ec3ceae45e
ekf2: move yaw_estimator and derivation to dedicated folder
2024-04-18 15:14:59 -04:00
a8a67fbf8f
ekf2: set horizon using specific parameter
...
Some sensors can have their delay included in the timestamp. In this
case, the buffer cannot be sized using the _DELAY parameter.
2024-04-17 09:16:16 -04:00
7a973eddce
ekf2: migrate param to yaml
2024-04-16 11:14:13 -04:00
78bbb66568
delete SYS_MC_EST_GROUP
...
- introduce per module parameters (EKF2_EN, LPE_EN, ATT_EN)
- add basic checks to prevent EKF2 + LPE running simultaneously
2024-04-15 16:06:08 -04:00
5f61e3b785
ekf2: update change indicator
2024-04-05 22:26:03 -04:00
b79d3854e4
ekf2: remove option to continuously fuse mag declination
...
Declination fusion is only used when not observable (no global aiding).
2024-04-05 22:26:03 -04:00
dae246d7e2
ekf2: do not continuously use mag decl fusion when GNSS fusion is active
...
This prevents over-constraining the heading from mag fusion. An
incorrect mag yaw rotation can be absorbed as a declination error.
2024-04-05 22:26:03 -04:00
2f51db7284
ekf2: limit mag heading fusion to prevent heading overconfidence
2024-04-05 22:26:03 -04:00
51883fe5d4
ekf2: integrate mag heading into mag 3D
2024-04-05 22:26:03 -04:00
0c9e4013d2
ekf2: improve tilt leveling speed
...
Starting with no yaw uncertainty makes the tilt more observable when
using fake position fusion during the quasi-stationary alignment phase.
2024-04-05 22:26:03 -04:00
12fefbcfbd
ekf2: use global definition of quaternion error
2024-04-05 22:26:03 -04:00
749f88b62b
ekf2: gps control lazily check yaw_failure() only after in_air
2024-03-26 19:50:57 -04:00
638e17d551
ekf: update change indicator
2024-03-20 14:13:49 +01:00
6d819343aa
ekf2: fix direct state measurement update for suboptimal K case
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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
cb2bb2e098
ekf2: add no gyro bias estimate test case
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This makes the ekf unstable and creates NANs during initialization
2024-03-20 14:13:49 +01:00
c9221b91ad
ekf2: fix gnss yaw unit test
2024-03-20 14:04:19 +01:00
32aa3263a6
EKF: Change a typo
2024-03-18 10:29:44 +01:00
7c6ecd95a8
mc_wind_estimator_tuning: optionally use GNSS velocity
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Sometimes GNSS is logged but not used
2024-03-14 21:06:24 +01:00
b2f1122372
ekf2: remove old yaw 321 and 312 derivations
2024-03-14 11:33:45 -04:00
ee63f3e664
update change indicator
2024-03-14 11:33:45 -04:00
e3f67d5c1a
ekf2: new yaw derivation
...
Instead of euler angles, compute measurement jacobian using a small
global perturbation around the vertical axis
2024-03-14 11:33:45 -04:00
0d0978b3b9
ekf2: update change indicator
2024-03-07 11:06:31 -05:00
0639f5370c
ekf2: fix mag and wind covariance prediction
2024-03-07 11:06:31 -05:00
2bacb4b65d
ekf2: update change indicator
2024-03-07 15:11:47 +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
6f9a378247
yaw_est: force set gyro bias when at rest
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The gyro bias estimate from EFK2 is really good when at rest and should
be used by the yaw estimator to prevent heading drifts due to poor
heading observability.
2024-03-05 14:00:06 -05:00
28db3e1c8c
ekf2: update change indicator
2024-02-27 12:33:43 -05:00
e9d43015ce
ekf2: fix unit tests failing due to mag fusion changes
2024-02-27 12:33:43 -05:00
b46fc9a67d
ekf2 sensor_sim: set correct world mag field
2024-02-27 12:33:43 -05:00
b80f15f7b5
ekf2-mag_auto: always use mag 3D after takeoff
2024-02-27 12:33:43 -05:00
051baec9c4
ekf2: allow wind dead-reckoning after manual position reset
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Reset velocity using airspeed and start navigating
2024-02-27 09:34:05 -05:00
8001132d33
ekf2: ZeroGyroUpdate move to fuseDirectStateMeasurement
2024-02-26 12:32:59 -05:00
08a2a6c836
update EKF2 change indicator
2024-02-26 12:32:59 -05:00
d501d8e1d4
ekf2: use Joseph stabilized update in direct state observations
2024-02-26 12:32:59 -05:00
9d9766c6cf
ekf2: use Joseph stabilized covariance update
2024-02-26 12:32:59 -05:00
37a40d3fc2
baro static pressure compensation tuning: remove dependency to baro bias
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`estimator_baro_bias` requires to have GNSS and baro hgt active and GNSS as the reference. This is quite restrictive. Instead, we can simply use a high-passed version of the baro error.
2024-02-23 10:07:13 +01:00
506c60c471
ekf2: declination fusion don't use uninitialized parameter (EKF2_MAG_DECL)
2024-02-21 09:45:44 -05:00
8243b4f474
ekf2: move vel/pos reset helpers
2024-02-20 13:16:24 -05:00
22b957696d
ekf2: velocity/position fusion helper minor consistency cleanup
2024-02-20 13:16:24 -05:00
c338891677
ekf2: split vel_pos_fusion.cpp
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
021dd0d0af
ekf2: fix EV height bias predict call
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- needs to be called every iteration
2024-02-20 11:47:53 -05:00
c221da27a7
ekf2: set attitude validity flag using centralized function
2024-02-20 11:33:30 -05:00
1032dd3470
ekf: fix measurementUpdate comment typo
2024-02-19 09:41:49 +01:00
8dc3975456
ekf2: only populate gnss pos aid src status if ref initialized
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- this is a minor logging improvement when plotting the position from the beginning of the log (often a replay session)
2024-02-15 13:13:10 -05:00
f636414ca7
tuning_tools: Change 1G to a more accurate value
2024-02-09 10:26:57 -05:00
17d55dddd6
ekf2-drag: do not generate Kalman gain to save flash
2024-02-06 12:16:33 +01:00
1efb08375a
ekf2: let drag fusion affect the complete state vector
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This improves tilt estimation and can extend the inertial dead-reckoning
validity period
2024-02-06 12:16:33 +01:00
9c02e384e6
ekf2-agp: follow measurement reset
2024-01-30 11:23:55 -05:00
5d9081b0dd
ekf2-agp: ensure logging of AGP aid_src topic
2024-01-30 11:23:55 -05:00
Daniel Agar