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213 Commits

Author SHA1 Message Date
Sergei Grichine f000238987 SensorGps.msg: switch to double precision for lat/lon/alt 
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
bresch 9e2e888f5e ekf2-bias_cal: reduce required stability period 
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
bresch 2f52926972 mag_cal: fix mag bias estimate to mag cal 
- 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
bresch f5edff2647 ekf2 - preflt checks: scale flow innovation checks 
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
bresch 672b29d555 ekf2: report dist bottom also when using flow for terrain 
Terrain height can be estimated using a range finder and/or optical flow
 2023-07-11 08:18:32 -07:00
alexklimaj 03528a6200 Add EKF2_OF_QMIN_GND to handle 0 optical flow quality when on ground 2023-07-11 08:18:06 -07:00
Silvan Fuhrer 81764c43a1 EKF2: use timestamp from argument of PublishEvPosBias() (#21822) 
* 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>

---------

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2023-07-11 11:07:39 +02:00
Antonio Sanjurjo C c1cb48c2ea EKF2 cleanup. Use MAX_NUM_x constants instead of hard-coded numbers 
Signed-off-by: Antonio Sanjurjo C <74329840+antonio-sc66@users.noreply.github.com>
 2023-07-06 09:36:27 +02:00
Daniel Agar 8222cbca2c ekf2: last range sensor simple timestamp protection 
- sanity check againist potential timestamp issues with incoming
distance_sensor data
 2023-05-09 12:02:42 -04:00
bresch 521abecbbf ekf2: remove all remaining uses of EKF2_AID_MASK 2023-04-28 22:31:17 -04:00
bresch 2a2e43b620 ekf2: move flow fusion activation from AID_MASK to OF_CTRL 2023-04-28 22:31:17 -04:00
bresch 39c2f95669 ekf2: move drag fusion activation from AID_MASK to DRAG_CTRL 2023-04-28 22:31:17 -04:00
Silvan Fuhrer d532578ecc EKF2: only check for EKF2_BETA_FUSION when corresponding kconfig option is set 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
 2023-03-22 10:05:32 +01:00
Silvan Fuhrer 98d07ad1f3 disable side slip fusion for tailsitters 
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
Daniel Agar 32a5bd32ad ekf2: add kconfig option to enable/disable range finder fusion (and terrain estimator) 2023-03-21 11:25:34 -04:00
Daniel Agar 0784901a66 ekf2: add kconfig option to enable/disable optical flow fusion 2023-03-21 11:25:34 -04:00
Daniel Agar 4363b09421 ekf2: add kconfig option to enable/disable external vision fusion 2023-03-20 10:12:17 -04:00
Daniel Agar d47f96f1a5 ekf2: add kconfig option to enable/disable AUX velocity fusion 2023-03-20 10:12:17 -04:00
Daniel Agar 4270a303ab ekf2: add kconfig option to enable/disable airspeed and sideslip fusion 2023-03-20 10:12:17 -04:00
Daniel Agar 98ff1afc19 ekf2: add kconfig option to enable/disable GNSS yaw 2023-03-20 10:12:17 -04:00
Daniel Agar 8b2205810b ekf2: add kconfig option to enable/disable baro compensation 2023-03-20 10:12:17 -04:00
Daniel Agar fe0e3acf09 ekf2: add kconfig option to enable/disable drag fusion 2023-03-20 10:12:17 -04:00
Daniel Agar f0a95f9572 ekf2: add new kconfig option for multi-EKF 
- disabled if flash constrained or memory constrained
 2023-03-15 09:32:47 -04:00
Beniamino Pozzan b79578fa55 efk2: Force external vision vertical position if EKF2_HGT_REF=VISION 
Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
 2023-03-06 09:19:49 -05:00
Daniel Sahu fa6fda6cce ekf2: new gravity observation (#21038) 
Signed-off-by: Daniel M. Sahu <danielmohansahu@gmail.com>
 2023-02-07 13:28:58 -05:00
Daniel Agar 264a99fb77 ekf2: new EKF2_IMU_CTRL parameter and gyro bias inhibit mechanism 
- EKF2_AID_MASK accel bias inhibit moves to EKF2_IMU_CTRL
 2023-02-03 09:52:24 -05:00
bresch 6e30f8f5cb ekf2: use dedicated aid_src message for flow for terrain aiding 2023-01-21 15:31:19 -05:00
Daniel Agar 95300d5637 ekf2: refactor output predictor to class 
- refactor all EKF backend output predictor pieces into new OutputPredictor class
 - output states are now calculated immediately with new high rate IMU rather than after EKF update
 - IMU delayed sample is passed as around as control data to avoid storing an extra copy and make the requirement clear
 2023-01-18 10:59:34 -05:00
Daniel Agar 674a59e48f ekf2: new gyro bias limit parameter EKF2_GYR_B_LIM 
- default is now a more conservative 0.15 rad/s (~8.6 deg/s) instead of the previous hardcoded 20 deg/s
 2023-01-14 09:15:46 -05:00
Daniel Agar 0f9bc351f1 ekf2: fix global_pos alt_reset_counter publish (#20906) 
- fixes #20900
 2023-01-11 14:15:07 -05:00
Daniel Agar 20a1c73cf0 ekf2: reinit baro height on sensor or calibration change 
- handle reset on delayed time horizon
 2022-12-29 16:37:34 -05:00
Daniel Agar 54a32eb2f7 ekf2: EV overhaul yaw and position fusion (#20501) 
- move EV yaw and EV position to new state machines
 - EV yaw and EV pos now configured via EKF2_EV_CTRL (migrated from EKF2_AID_MASK)
 - new EV position offset estimator to enable EV position while GPS position is active (no more EV pos delta fusion)
 - yaw_align now strictly means north (no more rotate external vision aid mask)
 - automatic switching between EV yaw, and yaw align north based on GPS quality
 2022-12-20 10:23:56 -05:00
Daniel Agar 696eeb9a49 ekf2: update EV height state machine (small piece of EV overhaul) 
- respect new EKF2_EV_CTRL parameter for VPOS usage
  - EV hgt rotate EV position before usage (there's often a small offset in frames)
  - EV hgt reset use proper EV velocity body frame
  - try to keep EV hgt and EV vel state machines consistent
  - small incremental piece of https://github.com/PX4/PX4-Autopilot/pull/19128
 2022-12-13 13:29:18 -05:00
Daniel Agar 805ffa9d0b ekf2: push mag cal reset to delayed time horizon 2022-12-13 10:24:02 -05:00
Daniel Agar 8eb2a0a3ec ekf2: delete orientation_covariances_euler() 
- usage replaced with now public calcRotVecVariances()
 2022-12-07 12:41:27 -05:00
bresch 60c448ce3a ekf2: GNSS yaw, use reported yaw accuracy when available 2022-11-22 09:59:31 -05:00
Daniel Agar da82757bf6 ekf2: accumulate multiple vel/pos/orientation reset deltas per update 
- if in a single EKF update there are multiple resets we need to track the accumulated delta so the change consumed by the controllers is correct
 2022-11-15 13:20:54 -05:00
Daniel Agar 639d1ddca2 ekf2: update flags (in_air, at_rest, etc) on delayed time horizon (#20576) 
- in a lot of cases this won't really matter, although you can see it in logs (especially with things like vehicle_at_rest), but it's something we might as well do properly

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-11-14 11:35:40 -05:00
Daniel Agar 5239993c88 ekf2: move EV vel to new state machine, introduce EKF2_EV_CTRL param 2022-11-08 11:46:41 -05:00
Daniel Agar 688dae1108 ekf2: add new EKF2_EV_QMIN parameter 2022-11-08 11:46:41 -05:00
Daniel Agar 298cc61e07 ekf2: push fuse beta config into backend 2022-11-02 10:09:26 -04:00
Matthias Grob 5ca28dd6dc Use isAllFinite() in all places that check finiteness on entire vectors or matrices 2022-10-19 19:09:20 +02:00
Daniel Agar 535415a537 ekf2: add OF estimator aid src status 2022-10-18 14:19:16 -04:00
Daniel Agar 2de990fd4b estimator_aid_source split GNSS pos (3d) -> pos (2d) + hgt 
- per estimator air source status only keep a single set of flags and
timestamp that applies to the entire source
 2022-10-13 11:28:50 -04:00
bresch 5f54f6fcda ekf2: migrate sideslip fusion to SymForce 
- split fusion into update (compute innov and innov_var) and actual fusion to the state vector
- use estimator_aid_source_1d struct to group the data
 2022-10-12 09:55:35 -04:00
bresch 1914053db2 ekf2: synchronize z_valid and v_z_valid 
mc_pos_control doesn't handle all the cases at the moment
 2022-09-29 14:16:36 -04:00
bresch bb790c9bec ekf2: add vertical dead-reckoning timeout check for height validity 2022-09-29 14:16:36 -04:00
Daniel Agar 1f7080a710 ekf2: extend sensor bias stability requirement 
- for accel/gyro/mag estimated bias only consider them stable (valid
for calibration updates) if the value isn't changing (10% of limit) over
the validity period
 2022-09-28 10:40:52 -04:00
bresch cddade2047 ekf2: use validated airspeed from airspeed sensor only 
don't use synthetic measurements to prevent circular dependency
 2022-09-23 09:26:47 -04:00
bresch 6bd81c0eb7 ekf2: do not store delayed baro sample in class 
the sample is popped from the buffer and directly used; there is no
need to keep a local copy of it
 2022-09-10 12:29:29 -04:00