d45c3d3407
ekf2: verbose (DEBUG_BUILD) print status with Matrix improved print
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* ekf2: verbose print status
* matrix/Matrix improve print output
* bold diagonal elements, print ring buffer entry size
* print in scientific notation when >= 10 to respect max size
---------
Co-authored-by: bresch <brescianimathieu@gmail.com >
2024-01-10 09:46:04 -05:00
74549e29a5
[AUTO COMMIT] update change indication
2023-12-21 11:42:08 +01:00
36eb319834
ekf2-yaw_est: split imu and velocity updates
2023-12-18 18:11:20 +01:00
bba30663cc
update change indicator
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Caused by the GNSS checks being performed at the delayed-time horizon
2023-12-18 18:11:20 +01:00
a653073d4f
ekf2: perform GNSS checks at delayed-time horizon
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- never fuse a measurement that is not passing the checks
- cleanup and simplify GNSS vel/pos control logic
2023-12-18 18:11:20 +01:00
5ca22df55c
ekf2-pos bias estimator: use enum
2023-12-05 11:22:59 -05:00
a3515a2474
ekf2: scope HeightSensor enum
2023-12-05 11:22:59 -05:00
6bd1145006
ekf2: scope RngCtrl enum
2023-12-05 11:22:59 -05:00
1df52df27d
ekf2: scope GnssCtrl enum
2023-12-05 11:22:59 -05:00
97423136d1
ekf2-AGP: scope control enum
2023-12-05 11:22:59 -05:00
4c0b6dbe86
Remove trailing whitespaces and trailing duplicate newlines
2023-12-01 13:11:00 -05:00
fe7988672f
ekf2: auxiliary position fusion
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Co-authored-by: Daniel Agar <daniel@agar.ca >
2023-12-01 11:50:22 +01:00
7b4712cb29
sensor_simulator: initialize VelocitySmoothing with desired limits
2023-11-30 17:16:02 +01:00
a9213e3862
Update world_magnetic_model to latest Tue Nov 28 11:14:14 UTC 2023
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Co-authored-by: PX4 BuildBot <bot@px4.io >
2023-11-28 11:04:02 -05:00
6320ca64a9
ekf2-terr: allow range fusion before takeoff
2023-11-21 21:56:34 -05:00
0f3378e194
ekf2: fix terrain range finder logging
2023-11-21 21:56:34 -05:00
1c3a1183c8
ekf2-flow: refactor control logic
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Use flow rates instead of integrals in backend. This allows us to delay
the data to the mitpoint integration time and simplifies the code in
general.
Gyro compensation can still be done in EKF2 if needed, but the
flow module normally already appends the correct gyro data to the flow
message.
2023-11-21 21:56:34 -05:00
dd2322d622
Added PerformanceModel for fixed wing ( #22091 )
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* created a Performance Model for fixed wing vehicle
- added compensation for maximum climbrate, minimum sinkrate, minimum airspeed and trim airspeed based on weight ratio and air density
- added atmosphere lib to standard atmosphere calculations
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com >
Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com >
2023-11-21 17:13:50 +01:00
70cd224236
EKF2 params: remove wrong horizontal keyword and gps-->GNSS
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-11-21 15:23:33 +01:00
c7672fc68c
ekf2-params: delta vel/ang -> accel/gyro
2023-11-20 20:10:16 -05:00
62027b0965
ekf2: remove EKF2_HGT_MODE VerifyParams() transition helpers
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- in theory these are helpful to ensure EKF2_HGT_MODE configuration is
consistent with the relevant aid source (GPS, baro, etc), but it can
be a little awkward with users having to fight manual parameter
changes in the right order
2023-11-16 15:02:43 -05:00
3b2d766573
ekf2: purge remaining EKF2_AID_MASK references
2023-11-16 09:36:58 +01:00
efa12ad224
EKF2 simplify covariance propagation ( #22344 )
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* ekf2-derivation: optimize before generating cpp code
* update EKF2 change indicator
Slight changes due to simplifications done in the covariance prediction
---------
Co-authored-by: bresch <[brescianimathieu@gmail.com ](mailto:brescianimathieu@gmail.com )>
2023-11-14 11:22:16 -05:00
00568985c0
yaw_est: use error-state covariance prediction
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Convergence improvements in high yaw rate conditions
2023-11-13 11:37:27 -05:00
0a271b1982
EKF2: increase default of EKF2_WIND_NSD and EKF2_TAS_GATE
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Increasing the wind process noise results in a more dynamic
wind estimation, which is capable of catching fast-varying
winds. As wind is used in the lateral guidance it's important
that we don't filter it too much.
Furher the gate of the airspeed fusion is increased, to
reduce the likelihood of airspeed fusion stopping due to
dynamic wind conditions. The airspeed is validated in
the airspeed validator (EKF consumes the validated one).
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-11-09 09:42:43 +01:00
ec20f92558
EKF2: sideslip_fusion: remove construced airspeed magnitude check to fuse beta
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-11-09 09:42:43 +01:00
77baa7c24a
ekf2: EKFGSF yaw estimator always run
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- if not in air the accel noise is doubled
- if landed don't init unless GPS velocity is non-negligible
- when inactive continue seeding with EKF gyro bias
- reset yaw estimator if GPS fusion is stopped
2023-11-07 15:48:49 -05:00
94d4dc85f8
ekf2: Make stuck detector optional
2023-11-07 11:57:19 +01:00
a989e5338c
ekf2: reset globlal position uncertainty when GNSS is fused
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There is no reason to keep an uncertainty on the origin as it is then
already contained in the local position estimate when GNSS data is fused
in the filter.
2023-11-02 13:11:40 -04:00
0d6c2c8ce9
EKF2: Error-State Kalman Filter ( #22262 )
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* ekf derivation: change to error state formulation
* ekf2: update auto-generated code for error-state
* ekf2: adjust ekf2 code for error state formulation
* ekf2_tests: adjust unit tests for error-state EKF
* update change indicator for error-state EKF
* ekf2_derivation: allow disabling mag and wind states
---------
Co-authored-by: bresch <[brescianimathieu@gmail.com ](mailto:brescianimathieu@gmail.com )>
2023-10-31 10:02:18 -04:00
eed2870fd8
ekf2: fix optical_flow_vel publication
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We should otherwise call this publication before the aid_src publisher
that sets the timestamp. Having it separate avoids this ordering
constraint.
2023-10-25 09:59:56 -05:00
27f9b1b65a
ekf2: move zero gyro update to aid source class
2023-10-18 20:23:56 -04:00
e79737a38d
ekf2: create simple estimator aid source base class and extract zero velocity update
2023-10-18 20:23:56 -04:00
408c30de13
ekf2: delete redundant aid src status getters
2023-10-18 15:21:51 -04:00
bdaf0acfca
ekf2: fully disable yaw estimator EKFGSF_yaw with CONFIG_EKF2_GNSS ( #22233 )
2023-10-18 13:30:17 -04:00
3d238b0275
ekf2: add kconfig to disable gravity fusion ( #22231 )
2023-10-18 10:50:51 -04:00
6eae9fb371
ekf2: fix barometer kconfig
2023-10-18 09:43:27 -04:00
48e09a4dea
ekf2: move predict covariance IMU inhibit check to function
2023-10-17 09:58:10 -04:00
0b44852094
ekf2: move accel bias check out of fixCovarianceErrors
2023-10-17 09:58:10 -04:00
1c9373e83b
update baro static pressure compensation tuning script
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Field name changed in vehicle_gps_position
2023-10-16 09:45:28 -04:00
9676af2fe6
ekf2: predict covariance avoid explicit temporary nextP
2023-10-13 20:57:33 -04:00
d2b3e7fe16
ekf2: new kconfig to enable/disable GNSS (enabled by default)
2023-10-11 14:02:34 -04:00
ec15fe3d90
ekf2-derivation: fix terrain and yaw estimator derivations
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fix compatibility issues with symforce-0.9.0
2023-10-11 09:49:17 -04:00
cf1c6a8b84
ekf2-derivation: remove old wind covariance derivation
2023-10-11 09:49:17 -04:00
5352a64042
ekf2: symforce derivation allow optionally disabling mag and wind states
2023-10-10 17:31:11 -04:00
b5f3d089c4
ekf2: mag_fusion remove direct state index usage
2023-10-10 09:18:04 -04:00
cf4c565e4a
ekf2: mag_fusion.cpp cleanup includes
2023-10-10 09:18:04 -04:00
c85840c4dd
ekf2: mag_fusion only set fault status flags if mag_3D updating all states
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- other parts of the system are blanket checking for any fault status
flag
2023-10-10 09:18:04 -04:00
e58ceba4b1
ekf2: mag_fusion consolidate duplicate error handling
2023-10-10 09:18:04 -04:00
fc32820e19
ekf2: initialize wind covariance using symforce
2023-10-09 21:03:38 -04:00
Daniel Agar