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42,452 Commits 852 Branches 161 Tags
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Commit Graph
985 Commits
Author SHA1 Message Date
Daniel Agar 880dc6accd ekf2: compile at MAX_CUSTOM_OPT_LEVEL 2020-11-11 20:17:52 -05:00
Daniel Agar 1e03285405 ekf2: avoid storing in_ground_effect state 2020-11-11 20:17:52 -05:00
Daniel Agar 26de630dc5 ekf2: remove landed flag and use control_status directly 2020-11-11 20:17:52 -05:00
Daniel Agar 89ab6a5dbf ekf2: preflight checks only reset on STANDBY change 
- avoid storing unnecessary state and call setVehicleCanObserveHeadingInFlight() directly
 2020-11-11 20:17:52 -05:00
Daniel Agar b9fff2c221 ekf2: sensor_selection only updated in non-multi mode 
- publish attitude as soon as possible
 2020-11-11 20:17:52 -05:00
Daniel Agar 7264577eec ekf2: split perf counters (full update or not) and reorganize Run() slightly 2020-11-11 20:17:52 -05:00
Daniel Agar a68fe4dbd7 ekf2: move parameter update to beginning of cycle 2020-11-11 20:17:52 -05:00
Daniel Agar 5ae7c80a18 ekf2: move rangeSample update to UpdateRangeSample() 2020-11-11 20:17:52 -05:00
Daniel Agar 991015c5c6 ekf2: move magSample update to UpdateMagSample() 2020-11-11 20:17:52 -05:00
Daniel Agar 68f49619b7 ekf2: move gps_message update to UpdateGpsSample() 2020-11-11 20:17:52 -05:00
Daniel Agar 0db706011a ekf2: move FlowSample update to UpdateFlowSample() 2020-11-11 20:17:52 -05:00
Daniel Agar 8ee197acad ekf2: move vehicle_odometry_aligned publication to PublishOdometryAligned() 2020-11-11 20:17:52 -05:00
Daniel Agar b29f3c7ce5 ekf2: move ExtVisionSample update to UpdateExtVisionSample() 2020-11-11 20:17:52 -05:00
Daniel Agar 0f56793116 ekf2: move BaroSample update to UpdateBaroSample() 2020-11-11 20:17:52 -05:00
Daniel Agar 6b30f01daf ekf2: move AuxVelSample update to UpdateAuxVelSample() 2020-11-11 20:17:52 -05:00
Daniel Agar 651e292d42 ekf2: move AirspeedSample update to UpdateAirspeedSample() 2020-11-11 20:17:52 -05:00
Daniel Agar f4f3ba47a2 ekf2: move mag calibration to UpdateMagCalibration() 2020-11-11 20:17:52 -05:00
Daniel Agar 96178a6fb0 ekf2: publish yaw estimator status last 2020-11-11 20:17:52 -05:00
Daniel Agar 05de61ff15 ekf2: move estimator innovations publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar 387186c11d ekf2: move estimator innovation test ratios publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar 3b9965ff8d ekf2: move estimator innovation variances publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar 94415a45fa ekf2: move estimator status publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar 03388f4656 ekf2: move estimator states publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar 98334d1325 ekf2: move local position publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar c09a5e0d9f ekf2: move global position publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar 8616345346 ekf2: move estimator_sensor_bias publication to method 
- only publish if there's a change in bias
 - publish current estimated mag bias, including saved mag bias
 2020-11-11 20:17:52 -05:00
Daniel Agar e397cbf8bb ekf2: move ekf_gps_drift publication to method 2020-11-11 20:17:52 -05:00
Daniel Agar 0d657c74bf ekf2: rename publish helpers mixed case (google style guide) 2020-11-11 20:17:52 -05:00
Daniel Agar 4578b8cdcc Update submodule ecl to latest Mon Nov 2 09:57:32 EST 2020 
- ecl in PX4/Firmware (f87b19f31b9918f73d336d10e68d39c659037582): https://github/commit/48a8992caf7a95e09a5e17235133894c072b96bd
    - ecl current upstream: https://github/commit/a21092804a784d012939f96cc633e7da5f5e8cde
    - Changes: https://github/compare/48a8992caf7a95e09a5e17235133894c072b96bd...a21092804a784d012939f96cc633e7da5f5e8cde

    a210928 2020-11-01 Daniel Agar - EKF: remove virtual getters from estimator_interface
 2020-11-02 12:44:14 -05:00
Daniel Agar a1ef4d1469 ekf2: only advertise immediately in multi-EKF mode 2020-11-01 15:48:35 -05:00
Daniel Agar ecb462f325 ekf2: EKF2.cpp using matrix Eulerf, Quatf, Vector3f 2020-10-29 10:22:57 -04:00
Daniel Agar d1af095c0b ekf2: don't store vehicle_status_s 2020-10-29 10:22:57 -04:00
Daniel Agar d27573b797 ekf2: don't store vehicle_land_detected_s 2020-10-29 10:22:57 -04:00
Daniel Agar 7757aeda94 ekf2: don't store sensor_selection_s copy 2020-10-29 10:22:57 -04:00
Daniel Agar db5235b074 ekf2: avoid storing message copies 2020-10-29 10:22:57 -04:00
Daniel Agar 3f9f2c6fdf ekf2: multi ekf supports up to 4 IMUs 2020-10-28 20:50:58 -04:00
Daniel Agar 2c874f1cd9 ekf2 selector fix SITL lockstep 
- ekf2 selector don't register lockstep until first attitude publication
 - sensors module register lockstep component
 - enable multi-EKF2 in SITL
 2020-10-28 09:42:41 -04:00
Daniel Agar df2f26ebdf rename vehicle_visual_odometry_aligned -> estimator_visual_odometry_aligned 
- saves a small amount of work for the ekf2 selector in multi-EKF mode (visual_odometry_aligned now ignored)
 - helps to distinguish the origin/purpose from vehicle_odometry and vehicle_visual_odometry
 2020-10-27 12:33:39 -04:00
Daniel AgarandPaul Riseborough 0f411d6820 Multi-EKF support (ekf2) 
- ekf2 can now run in multi-instance mode (currently up to 9 instances)
    - in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
 - new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
 - sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
 - existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
 - ekf2 single instance mode is still fully supported and the default

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
 2020-10-27 10:56:11 -04:00
bresch 109ed18a3a Flow: adjust default optical flow delay based on pmw3901 
This is the correct value for the most common optical flow sensor
 2020-10-26 14:10:25 -04:00
bresch 09cc3120e2 OpticalFlow: add optical flow velocity logging 
This is important to align the flow with the IMU data and verify that
the compensation is properly done
 2020-10-26 14:10:25 -04:00
Nicolas Martin 948bed6b5c fix ekf2 saved mag bias comments (mGauss -> Gauss) 2020-10-26 00:43:20 -04:00
Daniel Agar d985887468 ekf2: use new Param<> reset method 2020-10-15 08:32:05 +02:00
CarlOlsson 98c8cbb27f ekf2: fix odom body rate sign bug 2020-09-30 11:34:37 -04:00
Daniel Agar f1feaf45d3 EKF2: move vehicle_odometry publish to method 2020-09-28 18:34:49 -04:00
Jacob DahlJacob CrabillJacob Dahl
 		a24488328f Move GPS blending from ekf2 to sensors module 
- new sensors work item that subscribes to N x sensor_gps and publishes vehicle_gps_position
 - blending is now configurable with SENS_GPS_MASK and SENS_GPS_TAU

Co-authored-by: Jacob Crabill <jacob@volans-i.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
 2020-09-25 23:28:31 -04:00
bresch 1141cfa7c6 ekf2_main: reduce update mag bias minimum learning time to 30s 
120 seconds of learning time in 3D fusion mode was too long for most normal flights. The learned bias is usually really good after a shorter period and was not used to update the parameters. 30s seems to be a good compromise.
 2020-09-21 15:54:24 +02:00
bresch db25f20120 ekf2: move "using" keywords to cpp 2020-09-07 09:42:56 -04:00
Daniel Agar e5879f1bb6 estimator_sensor_bias: add bias variance 2020-09-04 10:48:26 -04:00
Daniel Agar c54a0ff0c7 estimator_status: add device ids for accel/baro/gyro/mag 2020-09-04 10:48:26 -04:00