- track and publish validity based on hover thrust variance, innovation test ratio, and hysteresis
- only publish on actual updates or becoming inactive
- fix dt (previous timestamp wasn't being saved)
- use local position timestamp (corresponding) to accel data rather than current time to avoid unnecessary timing jitter
- check local position validity before using
- mc_hover_thrust_estimator: move from wq:lp_default -> wq:nav_and_controllers to ensure the hover thrust estimator runs after the position controller and uses the same vehicle_local_position data
- land_detector: check hover thrust estimate validity and adjust low throttle thresholds if hover thrust is available
- mc_pos_control: only use hover thrust estimate if valid
- Use a low-passed value of the signed innovation test ratio to trigger
the state variance boost. The threshold of 0.2 has been chosen using log
replay and simulation scenarii.
- Do not reset the learned accel noise during a state variance boost.
After a few tests, this does not seem to help at all.
- Continue to learn the accel noise even if the measurement got rejected
to avoid ignoring sudden changes of noise
- Lower the acceleration noise time constant and increase min/max
values to avoid learning quickly a small variance that could temporarly
destabilize the filter
- Update filter time constants. Increasing the speed of the residual lpf
improves the quality of the learned accel noise
* MC_HTE: unitialize with hover_thrust parameter
* MC_HTE: constrain hover thrust setter between 0.1 and 0.9
* MC_HTE: integrate with land detector and velocity controller
* MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value.
* MC_HTE: use altitude agl threshold to start the estimator
local_position.z is relative to the origin of the EKF while dist_bottom
is above ground
Co-authored-by: bresch <brescianimathieu@gmail.com>
