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147 Commits
Author SHA1 Message Date
Daniel Agar 697dbfb9f8 sensors/vehicle_imu: incremental step towards multi-EKF 2020-01-22 18:04:29 -05:00
kamilritz 32a4e3a942 Update ekf vision parameter description 2020-01-09 10:36:10 +01:00
bresch 09c8c8f706 ekf: use PDOP instead of GDOP as TDOP (part of GDOP) is not given by the GNSS receiver 2019-11-27 10:33:27 +01:00
bresch 12177cb33b commander: add pre-flight check and parameter for magnetic field strength 2019-11-25 21:15:55 +01:00
kamilritz a4e035d338 Add param to choose vision observation noise source 2019-10-15 16:06:37 +01:00
Matthias Grob 09faa4647b ekf2_params: correct typo 2019-10-15 10:01:03 -04:00
kamilritz 9c46a89f64 Update EKF_AID_MASK 2019-09-26 14:48:20 -04:00
kritz 190c817a9e ekf2: update to latest ecl version [continued] (#13023) 
* ekf2: update to latest ecl version

Includes compatibility changes for renamed variables.

* ekf2: Add write of odometry velocity data

Co-Authored-By: kritz <kritz@ethz.ch>

* ekf2: Modify parameters to enable control of vision velocity fusion

* ekf2: Update to latest ecl with timestamp messages
 2019-09-26 10:21:53 +02:00
Nico van Duijn 549a962553 EKF2: move handling of invalid range into ECL (#12988) 
* ekf2: Move handling of invalid range finder data inside ecl library

The ecl library EKF is able to use vehicle motion and in-air status to better determine when the default on-ground range finder reading can be used.
The description for the EKF2_MIN_RNG parameter has been updated to make its use clearer.
 2019-09-19 11:29:34 +02:00
Hamish Willee 2b8337e5e2 Add units for EKF2_RNG_A_HMAX and EKF2_RNG_A_VMAX (#12545) 2019-07-25 08:09:35 +02:00
Beat Küng 5d6cc7d033 ekf2: reduce GPS initialization time for SITL from 10s to 0.5s 
Speeds up SITL startup.
 2019-05-28 10:45:38 +02:00
Paul Riseborough 0f346af226 ekf2: Improve parameter description 
Inhibiting bias estimation using the EKF2_AID_MASK parameter only applies to the delta velocity bias states.
 2019-04-24 06:55:54 +02:00
Elia Tarasov b3bb625c71 add parameter to set ground effect distance 2019-03-21 10:07:12 +01:00
Elia Tarasov 84d9820baa remove EKF2_GND_EFF_EN flag and use condition EKF2_GND_EFF_DZ > 0 instead 2019-03-21 10:07:12 +01:00
Elia Tarasov 5fa0a647e5 add parameter to enable/disable ground effect zone 2019-03-21 10:07:12 +01:00
Paul Riseborough 6e0ca90852 ekf2: Minor parameter description edits 2019-03-05 07:17:09 +01:00
Paul Riseborough 643d8e968b ekf2: style fixes 2019-03-05 07:17:09 +01:00
Paul Riseborough 09da8e7dfc ekf2: Split static pressure correction into separate RH ad LH ellipsoids 2019-03-05 07:17:09 +01:00
CarlOlsson 6647471238 ekf2: increase maximum of EKF2_MAG_YAWLIM. This is needed on some fw platforms 
in order to not constantly switch mag fusion mode in gusty winds.
 2018-10-22 09:26:06 -04:00
Paul Riseborough 10354f022e ekf2: Allow use of RTK GPS heading 2018-10-17 09:48:38 -04:00
Paul Riseborough c2fcef8fc1 ekf2: Tighten preflight GPS quality checks 
Enable drift checks and reduce thresholds to reduce likelihood of commencing  use of  a unstable GPS position.
Publish drift data to assist with tuning.
 2018-08-17 10:44:07 +10:00
Daniel Agar bbe18ed5fd EKF2_MAG_DECL move to system category 2018-08-03 16:48:49 +02:00
Daniel Agar 77751d4822 EKF2 set param EKF2_MAG_DECL volatile 2018-07-26 08:32:09 +02:00
Paul Riseborough fc65939f0e ekf2: Add support for use of multiple GPS receivers (#9765) 2018-07-22 12:18:30 -04:00
Paul Riseborough c9ca27e7c2 ekf2: Update documentation for EKF2_RNG_AID parameter 2018-07-22 17:42:31 +10:00
Paul Riseborough 366e36a07b ekf2: Update parameter description 2018-06-09 13:38:04 +02:00
Mohammed Kabir 6a9377846f ekf2 : update to use new navigation limits architechture 2018-06-09 13:38:04 +02:00
Paul Riseborough 9e567cadd6 ekf2: Update parameter description 2018-06-09 13:38:04 +02:00
Paul Riseborough 477a42e6f6 ekf2: Enable adjustment of nav validity timeout 2018-04-24 00:02:48 -04:00
Paul Riseborough fc78de4c26 ekf2: Update parameter descriptions for air data fusion 2018-01-29 22:30:34 +01:00
Paul Riseborough f866698fb2 ekf2: Update parameter description for max optical flow rate 2018-01-29 22:30:34 +01:00
Nicolas de Palezieux d9b9b4407a ekf2 : add support for precision landing measurement fusion 2018-01-15 10:27:23 +01:00
Lorenz Meier 73348b6c4e EKF2: Update param metadata 2018-01-08 09:27:22 +01:00
Lorenz Meier ca0267b4e9 EKF: Add required flags to parameters 
This marks the learned bias parameters as volatile (as they change in flight without external configuration) and marks them as system level, which should hide them by default from the UI
 2018-01-08 09:27:22 +01:00
CarlOlsson 925c65b4d5 ekf2: add beta innovation gate to parameters 
Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
 2017-12-21 04:02:10 +08:00
ChristophTobler 4bd7d62b5c ekf2: update AID_MASK bitmask comment for QGC 2017-12-20 05:22:11 +08:00
Paul Riseborough 44a71ad6c9 ekf2: Update parameter descriptions (#8292) 
Make it clearer that the gate parameters control innovation consistency checks and that the gate size is specified in standard deviations.
Also make it clear that the EKF2_BARO_GATE also controls the GPS height fusion.
 2017-11-15 09:19:08 -05:00
Paul Riseborough dbc3a13236 ekf2: remove unused parameter 
The logging of replay data is now controlled by the logging module
 2017-10-09 08:58:01 +02:00
Paul Riseborough 6cfee65060 ekf2: Add parameters to tune accelerometer bias learning 
These parameters enable the accel bias limiting and learning inhibit logic in the ecl EKF to be easily tuned during testing and replay.
 2017-10-09 08:58:01 +02:00
Paul Riseborough 66277d0c02 ekf2: Added @reboot_required to parameters 2017-10-09 08:58:01 +02:00
Daniel Agar b4755297ec delete control_state and cleanup vehicle_attitude (#7882) 2017-09-21 16:24:53 -04:00
Daniel Agar 3498fe0c6f delete sdlog2 EKF2 replay (#7982) 2017-09-19 10:20:41 -04:00
Paul Riseborough 08059caf89 EKF: Enable compensation for static pressure positional error (#7264) 
* msg: add reporting of multi rotor drag fusion

* ekf2: add reporting of multi rotor drag fusion

* ekf2: Add parameters required to tune multi-rotor wind estimation

* ekf2: Add correction for static pressure position error

* ekf2: Use correct air density for position error corrections

* ekf2: fix parameter documentation error

* ekf2: Add separate forward and reverse position error correction factors

* ekf2: Fix formatting and parameter descriptions

* ekf2: Improve comments
 2017-08-01 07:29:08 +10:00
ChristophTobler 03e11c4d18 update ecl and add param for innovation consistency checks for range aid fusion (#7585) 2017-07-19 18:25:12 +10:00
Paul Riseborough d68dd6ae1e ekf2: Fix parameter description typo 2017-06-21 09:28:42 +02:00
Paul Riseborough b3ceb37272 ekf2: Add parameter to set range dependant noise 2017-06-21 09:28:42 +02:00
ChristophTobler 929ecd0e94 change to uint32 to match updated type from ecl 2017-06-21 09:28:42 +02:00
Roman 33495e8143 ekf2: added parameters to specify horizontal speed and absolute altitude 
thresholds for range aid mode

Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-21 09:28:42 +02:00
Roman 68c2eb9dec ekf2_params: added range aid parameter 
Signed-off-by: Roman <bapstroman@gmail.com>
 2017-06-21 09:28:42 +02:00
Daniel Agar 833cdc9236 EKF2 update GPS and airspeed delay defaults (#7353) 
* update ecl to latest

* EKF2_GPS_DELAY change default 200ms -> 110ms

 - 110msec is more representative of what most users are flying

* EKF2_ASP_DELAY change default 200ms -> 100ms

The EKF is relatively insensitive to airspeed sensor delays and the effective delay is installation specific, so it has been set to a value that does not cause the data buffers to be longer than is required to accomodate GPS delays.
 2017-06-05 10:31:46 +10:00