- split mag_3d into new standalone mag fusion and mag fusion allowed to update all states (full mag_3d)
- new dedicated control logic for mag/mag_3d fusion and standalone mag heading fusion
- if WMM available use for mag_I and mag_B init
- mag states reset if external yaw reset (yaw estimator, GPS yaw, etc)
- mag reset if declination changed (eliminate _mag_yaw_reset_req)
- mag fusion (but not mag_hdg or mag_3d) can be active during gps_yaw or ev_yaw (if yaw aligned north)
Co-authored-by: bresch <brescianimathieu@gmail.com>
When at rest, directly fuse the gyro data as an observation of its bias.
This allows to strongly observe the gyro biases without having to fuse a
constant heading that makes the ekf too confident about its heading.
- refactor all EKF backend output predictor pieces into new OutputPredictor class
- output states are now calculated immediately with new high rate IMU rather than after EKF update
- IMU delayed sample is passed as around as control data to avoid storing an extra copy and make the requirement clear
- move EV yaw and EV position to new state machines
- EV yaw and EV pos now configured via EKF2_EV_CTRL (migrated from EKF2_AID_MASK)
- new EV position offset estimator to enable EV position while GPS position is active (no more EV pos delta fusion)
- yaw_align now strictly means north (no more rotate external vision aid mask)
- automatic switching between EV yaw, and yaw align north based on GPS quality
- working towards keeping all height source (baro/ev/gnss/rng) handling as consistent as possible, possibly refactoring these out into separate classes later
- refactor updateQuaternion() to compute the yaw jacobian directly (respecting the rotation sequence determination)
- fuseHeading()/fuseYaw321()/fuseYaw312() helpers are eliminated and now mag heading fusion and EV yaw fusion compute the innovation in place
- clear up logic for performing zero innovation heading fusion when quaternion variance exceeds threshold (no more _is_yaw_fusion_inhibited flag manipulation)
- when at rest continue fusing last static heading with very low variance even if other heading sources are active
At each new valid range measurement, the time derivative of the distance
to the ground is computed and compared with the estimated velocity.
The average of a normalized innovation squared statistic check is used
to detect a bias in the derivative of distance measurement,
indicating that the distance measurements are kinematically inconsistent
with the filter.
- 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>
* ekf2: Add FirstOrderLpf and InnovationLpf classes for innovation lowpass filtering
* ekf2: use InnovLpf filter class in preflight checks
* ekf2: move selection of yaw test limit for pre-flight check in function
* ekf2: Move pre-flight checks into separate function
* ekf2: use static constexpr insetead of inline for sq (square) function
* ekf2: Split pre-flight checks in separate functions
Also use the same check for all the innovations:
innov_lpf < test and innov < 2xtest
* ekf2: Add optical flow pre-flight check
* ekf2: Combine FirstOrderLpf and InnovationLpf in single class
* ekf2: check vel_pos_innov when ev_pos is active as well
* ekf2: transform InnovationLpf into a header only library and pass the
spike limit during the update call to avoid storing it here
* ekf2: Static and const cleanup
- set spike_lim constants as static constexpr, set innovation
- set checker helper functions as static
- rename the mix of heading and yaw as heading to avoid confusion
* ekf2: use ternary operator in selectHeadingTestLimit instead of if-else
* ekf2: store intermediate redults in const bool flags. Those will be used for logging
* ekf2: set variable const whenever possible
* ekf2: create PreFlightChecker class that handle all the innovation
pre-flight checks.
Add simple unit testing
Use bitmask instead of general flag to have more granularity
* PreFlightChecker: use setter for the innovations to check instead of sending booleans in the update function
This makes it more scalable as more checks will be added
* ekf: Use booleans instead of bitmask for ekf preflt checks
Rename "down" to "vert"
