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985 Commits
Author SHA1 Message Date
bresch 61036599db mag_cal: fix mag bias estimate to mag cal 
- since last_us is set to 0 every time the bias is not observable, the
  total time was also reset -> needed 30 consecutive seconds in mag 3D
  to be declared "stable"
- after landing, the mag_aligned_in_flight flag is reset. Using this for
  bias validity makes it invalid before we have a chance to save it to
  the calibration.
 2023-07-18 07:38:47 -07:00
bresch eb23779c57 ekf2 - preflt checks: scale flow innovation checks 
Opt flow raw innovations can be really large on ground due to the small
distance to the ground (vel = flow / dist). To make the pre-flight check
more meaningful, scale it with the current distance.
 2023-07-17 11:13:43 -04:00
bresch a07b8c08ab ekf2: report dist bottom also when using flow for terrain 
Terrain height can be estimated using a range finder and/or optical flow
 2023-07-17 11:13:43 -04:00
alexklimaj 36ec1fa811 Add EKF2_OF_QMIN_GND to handle 0 optical flow quality when on ground 2023-07-17 11:13:43 -04:00
alexklimaj 694501b782 Apply code review changes from @dagar 2023-07-17 11:13:43 -04:00
Eric Katzfey 7dd8e3f614 Removed the huge HAGL fuse timeout increase 2023-07-17 11:13:43 -04:00
Eric Katzfey fe335344e7 Cleaned up some comments and debug code 2023-07-17 11:13:43 -04:00
mjturi-mai 343c7fcd52 actual fixes for velocity estimate errors and bad rng fusion 2023-07-17 11:13:43 -04:00
Daniel Agar 8222cbca2c ekf2: last range sensor simple timestamp protection 
- sanity check againist potential timestamp issues with incoming
distance_sensor data
 2023-05-09 12:02:42 -04:00
Daniel AgarandPX4BuildBot f0bea542d5 Update world_magnetic_model to latest (#21533) 
* Update world_magnetic_model to latest Mon May  1 11:14:06 UTC 2023
* [AUTO COMMIT] update change indication

Co-authored-by: PX4BuildBot <PX4BuildBot@users.noreply.github.com>
 2023-05-01 08:59:55 -04:00
bresch 521abecbbf ekf2: remove all remaining uses of EKF2_AID_MASK 2023-04-28 22:31:17 -04:00
bresch 98a8d080b6 ekf2 params: fix my bad english 2023-04-28 22:31:17 -04:00
bresch 2a2e43b620 ekf2: move flow fusion activation from AID_MASK to OF_CTRL 2023-04-28 22:31:17 -04:00
bresch 39c2f95669 ekf2: move drag fusion activation from AID_MASK to DRAG_CTRL 2023-04-28 22:31:17 -04:00
Hamish Willee 51f71909d4 Update ekf2_params.c - typo EKF2 aid mask 2023-04-19 17:11:47 -07:00
bresch 17806a9608 ekf2: robustify wind init using airspeed 
Tests showed that sideslip fusion often starts just before airspeed
fusion, resetting the wind states to 0 instead of using the airspeed
data. A quick look at the wind uncertainty allows to know if the current
wind estimate is meaningful or if we should rather reset it using the
airspeed data.
 2023-04-08 14:12:21 +02:00
bresch fb3b4a3151 ekf2: remove duplicate buffer push of system flags 2023-04-04 15:56:09 -04:00
bresch 62770c43f9 [AUTO COMMIT] update change indication 2023-03-31 10:15:12 +02:00
bresch ed7c4bc5d7 ekf2: init tilt using quaternion from gravity vector 2023-03-31 10:15:12 +02:00
Daniel Agar 4d9369dc67 Update world_magnetic_model to latest Fri Mar 24 11:14:06 UTC 2023 2023-03-24 09:39:26 -04:00
Silvan Fuhrer d532578ecc EKF2: only check for EKF2_BETA_FUSION when corresponding kconfig option is set 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-22 10:05:32 +01:00
Silvan Fuhrer 98d07ad1f3 disable side slip fusion for tailsitters 
The attitude frame is wrong for tailsitters doing side slip fusion for wind estimation.
It doesn't take into account that the frames is 90deg tilted in FW flight.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-22 10:05:32 +01:00
bresch 3e3307c0d0 ekf2: fix mag declination innovation angle wrapping 2023-03-21 21:07:28 -04:00
Daniel Agar 32a5bd32ad ekf2: add kconfig option to enable/disable range finder fusion (and terrain estimator) 2023-03-21 11:25:34 -04:00
Daniel Agar 0784901a66 ekf2: add kconfig option to enable/disable optical flow fusion 2023-03-21 11:25:34 -04:00
Matthias Grob b0189d95af Use new Vector4 class 2023-03-21 15:01:26 +01:00
Matthias Grob 08d6465ce5 matrix: add explicit Vector4 type 2023-03-21 15:01:26 +01:00
Daniel Agar 4363b09421 ekf2: add kconfig option to enable/disable external vision fusion 2023-03-20 10:12:17 -04:00
Daniel Agar d47f96f1a5 ekf2: add kconfig option to enable/disable AUX velocity fusion 2023-03-20 10:12:17 -04:00
Daniel Agar 4270a303ab ekf2: add kconfig option to enable/disable airspeed and sideslip fusion 2023-03-20 10:12:17 -04:00
Daniel Agar 98ff1afc19 ekf2: add kconfig option to enable/disable GNSS yaw 2023-03-20 10:12:17 -04:00
Daniel Agar 8b2205810b ekf2: add kconfig option to enable/disable baro compensation 2023-03-20 10:12:17 -04:00
Daniel Agar fe0e3acf09 ekf2: add kconfig option to enable/disable drag fusion 2023-03-20 10:12:17 -04:00
Daniel Agar f0a95f9572 ekf2: add new kconfig option for multi-EKF 
- disabled if flash constrained or memory constrained
 2023-03-15 09:32:47 -04:00
Daniel Agar 19a2b4ec31 ekf2: GNSS yaw only reset test ratio for new samples 
- otherwise external test ratio monitoring could trigger a false positive
 2023-03-14 21:49:24 -04:00
bresch fd33e60f78 ekf: fix GNSS yaw fusion wrapping 2023-03-13 10:46:34 +01:00
Daniel Agar b3cc945a5a ekf2: merge runOnGroundYawReset() + runInAirYawReset() into unified magReset() 2023-03-09 09:08:27 -05:00
Daniel Agar c1f244a6fd ekf2: decrease EKF2_MAG_YAWLIM default 0.25 -> 0.2 rad/s (#21264) 2023-03-09 09:07:54 -05:00
Daniel Agar 4dda5a97d8 ekf2: mag_3d check mag bias variance before allowed to update all states (orientation) 2023-03-08 15:12:48 -05:00
Daniel Agar d45aeae1de ekf2: add and share centralized method to clear inhibited state Kalman gains 2023-03-07 13:27:57 -05:00
Beniamino Pozzan b79578fa55 efk2: Force external vision vertical position if EKF2_HGT_REF=VISION 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-03-06 09:19:49 -05:00
Daniel Agar 3fac85369e ekf2: gps control use adjusted velocity and position for reset 2023-03-06 09:03:39 -05:00
Daniel Agar b5a6d6db0d ekf2: fix controlEvYawFusion() yaw reset 2023-02-24 16:59:59 -05:00
Daniel Agar 98263de17b ekf2: move aux vel helpers to auxvel_fusion.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar a199df78cc ekf2: move mag control helpers to mag_control.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar c20e4e4421 ekf2: move stopFlowFusion() to optical_flow_control.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar 3a317ec18c ekf2: move gps helpers to gps_control.cpp 2023-02-22 09:08:33 -05:00
Daniel Agar 9ec3f30ae1 ekf2: move gps buffer pop to controlGpsFusion() 
- controlGpsFusion() now owns yaw estimator update
 2023-02-22 09:08:33 -05:00
Daniel Agar a867bb7d88 ekf2: let controlAirDataFusion() update yaw estimator TAS 2023-02-22 09:08:33 -05:00
Daniel Agar 60856ebe62 ekf2: move range buffer pop to controlRangeHeightFusion() 2023-02-22 09:08:33 -05:00