control logic
The early return is not required as this case is handled just below
2021-05-12 08:33:07 +10:00
6248646bff
EV yaw: move EV yaw reset out of resetMagHeading function
...
Also remove the unnecessary 2nd "manual reset" done in the start function
2021-05-12 08:33:07 +10:00
48722a2a92
control: inhibit EV yaw from restarting when GPS aid wants to start
2021-05-12 08:33:07 +10:00
a685987082
GNSS yaw: unset yaw_align if fusion stops before takeoff
...
We do not want to rely on a potentially badly initialized heading as it
could lead to a flyaway directly after takeoff
Also remove the resetMagHeading() call from the GPS fusion control logic
as this is properly handled in mag_control.
2021-05-12 08:33:07 +10:00
7ee69706e8
GNSS yaw: add test case when measurement jumps
2021-05-12 08:33:07 +10:00
7a11871566
GNSS yaw tests: adjust timing
...
the starting condition needs more than 1 sample to determine if the data
comes regularly
the timeout on "no data" is defined by the fusion reset timeout
parameter (7 seconds)
2021-05-12 08:33:07 +10:00
51197a5d82
GNSS yaw selection logic refactor
2021-05-12 08:33:07 +10:00
29243ac5cb
yaw_reset: reduce minimum vector length to compute yaw error
...
A value of 1m/s was too conservative and the EKF takes too much time to
trigger a yaw reset. The value can be safely reduced because the
threshold is computed using the accuracy of the measurement and estimate
before being limited by this value.
2021-05-06 19:13:54 +10:00
aad48407c2
EKF: increase allowed difference between flow and gyro ODRs
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In the normal and lowlight mode for the PAW3902/3 sensor, the ODR is 66Hz, while in super lowlight mode it is 50Hz.
The IMU ODR vs flow ODR mismatch threshold was too conservative for the 66Hz ODR, since https://github.com/PX4/PX4-ECL/pull/928 . The EKF would keep waiting for the data to line up and never fuse measurements.
2021-05-03 11:08:16 +02:00
a7b8afe420
Allow rangefinder fusion in vision height mode (Fix for #994 ) ( #999 )
...
Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-04-30 14:17:39 -04:00
4ac57d3bde
EKF: increase fault flags value size to fit current flag bits (> 16)
2021-04-25 17:05:09 -04:00
5d34d7a24e
Height source vision: Fallback to rangefinder if available ( #994 )
2021-03-31 14:24:38 +02:00
da06f25216
[AUTO COMMIT] update change indication
2021-03-28 21:22:25 -04:00
85fcf9393d
Update geo_lookup WMM to latest Sun Mar 28 11:48:06 UTC 2021
2021-03-28 21:22:25 -04:00
6f2dec726a
gps sacc: apply same minimum for EKF2 and yaw estimator
2021-03-25 09:54:30 +01:00
e3d1ade660
EKF: use flow for vel test ratio if only active source of horizontal aiding
2021-03-23 15:56:22 +01:00
bb950a1550
Expose terrain vpos reset counter
2021-03-18 14:25:07 +01:00
ab69681744
Add parameter for terrain timeout
2021-03-18 14:25:07 +01:00
4df0054873
geo: purge old globallocal_converter
2021-03-15 14:43:53 -04:00
b3c1bd6d40
EKF: Remove un-used code
2021-03-09 21:23:38 +11:00
4bad2a272c
EKF: Use debug prints for NuttX builds
2021-03-05 19:06:59 -05:00
0f47cae1e1
remove ECL_{INFO,WARN,ERN}_TIMESTAMPED macros
...
- we already have mechanisms to print these messages timestamped
2021-03-05 19:06:59 -05:00
c1f1415696
EKF: Add usage warning comment
2021-03-05 19:06:59 -05:00
c2b86cdb20
EKF: Provide external reset of event records
2021-03-05 19:06:59 -05:00
9d51ab079a
EKF: Remove duplicated event recording
2021-03-05 19:06:59 -05:00
140ca3f48f
EKF: Add external monitoring of warning and information events
2021-03-05 19:06:59 -05:00
90a445ddbc
EKF: upgrade some events from into to warning status
2021-03-05 19:06:59 -05:00
cb8367026c
[AUTO COMMIT] update change indication
2021-03-04 19:43:01 +11:00
93dd4e5754
fix unit tests
2021-03-04 19:43:01 +11:00
5d441d65e1
Accelerate tilt fine alignment by reducing obs noise when at rest
...
Fine tilt alignment is accomplished by fusing fake position data after
a coarse tilt leveling. The observation noise can be reduced if the
vehicle is at rest to speed up the process.
2021-03-04 19:43:01 +11:00
098d5ce5c0
EKF allow range aid without horizontal aiding
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- skip range aid velocity check when horizontal aiding isn't active
2021-02-22 11:55:56 -05:00
29943a2c09
EKF test ratio status return current height source test ratio
2021-02-22 09:22:45 -05:00
164e53bad3
Add unit tests and update ekf_helper setEkfGlobalOrigin() method to allow for condition when current position is unitialized.
2021-02-19 08:59:47 -05:00
63f64b57c1
EKF: set global origin method
...
EKF: add convergence after global origin reset test
2021-02-19 08:59:47 -05:00
81937370ac
[AUTO COMMIT] update change indication
2021-02-18 10:11:51 +01:00
04844a04ed
ekf control: move time_last_in_air/on_ground out of GPS control logic
2021-02-18 10:11:51 +01:00
b00d4a9237
mag fusion: improve on ground forced mag fusion logic
...
While a yaw test ration > 1 rejects the mag data in air, the fusion is
forced with a limited innovation on ground to fix gyro bias and local
magnetic effects problems pre-takeoff. However, the same logic is
applied after landing and immediately after the land detector detects
landing. In some cases, this can disturb the other EKF states which can
lead to a state change of the land detector.
To avoid such a loop, the start of this forced yaw fusion is delayed by
5 seconds after landing.
2021-02-18 10:11:51 +01:00
310f415175
EKF add const state reset status access
2021-02-16 10:33:43 -05:00
0c5291d194
Heading reset to magnetometer from GPS or EV ( #969 )
2021-02-16 14:37:34 +01:00
d4258cc66d
yaw emergency: check angle between vel observation and estimate ( #975 )
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use thresholds based on state and obs variance
* [AUTO COMMIT] update change indication
2021-02-15 10:31:16 +01:00
ffab483504
Waiting for the filter to be initialized to set global origin
2021-02-11 12:55:25 -05:00
602e65146c
EKF: Remove unnecessary initialisation
2021-02-09 19:55:32 +11:00
6f664abc4a
EKF: Non functional changes arising from review
2021-02-09 19:55:32 +11:00
b87778e61d
EKF: Make clip detection logic easier to follow
2021-02-09 19:55:32 +11:00
9aa8d93efc
EKF: Use isRecent function
2021-02-09 19:55:32 +11:00
e948b3505f
EKF: Don't reject vertical aiding data if inertial solution is bad
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Also reduce clipping count threshold
2021-02-09 19:55:32 +11:00
c566318db5
EKF: misc improvements to handling of accel clipping
2021-02-09 19:55:32 +11:00
bresch