d4258cc66d
yaw emergency: check angle between vel observation and estimate ( #975 )
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use thresholds based on state and obs variance
* [AUTO COMMIT] update change indication
2021-02-15 10:31:16 +01:00
6f664abc4a
EKF: Non functional changes arising from review
2021-02-09 19:55:32 +11:00
b87778e61d
EKF: Make clip detection logic easier to follow
2021-02-09 19:55:32 +11:00
9aa8d93efc
EKF: Use isRecent function
2021-02-09 19:55:32 +11:00
e948b3505f
EKF: Don't reject vertical aiding data if inertial solution is bad
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Also reduce clipping count threshold
2021-02-09 19:55:32 +11:00
c566318db5
EKF: misc improvements to handling of accel clipping
2021-02-09 19:55:32 +11:00
9c89fa3b29
EKF: Use IMU clipping to adjudicate bad accel data check
2021-02-09 19:55:32 +11:00
efb78deef9
EKF: Set position fusion gate option false by default
2021-01-21 20:55:42 +11:00
556a195320
EKF: Improve handling of non position mode large position innovations
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These changes fix a bug that allowed IMU gyro errors that cause large tilt errors prior to start of aiding not resulting in large innovation test ratios.
2021-01-21 20:55:42 +11:00
c212975abe
rng height: reset to baro using common logic
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The failsafe from rng height to baro height should occur after a reset
to baro triggered by the controlHeightSensorTimeouts function and not in
the fusion selector.
Until now, the EKF was fusing baro measurements between rng updates if
the range finder ODR was slower than the EKF update rate. This is not
the case anymore as the height reset occurs after 5 seconds.
The unit test has been extended to show this behavior.
2021-01-07 10:07:57 +01:00
31fca9c31d
EKF: Update GPS loss message
2021-01-05 21:08:28 +11:00
a8e0e82858
EKF: update mag LPF immediately
2020-12-17 10:46:04 +01:00
5ccb8b457d
fakePosFusion: reset _last_known_posNE to current state when starting ( #943 )
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* [AUTO COMMIT] update change indication
2020-12-15 10:09:01 +01:00
b0cf45e2d2
gps_alt: rename getGpsAltVar -> getGpsHeightVariance
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
8f3df7a97b
flow: restructure optical flow control logic ( #928 )
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- 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
688a054bdb
EKF: controlDragFusion() add parenthesis for readability
2020-12-08 18:03:04 -05:00
ee94980a8f
EKF: Clean up wind state activation logic
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Ensure wind states are deactivated in one place and always when in a non-position mode.
Activate wind states separately for each observation method.
2020-12-08 18:03:04 -05:00
c4d162f9a0
EKF: range_finder parameterize range sensor quality hysteresis time
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Signed-off-by: Claudio Micheli <claudio@auterion.com >
Co-authored-by: bresch <brescianimathieu@gmail.com >
2020-11-04 12:35:39 -05:00
a21092804a
EKF: remove virtual getters from estimator_interface
2020-11-02 09:35:47 -05:00
6e99ebd928
EKF: add fault status bit for bad vertical accel data
2020-10-26 17:37:15 +01:00
e82d0af6d2
EKF: Improve code clarity - non functional change
2020-10-06 20:50:52 +11:00
7c81350c7a
EKF: Don't yaw reset if not yaw induced nav failure
2020-10-06 20:50:52 +11:00
4c2355a638
EKF: use GPS to lookup declination from WMM before full GPS checks pass
2020-09-28 08:43:32 +02:00
310b989c9a
refactor start of gps into separate function
2020-08-07 10:02:47 +02:00
960b80ee71
Do not update output filter a second time after reset to flow.
2020-08-03 09:51:59 +02:00
88c52aba5e
Refactor ev fusion start into helper functions ( #872 )
2020-07-27 11:42:52 +02:00
3651ed37fb
Do not update time_last_imu outside of setGpsData
2020-07-17 11:06:36 +02:00
b5e1397c0f
Add const modifier
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const modifier
Add missing const modifier
2020-07-16 18:25:06 +02:00
b5765eb3b4
Move variable declaration to better place &
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remove airspeed_innov_var_temp variable. setting to global variable even when fusion is aborted is okay
2020-07-16 18:25:06 +02:00
3d82d822ae
Add const modifier
2020-07-16 18:25:06 +02:00
93011ed52c
Use ternary operator
2020-07-16 18:25:06 +02:00
97e54df123
Gps control: add missing consts and reduce variable scope
2020-07-02 13:35:13 +02:00
b0f79caf34
GPS yaw: Extract and refactor GPS yaw control logic
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- Rename GPS yaw fusion functions:
resetGpsAntYaw -> resetYawToGps
fuseGpsAntYaw -> fuseGpsYaw
- Move last fusion time in reset function
2020-07-02 13:35:13 +02:00
4b746a3fca
GPS Yaw: add consts and remove fusion starting message
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The fusion status is captured in the status flags; the message is
superfluous, uses flash space and can impact real-time performance
2020-06-23 08:43:48 +02:00
2bafe9df08
GPS Yaw: wait to fuse at yaw at least once before declaring it faulty
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This fixes the cases where the yaw message from the GNSS receiver would
take more time than the vel/pos. The estimator should wait and not
immediately fall back to an other aiding source after 5sec.
If it never comes, it will never fall back, but this is ok since the
user wants to fly with GPS aiding an not with something else.
2020-06-23 08:43:48 +02:00
51cd63d626
GPS Yaw: fall back to other yaw aiding source in case of bad data
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If the user selects GPS yaw fusion but that there is no GPS yaw data in
the GPS message or if the fusion is rejected for some time, the GPS yaw
data is declared faulty and the fusion is stopped to allow an other
source of yaw aiding to start.
2020-06-23 08:43:48 +02:00
fe2a9d3018
GPS Yaw: move isfinite checks in control.cpp
2020-06-23 08:43:48 +02:00
3c6790f5d5
GPS Yaw: Always reset Yaw when GPS Yaw fusion is starting
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Also avoid fusing fake mag data when an other source of yaw aiding
is active, even if in MAG_TYPE_NONE mode.
2020-06-23 08:43:48 +02:00
74780aa512
Refactor gps fusion commencing
2020-06-12 15:11:16 +02:00
c91c78dcf6
EKF: Allow reset of yaw to EKF-GSF later in flight
2020-05-22 13:05:10 +03:00
716caa5168
Refactor position resets ( #822 )
2020-05-19 21:53:46 +02:00
19bbea75c0
Fix GPS altitude not fused if GPS checks fail and GPS is primary height source ( #813 )
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* EKF: Fix failure to select a height sensor
* EKF: Remove unnecessary check and improve documentation
2020-05-14 19:26:16 +10:00
24f2e60b7e
Reduce stored strings, to save flash space ( #815 )
2020-05-13 08:09:26 +02:00
98801ad17b
Support vision velocity expressed in body frame too ( #708 )
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* Support vision velocity expressed in body frame
* Use switch statement for vision velocity frame
* Robustify vision velocity frame test
* Increase lower bound on vision velocity noise to 0.05 m/s
2020-05-12 16:03:35 +02:00
c3de452e8e
Remove duplicate code during vision yaw reset ( #810 )
2020-05-12 08:44:39 +02:00
03191847f9
Fix ev_pos_obs_var(1) entry ( #809 )
2020-05-11 10:44:05 +02:00
440383f039
Increase matrix library usage and remove white line
2020-05-11 09:09:52 +02:00
cda7486897
EKF: Prevent yaw reset to GPS caused by loss of GPS data ( #805 )
2020-04-30 17:50:26 +10:00
30d69aa45b
Ekf: extract baro height offset computation
2020-04-19 12:38:13 +02:00
Mathieu Bresciani