Beat Küng
4ba84d56c9
logger: introduce optional topics
...
The current practice of adding topics to the default set isn't scalable,
as it affects all setups.
By making sure topics are advertised on init, logger can just discard
topics that don't exist. This does not work for all topics, so topics are
specifically marked as optional. It can be extended to more topics later
on though.
This reduces the list of topics by ~35 on a pixracer configured as quad,
and reduces RAM usage by ~1KB.
2021-11-15 09:02:03 -05:00
Daniel Agar
68026eadeb
save significant IMU bias changes learned by the EKF
...
* ekf2: make publishing of learned accel biases more robust
* ekf2: reset accel bias if calibration updated
* msg: add separate accel and gyro calibration counters
* ekf2: use separate accel and gyro calibration counters
* ekf2: rework logic to reset biases when calibration counters increment
* sensors: add saving of learned accel biases
* ekf2: generalized saving accel/gyro/mag in flight sensor calibration
* boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash
Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
2021-11-07 15:34:27 -05:00
Daniel Agar
fec0d6c5ed
ekf2: change indication further reduce data precision
2021-11-02 10:21:54 +01:00
bresch
1317b1a6e1
[AUTO COMMIT] update change indication
2021-11-01 13:59:34 +01:00
bresch
9e54c6d1aa
ekf2: move generic functions to control.cpp
...
these functions aren't specific to GPS fusion
2021-11-01 13:59:34 +01:00
bresch
e90734881b
ekf2_test: add more GPS fusion control tests
2021-11-01 13:59:34 +01:00
bresch
8aae39e82a
ekf2: move GPS control logic to separate source file
2021-11-01 13:59:34 +01:00
bresch
689ab12845
ekf2: refactor gps vel/pos fusion control logic
2021-11-01 13:59:34 +01:00
bresch
9afc390552
ekf2: move gps yaw reset in starting function
2021-11-01 13:59:34 +01:00
dagar
a2801bab80
[AUTO COMMIT] update change indication
2021-10-26 14:39:58 -04:00
bresch
d0f89f7fff
ekf2: refactor wind reset functions
2021-10-26 10:18:56 +02:00
bresch
456dfcb4b9
ekf2: update getter for true airspeed
2021-10-26 10:18:56 +02:00
bresch
3927c183de
ekf2_test: adjust airspeed unit test
...
an airpseed of > 2m/s is required to start the fusion (set by param)
fw mode is also required
Given the larger estimated windspeed after those changes, the change of
static pressure is larger and the height estimate takes more time to
reach the final value
2021-10-26 10:18:56 +02:00
bresch
6e8f0e92ff
ekf2: refactor airspeed fusion control logic
2021-10-26 10:18:56 +02:00
bresch
8873e92c7c
ekf: force fallback to baro if GPS is stopped while in GPS height mode
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Otherwise, no height aiding source is used
2021-10-26 10:05:28 +02:00
bresch
0a140ec59a
ekf2_test: add GPS height to baro fallback
2021-10-26 10:05:28 +02:00
bresch
f4c21cedd9
ekf2_test: use motion_planning for dynamic yaw emergency test
2021-10-25 18:06:38 -04:00
bresch
340a2caa8e
ekf2_test: use motion_planning library
...
The VelocitySmoothing class from the motion_planning library is used to
generate trajectories in order to test the EKF convergence during motion
2021-10-25 18:06:38 -04:00
mcsauder
21163d859e
Whitespace cleanup.
2021-10-19 13:29:26 -04:00
Daniel Agar
4cf8eb8226
ekf2: EKF vehicle_at_rest always require some rotation in addition to vibration metrics
2021-10-18 21:39:40 -04:00
Daniel Agar
56823b5ac9
ekf2: EKF control don't allow invalid flow gyro to propagate
2021-10-14 16:31:22 -04:00
Mathieu Bresciani
56b0c46444
ekf2: improve optical flow angular rate compensation
2021-10-12 13:17:29 -04:00
Shubham Shah
c92cd65831
Update EKF2.cpp
2021-10-09 19:39:43 -04:00
Peter van der Perk
d5e3e9a7bc
[Kconfig] Decompose Kconfig, now each module has its own Kconfig
...
Which is better for versioning and decomposability
2021-10-07 10:09:01 -04:00
Daniel Agar
ddd1dea4f0
ekf2: avoid uint64 timestamp conversion to float
2021-10-06 09:27:06 -04:00
Daniel Agar
c39a21aa54
ekf2: selector remove special timeout condition
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- this mainly produces false positives when disarmed and bench testing
2021-09-29 09:59:08 -04:00
Paul Riseborough
ed7c5991eb
ekf2: Fix dimensional error in gyro and accel bias variance conversions
2021-09-29 09:58:41 -04:00
Daniel Agar
2b1c97eb37
Update world_magnetic_model to latest Sun Aug 22 11:14:24 UTC 2021
2021-08-22 16:28:00 -04:00
Daniel Agar
06c2d14903
ekf2: multi-mode allow first instance to save EKF2_MAG_DECL
2021-08-19 10:14:35 +02:00
David Sidrane
e8c418caaf
EKF:Use inttypes
2021-08-13 14:22:00 -04:00
Daniel Agar
fb4ac0f08c
ekf2: remove redundant IMU vibration metrics
...
- consume IMU vibration metrics from vehicle_imu_status
2021-08-08 06:26:03 -07:00
bresch
01d0b8800e
commander: report GNSS yaw fault to user
2021-08-05 11:10:02 +02:00
bresch
44219e9f45
EKF: add GNSS yaw to emergency yaw fallback test
2021-08-05 11:10:02 +02:00
bresch
11cd51c132
EKF: allow emergency reset in GNSS yaw and EV yaw aiding modes
2021-08-05 11:10:02 +02:00
bresch
4ebfbc6eab
GNSS yaw: use NIS sequence to detect bias in state
...
A constant large value in the (signed) normalized innovation test ratio is a sign
of bias in the state estimate. This metric can be used to trigger a
covariance boost or reset
2021-08-05 11:10:02 +02:00
bresch
3fe04a91f6
GNSS yaw: add observation jump on ground
...
Some receivers are initializing to some heading and then resetting to
the correct one after a couple of seconds. EKF2 should detect that and
reset to the new value
2021-08-05 11:10:02 +02:00
bresch
30c7a596af
GNSS yaw: allow unlimited resets on ground
2021-08-05 11:10:02 +02:00
bresch
e90e1c7e2a
GNSS yaw: use dedicated observation noise
2021-08-05 11:10:02 +02:00
Daniel Agar
93aa6e3f78
ekf2: baro bias publish minor cleanup
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- naming consistency (estimator prefix as "namespace")
- only publish if baro is available and bias is changing as a small logging optimization
- avoid unnecessary copying (get const reference to status directly)
- trivial code style fixes
2021-08-02 13:59:38 -04:00
David Jablonski
9c36236565
ekf2: increase stack size to 3600
2021-08-02 09:47:38 -04:00
Daniel Agar
54918f650b
Update world_magnetic_model to latest Sun Aug 1 16:57:37 UTC 2021
2021-08-01 13:53:53 -04:00
bresch
521b9f5dcc
control: do not constantly ask for mag reset if yaw not aligned
...
This also prevents triggering the `_mag_yaw_reset_req` flag in magless
mode; preventing the GNSS fustion from starting.
2021-07-27 13:34:53 +02:00
bresch
639e0a39cf
EKF2: add yaw estimator alignment test
2021-07-27 13:34:53 +02:00
Mathieu Bresciani
17ebcd2456
mag_control: fuse fake heading during leveling fine alignment ( #17964 )
...
Co-authored-by: Daniel Agar <daniel@agar.ca>
2021-07-27 11:50:50 +02:00
Daniel Agar
e01b631465
ekf2: change indication test limit float precision to minimize false positives
2021-07-26 13:54:36 -04:00
dagar
a8e3c46cdb
[AUTO COMMIT] update change indication
2021-07-19 16:53:45 -04:00
bresch
54c7e74de3
EKF: add baro bias estimator using GNSS altitude
2021-07-19 16:53:45 -04:00
Daniel Agar
10f4fc7783
ekf2: don't print distance_sensor selection unless there are multiple options
2021-07-19 12:17:12 -04:00
Daniel Agar
0101934f47
ekf2: multi-EKF instance message INFO -> DEBUG
2021-07-18 18:02:33 -04:00
Daniel Agar
9ac860ac33
ekf2: test fix double promotion warnings
2021-07-18 15:49:53 -04:00
