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46,487 Commits 852 Branches 161 Tags
e194a52907083783f7e67ff93504016ca1275ce8
Commit Graph
1361 Commits
Author SHA1 Message Date
Daniel Agar e194a52907 ekf2: derivation.py remove sideslip small angle approximation 2024-11-25 08:53:57 +01:00
bresch 14fe6c2167 ekf2: resetHeightTo -> resetAltitudeTo 
The vertical position state is now an altitude, not just a local height
 2024-11-22 15:13:47 +01:00
bresch 93c690f133 ekf2: do not inline getPosition 2024-11-22 15:13:47 +01:00
bresch a224d38e52 lla: move implementation to cpp file 
This reduces flash usage
 2024-11-22 15:13:47 +01:00
bresch aeb182a8ed ekf2: rename resetAltitudeTo to initialiseAltitudeTo 
This is to better show that the altitude is also used to set the origin.
 2024-11-22 15:13:47 +01:00
bresch 30d98885b7 update change indicator 2024-11-22 15:13:47 +01:00
bresch 814a2706f5 ekf2: compensate for coriolis and transport rate accelerations 2024-11-22 15:13:47 +01:00
bresch 842212df6c ekf2: update earth rate also without GNSS 2024-11-22 15:13:47 +01:00
bresch 6becccb217 update change indicator 2024-11-22 15:13:47 +01:00
bresch a492457322 ekf2-derivation: build state struct based on type 2024-11-22 15:13:47 +01:00
bresch 13c5bd4412 ekf-flow: do not reset position when resetting to flow 
Flow only provides velocity information
 2024-11-22 15:13:47 +01:00
bresch b19a6ee3b5 ekf2: store position state as lat/lon/alt 
The position error state is still defined in a body-fixed NED frame but the
position state itself is latitude-longitude-altitude.
 2024-11-22 15:13:47 +01:00
Andrew BrahimandJacob Dahl 834af98992 uavcan: support GNSS heading from relposheading with offset configurable in estimator 
* uavcan: add GNSS heading from relposheading
* ekf2: new EKF2_GPS_YAW_OFF parameter to configure any offset in GNSS heading

Signed-off-by: dirksavage88 <dirksavage88@gmail.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
 2024-11-08 21:52:55 -05:00
bresch 651675fed0 ekf-yaw-est: do not store full S_inverse 2024-11-07 11:37:56 -05:00
bresch 7b04ea0dca ekf-yaw-est: wrap_pi when updating yaw 2024-11-07 11:37:56 -05:00
bresch 3ad4b57315 ekf-yaw-est: do not reset when all weights collapse 
The likelyhood can be really small when the innovation is suddenly
large. This can occur during a GNSS velocity glitch and shouldn't reset
the filter as it would bring it back to a really vulnerable state.
 2024-11-07 11:37:56 -05:00
bresch aa5fdd3bb3 ekf2-rng-kin: allow invalidating at any vertical speed 
The issue is that when the HAGL is low, the drone will usually
decelerate and then the check would run anymore. If the low HAGL
estimate is due to bad sensor readings (e.g.: reflections), it will be
stuck in that state.
 2024-11-05 16:51:49 +01:00
bresch d579fb540c ekf2-terrain: do not consider negative hagl as valid 2024-10-30 12:14:43 -04:00
Marco HauswirthandMathieu Bresciani 0c451552c7 EKF2: add validity flags to global pos message (#23787) 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2024-10-23 10:19:04 +02:00
Daniel Agar f971c0e617 ekf2: reduce bad acc probation time 10s->3s 2024-10-07 10:37:33 +02:00
Daniel Agar 9ddac762e3 ekf2: stricter GNSS vel rejected innovation override 
- in the special case of bad vertical acceleration detected
   (bad_acc_vertical) only allow overriding rejected GNSS 3D velocity
   if horizontal innovations are accepted
 2024-10-07 10:36:09 +02:00
Daniel Agar 9238656a33 ekf2: configurable velocity state constraint (EKF2_VEL_LIM) 
- replace hardcoded 1000 m/s velocity state constraint with new EKF2_VEL_LIM parameter (default 100 m/s)
 - new velocity limit also used for GPS checks and external vision velocity
 2024-10-07 10:35:48 +02:00
Marco Hauswirth 7d0e93b779 ekf2: always publish global position when origin has been set 2024-10-04 11:41:20 -04:00
Daniel Agar 34ee097f02 ekf2: tighten terrain validity requirements 
- require valid fusion from a range finder or optical flow before
   considering terrain valid again
 2024-10-04 10:31:20 +02:00
bresch dbf51da99e ekf2: rework amsl to ellipsoid altitude conversion 2024-10-01 10:40:18 -04:00
bresch 5bfa6b3359 ekf2: remove redundant ned_origin_initialised flag 2024-10-01 10:37:20 -04:00
Marco HauswirthandMathieu Bresciani fe40ccd193 EKF2: publish wind after external wind init (#23747) 
* publish wind after external wind init

* move ext-wind-init to estimator-interface

* Update src/modules/ekf2/EKF/estimator_interface.h

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

* Update src/modules/ekf2/EKF/estimator_interface.h

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>

---------

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2024-10-01 14:33:30 +02:00
bresch 35efe44a6b ekf2: fusion always succeeds, do not return boolean 2024-09-24 10:48:14 -04:00
bresch 23f343aa3a ekf2-rng: consider height covariance for terrain reset to range 
Range does not provide a direct terrain observation but a measurement
relative to the height state. Correlation between height and terrain
must be set properly.
 2024-09-24 10:18:25 -04:00
Marco Hauswirth 454ded1b25 EKF2: ev-vel refactoring (#23577) 2024-09-24 14:09:11 +02:00
Marco Hauswirth 8afd267509 move more ekf function implementations to cpp 2024-09-23 12:18:41 -04:00
Marco Hauswirth e3f138862a move implementation of updateAidSrcStatus to cpp file, saves flash 2024-09-23 12:18:41 -04:00
bresch 15ddd94349 ekf2: move implementation to ekf_helper to reduce flash usage 
saves about 4.8kB of flash on FMUv5
 2024-09-23 10:27:42 -04:00
BazookaJoe1900 4d83badba1 fix files tags on the header comments (#23564) 2024-09-19 09:25:18 +03:00
Marco Hauswirth 22c2878cf8 send acknowledgement after receiving vehicle wind cmd 2024-09-12 09:34:08 +02:00
Marco Hauswirth 44967bdaab ekf2: uncorrelate position covariance after velocity reset (#23644) 2024-09-06 08:51:15 -04:00
Marco Hauswirth 7dcea6b2e4 EKF2: range measurement rejection in rain/fog (#23579) 2024-08-30 17:25:56 +02:00
Daniel AgarandMathieu Bresciani 5b0014cb06 ekf2: remove legacy accel z bias checks (#23341) 
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2024-08-29 11:51:27 -04:00
bresch bab256bfe6 ekf2: handle external altitude resets 2024-08-28 11:02:26 +02:00
bresch cd2170deea ekf2-origin: backcompute based on lpos validity 2024-08-28 11:02:26 +02:00
bresch 130fefb1e7 ekf2: initialize origin from corrent position when possible 2024-08-28 11:02:26 +02:00
bresch af752536b9 ekf2: extract setting origin from current lat/lon/alt 
This is not only needed when GNSS is available but also for other global
sources of position (e.g.: aux global pos and manual pos updates)
 2024-08-28 11:02:26 +02:00
bresch 9169a7c5fc ekf2: split horizontal and vertical origin reset 
Allow partial resets (only lat/lon or only altitude)
 2024-08-28 11:02:26 +02:00
Daniel Agar f3d58cdf10 ekf2: resetFlowFusion() pass flowSample by const ref 2024-08-27 10:38:17 -04:00
Daniel Agar 6c24413888 ekf2: filter flow vel (used for flow velocity reset) 
- individual flow samples can be quite erratic
 2024-08-27 10:38:17 -04:00
dagar 5ff4eea870 [AUTO COMMIT] update change indication 2024-08-27 16:16:55 +02:00
Daniel Agar ac48b8b51d ekf2: mag declination fusion always if there is no aiding 2024-08-27 16:16:55 +02:00
Daniel Agar 2a9e205442 ekf2: fuseDeclination respect mag update_all_states 
- when both mag_hdg/mag_3d are inactive we should be able to continue
   updating mag without any possible impact on other states
 2024-08-27 16:16:55 +02:00
Daniel Agar 9d57a3c02f ekf2: split resetMagCov() and skip mag reset if negligible change 2024-08-27 16:16:55 +02:00
Daniel Agar bbcf741e9e ekf2: make mag control responsible for WMM 
- this further untangles mag control (which requires the WMM) from GPS
 2024-08-27 16:16:55 +02:00