5f61e3b785
ekf2: update change indicator
2024-04-05 22:26:03 -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
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
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
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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
2bacb4b65d
ekf2: update change indicator
2024-03-07 15:11:47 +01:00
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
08a2a6c836
update EKF2 change indicator
2024-02-26 12:32:59 -05:00
9d9766c6cf
ekf2: use Joseph stabilized covariance update
2024-02-26 12:32:59 -05:00
506c60c471
ekf2: declination fusion don't use uninitialized parameter (EKF2_MAG_DECL)
2024-02-21 09:45:44 -05:00
1d70e32551
Update world_magnetic_model to latest Wed Jan 24 11:14:20 UTC 2024
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Co-authored-by: PX4 BuildBot <bot@px4.io >
2024-01-26 09:08:51 -05:00
51155f7a29
ekf2: treat inhibited states as "consider states" and remove conservative covariance matrix fixes ( #22597 )
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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
ed0d26de8a
ekf2: improve attitude estimation without horizontal aiding
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- fake_pos only if at rest or tilt variances becomes large
- fake pos: don't run when grav fusion is enabled
- gravity fusion enabled by default
- gravity: only fuse when accel norm and lpf norm are consistent
Co-authored-by: bresch <brescianimathieu@gmail.com >
2024-01-17 10:27:25 -05:00
74549e29a5
[AUTO COMMIT] update change indication
2023-12-21 11:42:08 +01:00
bba30663cc
update change indicator
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Caused by the GNSS checks being performed at the delayed-time horizon
2023-12-18 18:11:20 +01:00
a653073d4f
ekf2: perform GNSS checks at delayed-time horizon
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- never fuse a measurement that is not passing the checks
- cleanup and simplify GNSS vel/pos control logic
2023-12-18 18:11:20 +01:00
a3515a2474
ekf2: scope HeightSensor enum
2023-12-05 11:22:59 -05:00
6bd1145006
ekf2: scope RngCtrl enum
2023-12-05 11:22:59 -05:00
1df52df27d
ekf2: scope GnssCtrl enum
2023-12-05 11:22:59 -05:00
7b4712cb29
sensor_simulator: initialize VelocitySmoothing with desired limits
2023-11-30 17:16:02 +01:00
a9213e3862
Update world_magnetic_model to latest Tue Nov 28 11:14:14 UTC 2023
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Co-authored-by: PX4 BuildBot <bot@px4.io >
2023-11-28 11:04:02 -05:00
1c3a1183c8
ekf2-flow: refactor control logic
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Use flow rates instead of integrals in backend. This allows us to delay
the data to the mitpoint integration time and simplifies the code in
general.
Gyro compensation can still be done in EKF2 if needed, but the
flow module normally already appends the correct gyro data to the flow
message.
2023-11-21 21:56:34 -05:00
dd2322d622
Added PerformanceModel for fixed wing ( #22091 )
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* created a Performance Model for fixed wing vehicle
- added compensation for maximum climbrate, minimum sinkrate, minimum airspeed and trim airspeed based on weight ratio and air density
- added atmosphere lib to standard atmosphere calculations
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com >
Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com >
2023-11-21 17:13:50 +01:00
efa12ad224
EKF2 simplify covariance propagation ( #22344 )
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* ekf2-derivation: optimize before generating cpp code
* update EKF2 change indicator
Slight changes due to simplifications done in the covariance prediction
---------
Co-authored-by: bresch <[brescianimathieu@gmail.com ](mailto:brescianimathieu@gmail.com )>
2023-11-14 11:22:16 -05:00
00568985c0
yaw_est: use error-state covariance prediction
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Convergence improvements in high yaw rate conditions
2023-11-13 11:37:27 -05:00
94d4dc85f8
ekf2: Make stuck detector optional
2023-11-07 11:57:19 +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
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 )
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- 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
153f7bbced
ekf2: update all copyright headers
2023-09-15 10:02:09 -04:00
016db84d69
ekf2: covariance update use IMU sample dt ( #22032 )
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- usually the delta angle and delta velocity dt is the same, but they can be slightly different
2023-09-13 09:58:56 -04:00
78eb0cdb72
opt flow: fix msg naming
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optical_flow got replaced by sensor_optical_flow and vehicle_optical_flow
2023-09-11 10:12:16 -04:00
52bcf1e0c2
update change indicator
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The yaw variance is now initially zero
2023-08-29 10:57:49 -04:00
78d75ada3e
update change indicator
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The result is slightly different because we now only set the tilt
covariance (before, tilt variance was applied to all axes)
2023-08-29 10:57:49 -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
74a54b3b12
EKF2: improve resilience against incorrect mag data
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- when GNSS is used require low mag heading innovations during
horizontal acceleration (yaw observable) to validate the mag
- only fuse mag heading just enough to constrain the yaw estimate
variance to a sane value. Leave enough uncertainty to allow for a
correction when the yaw is observable through GNSS fusion
2023-08-17 09:55:15 -04:00
bresch