33bf4e0303
EKF: set uninitialized vel/pos/hgt test ratios to NAN
...
- ensure valid min is numerically larger than 0 (float32)
2021-06-30 09:30:44 -04:00
611ace0ed6
EV_yaw: reset ev_to_ekf to identity when yaw is reset to EV
...
Otherwise, the old rotation matrix is used and not updated anymore
because the EKF is fusing EV yaw data.
2021-06-22 10:25:55 +02:00
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
5d34d7a24e
Height source vision: Fallback to rangefinder if available ( #994 )
2021-03-31 14:24:38 +02:00
e3d1ade660
EKF: use flow for vel test ratio if only active source of horizontal aiding
2021-03-23 15:56:22 +01:00
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
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
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
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EKF: add convergence after global origin reset test
2021-02-19 08:59:47 -05:00
5aaa6c6dde
lpos accuracy: bump variance if deadreckon time exceeded
2021-02-08 09:01:51 -05:00
398fe159ce
EKF: allow initialising without mag depending on configuration
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- reduce initial number of required mag and baro samples before init
2020-12-17 19:55:51 +11:00
9d22f140dd
gps_alt: constrain var using 1.5 as a typical ratio of vacc/hacc
2020-12-13 14:39:50 +11:00
b0cf45e2d2
gps_alt: rename getGpsAltVar -> getGpsHeightVariance
2020-12-13 14:39:50 +11:00
f7bddda3d5
gps_alt: do not scale up reported gps vertical accuracy
...
The comment said that the horizontal accuracy needs to be scaled up
using the typical epv/eph ratio but the epv (vacc) is already available,
so no scaling is required.
2020-12-13 14:39:50 +11:00
02369cd415
gps_alt: extract measurement variance computation and saturation
2020-12-13 14:39:50 +11:00
fbf67bdef9
reset gps height use vacc
2020-12-10 10:07:59 +01:00
8f3df7a97b
flow: restructure optical flow control logic ( #928 )
...
- extract motion checks performed on ground
- move all non-timing check to controlOpticalFlowFusion. This simplifies and standardirzes the setOpticalFlowData function. Furthermore, in some cases (SITL, PX4Flow), the dt is forced to 0 when the quality is 0 (which is usual on ground) so the ekf needs to ignore those values on ground to initialize properly the flow fusion.
- add filter convergence test
- move check for dt time max in setOpticalFlowData
- in the simulator, do not update dt as this is the sensor integration
period.
2020-12-09 11:33:00 +01:00
da7d41e78a
EKF: add mag bias reset helper and update IMU bias reset to match ( #924 )
2020-12-08 12:16:59 -05:00
03cfcb903e
EKF: RingBuffer minor improvements
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- allocate IMU and output buffers on construction according to defaults
- determine buffer max time delay based on configuration parameters
- reorder flowSample and extVisionSample to minimize padding
- adjust parameter defaults to match PX4-Autopilot
2020-12-03 20:48:51 -05:00
a21092804a
EKF: remove virtual getters from estimator_interface
2020-11-02 09:35:47 -05:00
48a8992caf
EKF: move small simple getters to header
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- return by const reference where possible
2020-10-30 09:48:45 -04:00
5ea8824439
EKF: inline simple getters
2020-10-27 08:53:58 -04:00
6e99ebd928
EKF: add fault status bit for bad vertical accel data
2020-10-26 17:37:15 +01:00
dd3ffc4192
Optical flow: compute velociy from corrected flow data for logging ( #920 )
...
This is really useful when debugging optical flow data
2020-10-26 13:27:52 +01:00
4c2355a638
EKF: use GPS to lookup declination from WMM before full GPS checks pass
2020-09-28 08:43:32 +02:00
9797e4d28f
updateYawInRotMat with hidden rotation sequence handling
2020-08-27 09:51:56 +10:00
4fb4e0ca01
Clean euler321 and euler312 code and comment
2020-08-27 09:51:56 +10:00
2be738e806
Add helper function to alter heading in rotation matrices
2020-08-27 09:51:56 +10:00
fdc86c247a
add functions to compute yaw (321 and 312 sequence)
...
from quaternion and rotation matrix
2020-08-27 09:51:56 +10:00
15afa8ae17
shouldUse321RotationSequence(const Dcmf& R)
2020-08-27 09:51:56 +10:00
4872f2a545
Remove not used code
2020-08-24 19:24:27 +10:00
1e6c6f2d3c
EKF: update all output states when aligning output time horizon filter
2020-08-16 10:00:47 +10:00
3bd9415498
Make delayed output stayed not a member variable
2020-08-16 10:00:47 +10:00
310b989c9a
refactor start of gps into separate function
2020-08-07 10:02:47 +02:00
15d360f446
saved_mag_ef_cov to Squarematrix2f
2020-08-04 09:57:00 +02:00
7609bc69b2
drag innov member variables to Vector2f
2020-08-04 09:57:00 +02:00
88c52aba5e
Refactor ev fusion start into helper functions ( #872 )
2020-07-27 11:42:52 +02:00
b5e1397c0f
Add const modifier
...
const modifier
Add missing const modifier
2020-07-16 18:25:06 +02:00
796afd5f98
Rename yaw_use_inhibit -> is_yaw_fusion_inhibited
...
Temp
2020-07-16 18:25:06 +02:00
3d82d822ae
Add const modifier
2020-07-16 18:25:06 +02:00
2af2696b63
Revert if-else condition to get rid of unnecessary indentation
2020-07-02 15:55:24 +02:00
fce4958d4f
Random cleanup
2020-07-02 15:55:24 +02:00
9eea44f4ab
Return type of resets ( #859 )
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* Reset position/velocity return type is void
* Delete not needed comments
2020-07-02 14:53:59 +02:00
97225fcb74
Use matrix lib inside getState
2020-07-02 09:02:24 +02:00
16a00eae0b
Make Kfusion a Vector24f
2020-07-02 09:02:24 +02:00
Daniel Agar