eac14b7db2
ekf2/commander: simplify navigation filter preflight checks
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- remove commander test ratio "tuning knobs" (COM_ARM_EKF_{HGT,POS,VEL,YAW})
- these are effectively redundant with the actual tuning (noise & gate)
in the estimator, plus most users have no idea why they'd be
adjusting these other than to silence an annoying preflight complaint
- remove ekf2 "PreFlightChecker" with hard coded innovation limits
- ekf2 preflight innovation flags are now simply if any active source
exceeds half the limit preflight
2024-07-18 16:39:18 +02:00
48f1687d3a
ekf2: cleanup legacy EKF solution_status_flags
2024-07-16 10:11:27 +02:00
1cd7d54170
ekf2: consolidate GNSS yaw in gnss_yaw_control.cpp and fix naming (GPS->GNSS)
...
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2024-07-15 12:50:51 -04:00
c29b4ff87e
ekf2: apply astyle formatting and enforce
2024-07-10 10:43:55 -04:00
3e3b886b5d
ekf2: add terrain estimator_status_flags
2024-07-09 10:10:01 -04:00
64a6971bdb
ekf2: only limit opt flow HAGL if range only terrain
...
- increase HALG limit from 75%->90% of sensor max
2024-07-09 10:10:01 -04:00
e04c53241a
EKF2: reset position by fusion ( #23279 )
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* reset position by fusion
* handle local_pos_valid for fixed wing in gnss denied
* [WIP] ekf2: setEkfGlobalOrigin respect current height reference and vertical position aiding
* global origin, also reset vertical pos without gps as ref
* fix wo gnss, that bitcraze ci passes
* revert some changes as requested
* remove duplicate reset messages
* undo unrelated whitespace changes, I'll fix it everywhere in a followup
* [SQUASH] ekf2: add vehicle_command_ack
* resetGlobalPosToExternalObservation consolidate logic
* remove gnss check from local_pos validation check
* reset when 0<accuracy<1, otherwise fuse
* replace gps param with flag
* ekf2: dead reckon time exceeded, respect ZUPT preflight if air data or optical flow expected
* subtract timeout from last inertial dead-reck, change fake pos conditions, save flash
---------
Co-authored-by: Daniel Agar <daniel@agar.ca >
2024-07-07 22:43:55 +02:00
68980b59e2
ekf2: add terrain state
2024-06-26 11:05:38 +02:00
dcb1103299
ekf2: move estimator_status test ratios to filtered values
2024-06-20 13:41:54 -04:00
157f7cf40b
simplify world_magnetic_model interface (degrees in, degrees out)
...
- this hopefully helps avoid accidental mis-use
- try to clarify units everywhere
2024-06-04 09:14:36 -04:00
224d6f2fa7
ekf2: ekf_helper.cpp remove duplicate method comments (comment on declaration only, not definition)
2024-05-02 17:40:58 -04:00
c1fc893cca
ekf2: move gyro/accel/wind covariance reset helpers to covariance.cpp
2024-05-02 17:40:58 -04:00
63c2ea33c1
ekf2: move Ekf::resetQuatStateYaw() to yaw_fusion.cpp
2024-05-02 17:40:58 -04:00
1ca4056b6a
ekf2: delete unused Ekf::resetImuBias()
2024-05-02 17:40:58 -04:00
6b3b66619b
ekf2: move baro dynamic pressure compensation to aid_sources/barometer
2024-05-02 17:40:58 -04:00
51883fe5d4
ekf2: integrate mag heading into mag 3D
2024-04-05 22:26:03 -04:00
12fefbcfbd
ekf2: use global definition of quaternion error
2024-04-05 22:26:03 -04:00
6d819343aa
ekf2: fix direct state measurement update for suboptimal K case
...
The duration of a unit test had to be increased because the incorrect
covariance matrix update, was making the unit test passing faster
(over-optimistic variance).
2024-03-20 14:13:49 +01:00
421f13e4b5
ekf2: fix joseph covariance update for Schmidt-Kalman filter
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If part of the Kalman gain is zeroed, the first step of the joseph
update does not produce a symmetrical matrix.
2024-03-07 15:11:47 +01:00
d501d8e1d4
ekf2: use Joseph stabilized update in direct state observations
2024-02-26 12:32:59 -05:00
8243b4f474
ekf2: move vel/pos reset helpers
2024-02-20 13:16:24 -05:00
c4c41c49e5
ekf2: move fuseVelPosHeight() -> fuseDirectStateMeasurement()
...
- don't bother keeping bad_vel_{N,E,D} and bad_pos_{N,E,D} fault status bits
2024-02-20 13:16:24 -05:00
c221da27a7
ekf2: set attitude validity flag using centralized function
2024-02-20 11:33:30 -05:00
51155f7a29
ekf2: treat inhibited states as "consider states" and remove conservative covariance matrix fixes ( #22597 )
...
When a state stops to be estimated it becomes a "consider state". Its value and variance are frozen but its covariance with other states continue to evolve normally.
- removes conservative accel bias variance limiting
- force symmetry is skipped after fusion of NED vel/pos (a direct measurement)
---------
Co-authored-by: bresch <brescianimathieu@gmail.com >
2024-01-24 14:14:09 -05:00
cb396a6339
ekf2: fix computation of tilt and yaw variances add them to logging
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Co-authored-by: bresch <bresch@users.noreply.github.com >
2024-01-24 12:14:15 -05:00
bf7da6430d
ekf2: consolidate LPOS & GPOS accuracy methods
2024-01-22 12:34:08 -05:00
c28972d15e
ekf2-grav: only use filtered accel norm to start/stop the fusion
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Using the raw data makes the swith too sensitive to noise
2024-01-18 20:39:16 -05:00
603c3f6636
added support to reset vehicle position based on external position ( #22444 )
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via command MAV_CMD_EXTERNAL_POSITION_ESTIMATE
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2024-01-11 13:09:22 +01:00
fe7988672f
ekf2: auxiliary position fusion
...
Co-authored-by: Daniel Agar <daniel@agar.ca >
2023-12-01 11:50:22 +01:00
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
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
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
d2b3e7fe16
ekf2: new kconfig to enable/disable GNSS (enabled by default)
2023-10-11 14:02:34 -04:00
5352a64042
ekf2: symforce derivation allow optionally disabling mag and wind states
2023-10-10 17:31:11 -04:00
28d58a947f
ekf2: cleanup more optional mag (CONFIG_EKF2_MAGNETOMETER)
2023-10-09 10:18:02 -04:00
028733e1c7
ekf2: add kconfig to disable wind estimation (off by default)
2023-10-09 09:22:29 -04:00
05fd8c5976
EKF2: centralized auto-generated state ( #22183 )
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* ekf2_derivation: use single source of state definition
The state is defined as an ordered dictionary of group elements and
everything else is generated using that state definition
* ekf2: generated state sample add const reference getter
---------
Co-authored-by: bresch <[brescianimathieu@gmail.com ](mailto:brescianimathieu@gmail.com )>
Co-authored-by: Daniel Agar <daniel@agar.ca >
2023-10-06 10:28:21 -04:00
99197919d7
ekf2: access state covariance using helper functions
2023-09-26 06:41:04 +02:00
b3f460f30c
ekf2: update quaternion covariance at yaw reset( #22123 )
...
- Preserve tilt variance while doing a yaw reset
- Yaw variance is now correctly set instead of increased
---------
Co-authored-by: Dominique <dominique.leblanc@donecle.com >
Co-authored-by: bresch <[brescianimathieu@gmail.com ](mailto:brescianimathieu@gmail.com )>
2023-09-25 09:36:42 -04:00
514e0330e5
ekf2_terrain: handle height reset
2023-09-25 09:34:14 -04:00
ebf962bf68
ekf2: remove size in name of state vector and matrix types
...
Then the state vector size can be changes without having to update the
name
2023-09-21 08:27:52 -04:00
779ea3f4d1
ekf2: access state covariance using enum
2023-09-19 09:37:50 -04:00
153f7bbced
ekf2: update all copyright headers
2023-09-15 10:02:09 -04:00
1e9f0ad2c6
ekf2: add kconfig for barometer support (enabled by default)
2023-09-15 10:02:09 -04:00
10b54d08fc
ekf2: add dedicated EKF2_CONFIG_TERRAIN in kconfig
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- new estimator_aid_src_terrain_range_finder for HAGL RNG
2023-09-15 10:02:09 -04:00
845b01a00d
ekf2: add kconfig for magnetometer support (enabled by default)
2023-09-15 10:02:09 -04:00
0282f85cd4
ekf2: compute quat tilt variance using SymForce
2023-08-29 10:57:49 -04:00
9551c1b614
ekf2: send global position if origin is set manually
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Even if the aiding is local only, a valid global estimate can be sent as
long as we know the EKF's origin.
2023-08-26 14:48:49 -04:00
Daniel Agar