e90e1c7e2a
GNSS yaw: use dedicated observation noise
2021-08-05 11:10:02 +02:00
93aa6e3f78
ekf2: baro bias publish minor cleanup
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- naming consistency (estimator prefix as "namespace")
- only publish if baro is available and bias is changing as a small logging optimization
- avoid unnecessary copying (get const reference to status directly)
- trivial code style fixes
2021-08-02 13:59:38 -04:00
9c36236565
ekf2: increase stack size to 3600
2021-08-02 09:47:38 -04:00
54918f650b
Update world_magnetic_model to latest Sun Aug 1 16:57:37 UTC 2021
2021-08-01 13:53:53 -04:00
521b9f5dcc
control: do not constantly ask for mag reset if yaw not aligned
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This also prevents triggering the `_mag_yaw_reset_req` flag in magless
mode; preventing the GNSS fustion from starting.
2021-07-27 13:34:53 +02:00
639e0a39cf
EKF2: add yaw estimator alignment test
2021-07-27 13:34:53 +02:00
17ebcd2456
mag_control: fuse fake heading during leveling fine alignment ( #17964 )
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Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-07-27 11:50:50 +02:00
e01b631465
ekf2: change indication test limit float precision to minimize false positives
2021-07-26 13:54:36 -04:00
a8e3c46cdb
[AUTO COMMIT] update change indication
2021-07-19 16:53:45 -04:00
54c7e74de3
EKF: add baro bias estimator using GNSS altitude
2021-07-19 16:53:45 -04:00
10f4fc7783
ekf2: don't print distance_sensor selection unless there are multiple options
2021-07-19 12:17:12 -04:00
0101934f47
ekf2: multi-EKF instance message INFO -> DEBUG
2021-07-18 18:02:33 -04:00
9ac860ac33
ekf2: test fix double promotion warnings
2021-07-18 15:49:53 -04:00
9087ba2259
world_magnietc_model: update to latest and fix code style
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- minimize test_geo_lookup.cpp optimization to improve compile times
2021-07-18 15:49:53 -04:00
f34862f143
Delete redundant Ekf class member variable constructor initilizations and add missing C++ style initializers to the header file.
2021-07-17 12:24:56 -04:00
eeb73fdbe6
ekf2: resetting IMU bias message INFO -> DEBUG
2021-07-17 10:57:09 -04:00
c8e6d93cc0
ekf2: backend apply code style (generated code still exempt)
2021-07-15 21:15:41 -04:00
2cf66a5d8f
ekf2: move EKF out of ecl
2021-07-15 10:38:24 -04:00
883624d915
lib/geo: move from ecl
2021-07-15 10:38:24 -04:00
dbaed99626
cmake remove git_ecl target
2021-07-13 10:03:06 -04:00
223ca11aed
ekf2: update drag fusion parameter descriptions
2021-07-08 22:19:52 -04:00
2d6363e0ef
ekf2: Add parameter for propeller momentum drag
2021-07-08 22:19:52 -04:00
982692f5ed
ekf2: selector handle NAN test ratios as uninitilaized
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- requires https://github.com/PX4/PX4-ECL/pull/1020
2021-06-29 21:36:24 -04:00
0dee7af81f
ekf2_params: enable baro ground effect compensation by default
2021-06-22 10:32:54 +02:00
9a423e222b
ekf2:Use inttypes and fix types
2021-06-16 17:07:47 +02:00
b550ad22b9
EKF2: Always publish global position
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For historical reasons, there is a check in EKF2 to only publish global
position if it has moved for 1mm.
This is no longer necessary, and also this if doesn't save any cpu cycles
in real conditions where GPS errors are always much bigger that this.
When using simulated or fake GPS, based on some other positioning
system, the GPS coordinate input can be very accurate due to quantization
or true accuracy. In this case this check bites and perfectly valid position
doesn't get published.
Just removed this if.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-06-15 10:55:39 +02:00
251f1a069b
ekf2: update message lost error messages to perf counters
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- only allocate these perf counters if data source is present
2021-06-08 20:12:17 -04:00
578c003c13
ekf2: selector handle uninitalized test ratios
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- choose the best instance regardless of tilt or yaw alignment
2021-06-07 08:56:37 -04:00
2ccd86102b
ekf2: add command line option to manually select instance
2021-06-07 08:47:17 -04:00
22838f491a
ekf2: replace mag missed error message with perf count
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- this error is primarily useful when significant gaps in magnetometer are present, otherwise the occasional gaps at startup, etc are distracting in regular usage
2021-05-24 20:52:07 -04:00
f15eefcc95
ekf2: selector increase status rate before potential instance change
2021-05-07 22:38:47 -04:00
29730e30fa
ekf2: don't timeout in HITL mode
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Otherwise ekf2 might not start if HITL isn't started within 30 seconds.
2021-05-07 22:38:03 -04:00
b1ebd16c61
ekf2: improve selector reset handling
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- handle reset count rollover (uint8_t)
- compute full reset delta if primary estimator instance has changed or if we missed a reset
2021-05-05 21:45:13 -04:00
38c1ec6a9c
ekf2: check if ChangeInstance succeeded
2021-04-27 10:29:09 -04:00
2d15c96b9b
ekf2: Multi-EKF let new instance schedule itself immediately on successful init
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- this is to minimize missed sensor data (and unnecessary error output) between EKF2 construction and once it actually starts running
2021-04-13 14:24:46 -04:00
846695f986
ekf2: replace vehicle_imu lost error message with perf count
2021-03-31 22:07:32 -04:00
9a35756cd1
ekf2: enable range aid by default
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- this is to help more users get the benefit (by default) and perhaps circumvent the common mistake of setting EKF2_HGT_MODE to range sensor
- this should be safe to enable as the range aid defaults are fairly conservative (max horizontal velocity 1 m/s, and range aid gate 1 SD)
2021-03-30 10:23:18 -04:00
629f7ba15b
params: ensure short description is only a single line
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So a UI can display it properly
2021-03-23 12:55:11 -04:00
4465c4fbf6
ekf2: Publish and log EKF warning and information events (NEW msg estimator_event_flags)
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* msg: Add estinator information and warning events message (estimator_event_flags)
* ekf2: publish information and warning events
* logger: log estimator_event_flags
* update ecl submodule to latest
Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-03-07 16:16:48 -05:00
263b00b65f
ekf2 support SET_GPS_GLOBAL_ORIGIN and remove globallocalconverter usage
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- vehicle_command cmd extended from uint16 to support PX4 internal commands that don't map to mavlink
2021-03-05 18:25:14 -05:00
b66a9629e0
ekf2: update to latest ecl with new global origin helpers
2021-02-25 10:43:07 -05:00
0ea8104344
select single system-wide wind estimate message (current best)
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- publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind)
- rename message wind_estimate to wind
- publish wind from currently used ekf instance (ekf2selector)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2021-02-20 13:15:01 -05:00
5e188b3cd7
ekf2: populate local_position dist_bottom_sensor_bitfield
2021-02-18 10:37:02 -05:00
cff7a01d5e
ekf2: estimator_status log reset counts
2021-02-17 21:16:34 -05:00
40a452dcd2
ekf2: selector improve timeout handling and reporting
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- relax estimator_status timeout unless attitude hasn't published recently
2021-02-14 21:08:56 -05:00
c3172a91d9
ekf2: try reselecting distance_sensor on timeout
2021-02-12 08:25:27 -05:00
a399bb9894
ekf2: fix mismatch between ecl and firmware flag definition
2021-02-05 14:30:09 +01:00
fa45eacea3
Fix and unify the maximum allowed PDOP references
2021-02-04 10:20:22 +01:00
78dff6adcb
boards: add CONSTRAINED_MEMORY build option
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- currently the main change is that it reduces the max number of ORB multi instances to 4, but usage will be expanded as needed
- limits number of EKF2 multi instances to 2.
- enabled on all cortex m4 boards
2021-02-01 08:56:22 +01:00
e7f2195a9b
ekf2: error if unable to copy every sensor publication
2021-01-29 22:12:29 -05:00
bresch