ec9dce2e89
Update world_magnetic_model to latest Tue Jul 18 11:14:09 UTC 2023
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* Update world_magnetic_model to latest Tue Jul 18 11:14:09 UTC 2023
* [AUTO COMMIT] update change indication
Co-authored-by: PX4 BuildBot <bot@px4.io >
2023-07-18 14:29:08 -04:00
f5fd369ce8
[AUTO COMMIT] update change indication
2023-07-17 13:43:18 +02:00
1128ada90a
ekf2: use correct AlphaFilter for 3D rotations
2023-07-17 13:43:18 +02:00
f000238987
SensorGps.msg: switch to double precision for lat/lon/alt
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To match https://github.com/PX4/PX4-GPSDrivers/pull/132 - adding high precision RTK lat/lon/alt components
2023-07-13 07:50:09 +02:00
9e2e888f5e
ekf2-bias_cal: reduce required stability period
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For the mag, 30s of bias learning is a lot, given that it is only active
during turns and that it usually converges in < 5 seconds
2023-07-11 11:33:53 -04:00
2f52926972
mag_cal: fix mag bias estimate to mag cal
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- since last_us is set to 0 every time the bias is not observable, the
total time was also reset -> needed 30 consecutive seconds in mag 3D
to be declared "stable"
- after landing, the mag_aligned_in_flight flag is reset. Using this for
bias validity makes it invalid before we have a chance to save it to
the calibration.
2023-07-11 11:33:53 -04:00
f5edff2647
ekf2 - preflt checks: scale flow innovation checks
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Opt flow raw innovations can be really large on ground due to the small
distance to the ground (vel = flow / dist). To make the pre-flight check
more meaningful, scale it with the current distance.
2023-07-11 08:18:32 -07:00
672b29d555
ekf2: report dist bottom also when using flow for terrain
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Terrain height can be estimated using a range finder and/or optical flow
2023-07-11 08:18:32 -07:00
03528a6200
Add EKF2_OF_QMIN_GND to handle 0 optical flow quality when on ground
2023-07-11 08:18:06 -07:00
bca0be47bc
Apply code review changes from @dagar
2023-07-11 08:18:06 -07:00
9511248514
Removed the huge HAGL fuse timeout increase
2023-07-11 08:18:06 -07:00
f5d9ac4526
Cleaned up some comments and debug code
2023-07-11 08:18:06 -07:00
56c794108d
actual fixes for velocity estimate errors and bad rng fusion
2023-07-11 08:18:06 -07:00
81764c43a1
EKF2: use timestamp from argument of PublishEvPosBias() ( #21822 )
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* EKF2: use timestamp from argument of PublishEvPosBias()
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
* Update src/modules/ekf2/EKF2.cpp
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
2023-07-11 11:07:39 +02:00
c1cb48c2ea
EKF2 cleanup. Use MAX_NUM_x constants instead of hard-coded numbers
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Signed-off-by: Antonio Sanjurjo C <74329840+antonio-sc66@users.noreply.github.com >
2023-07-06 09:36:27 +02:00
288e3ae74a
EKF2: vision attitude error filter ( #21791 )
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* ekf2-ev: filter q_error for frame correction
* ekf2: filter EV attitude error centrally
2023-07-03 11:13:59 -04:00
eb70c9f6f3
ekf2: update auto-generated code to SymForce 0.9.0
2023-06-26 14:10:54 -04:00
fdf7867a3e
ekf2: update derivation to SymForce 0.9.0
2023-06-26 14:10:54 -04:00
d9ae2ed7ac
ekf2: regenerate yaw estimator symforce
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- remove underscore uppercase variable naming that can be problematic
2023-06-19 21:00:25 -04:00
24de623989
EKF2: Zero gyro update ( #21691 )
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When at rest, directly fuse the gyro data as an observation of its bias.
This allows to strongly observe the gyro biases without having to fuse a
constant heading that makes the ekf too confident about its heading.
2023-06-09 21:13:18 -04:00
135f02679a
ekf2: Fix description of EKF2_HDG_GATE
2023-06-09 11:52:55 +02:00
5233b33242
update change indicator
2023-06-05 11:58:42 -04:00
403a6310c4
gnss yaw: compare auto-generated Jacobian against autodiff
2023-06-05 11:58:42 -04:00
c6b259d5f6
yaw_fusion: compare auto-generated Jacobian against autodiff
2023-06-05 11:58:42 -04:00
d4528dc53a
sideslip: compare auto-generated Jacobian against autodiff
2023-06-05 11:58:42 -04:00
e7c4a22be8
mag_3d: compare auto-generated Jacobian against autodiff
2023-06-05 11:58:42 -04:00
c6f1a63659
opt_flow: compare auto-generated Jacobian against autodiff
2023-06-05 11:58:42 -04:00
9d7abf2552
ekf2: symforce - use builtin Rot3 and Quaternion operations
2023-06-05 11:58:42 -04:00
6535cc758e
ekf2: fuse mag update last heading fuse time if updating all states
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- handle synthetic z special case
2023-05-26 08:48:08 -06:00
8222cbca2c
ekf2: last range sensor simple timestamp protection
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- sanity check againist potential timestamp issues with incoming
distance_sensor data
2023-05-09 12:02:42 -04:00
f0bea542d5
Update world_magnetic_model to latest ( #21533 )
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* Update world_magnetic_model to latest Mon May 1 11:14:06 UTC 2023
* [AUTO COMMIT] update change indication
Co-authored-by: PX4BuildBot <PX4BuildBot@users.noreply.github.com >
2023-05-01 08:59:55 -04:00
521abecbbf
ekf2: remove all remaining uses of EKF2_AID_MASK
2023-04-28 22:31:17 -04:00
98a8d080b6
ekf2 params: fix my bad english
2023-04-28 22:31:17 -04:00
2a2e43b620
ekf2: move flow fusion activation from AID_MASK to OF_CTRL
2023-04-28 22:31:17 -04:00
39c2f95669
ekf2: move drag fusion activation from AID_MASK to DRAG_CTRL
2023-04-28 22:31:17 -04:00
51f71909d4
Update ekf2_params.c - typo EKF2 aid mask
2023-04-19 17:11:47 -07:00
17806a9608
ekf2: robustify wind init using airspeed
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Tests showed that sideslip fusion often starts just before airspeed
fusion, resetting the wind states to 0 instead of using the airspeed
data. A quick look at the wind uncertainty allows to know if the current
wind estimate is meaningful or if we should rather reset it using the
airspeed data.
2023-04-08 14:12:21 +02:00
fb3b4a3151
ekf2: remove duplicate buffer push of system flags
2023-04-04 15:56:09 -04:00
62770c43f9
[AUTO COMMIT] update change indication
2023-03-31 10:15:12 +02:00
ed7c4bc5d7
ekf2: init tilt using quaternion from gravity vector
2023-03-31 10:15:12 +02:00
4d9369dc67
Update world_magnetic_model to latest Fri Mar 24 11:14:06 UTC 2023
2023-03-24 09:39:26 -04:00
d532578ecc
EKF2: only check for EKF2_BETA_FUSION when corresponding kconfig option is set
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-22 10:05:32 +01:00
98d07ad1f3
disable side slip fusion for tailsitters
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The attitude frame is wrong for tailsitters doing side slip fusion for wind estimation.
It doesn't take into account that the frames is 90deg tilted in FW flight.
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-03-22 10:05:32 +01:00
3e3307c0d0
ekf2: fix mag declination innovation angle wrapping
2023-03-21 21:07:28 -04:00
32a5bd32ad
ekf2: add kconfig option to enable/disable range finder fusion (and terrain estimator)
2023-03-21 11:25:34 -04:00
0784901a66
ekf2: add kconfig option to enable/disable optical flow fusion
2023-03-21 11:25:34 -04:00
b0189d95af
Use new Vector4 class
2023-03-21 15:01:26 +01:00
08d6465ce5
matrix: add explicit Vector4 type
2023-03-21 15:01:26 +01:00
4363b09421
ekf2: add kconfig option to enable/disable external vision fusion
2023-03-20 10:12:17 -04:00
d47f96f1a5
ekf2: add kconfig option to enable/disable AUX velocity fusion
2023-03-20 10:12:17 -04:00
Daniel Agar