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
4268759d4a
ekf2-agp: reset to measurement on fusion timeout
2024-01-30 11:23:55 -05:00
80f20e619c
ekf2: zvup sequential fusion
2024-01-29 12:12:37 -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
4e0967889c
ekf2: add verbose print status (moved out of DEBUG_BUILD)
2024-01-24 21:49:26 -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)
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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
da28d9a7f2
ekf2-grav: rename g-force unit to g0 to avoid confusion with grams
2024-01-24 13:26:25 +01:00
bf7da6430d
ekf2: consolidate LPOS & GPOS accuracy methods
2024-01-22 12:34:08 -05:00
7c7a3c117a
ekf2-gravity: nomalize gravity fusion and proper sequential fusion
2024-01-18 20:39:16 -05:00
d624fbba07
ekf2-grav: lower gate to reject real acceleration more effectively
2024-01-18 20:39:16 -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
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
64f28c4c07
ekf2: delete unused gps error norm field
2024-01-12 10:14:32 -05:00
8a031677d5
ekf2: verbose debug print status include state variances
2024-01-11 11:53:20 -05:00
4cb293020a
ekf2: remove sensor sample uORB::Subscription missed perf counters
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- these served their purpose, but are no longer useful
- still worth keeping the IMU subscription missed perf count to catch any scheduling issues
2024-01-11 11:52:29 -05:00
8bcba6128a
ekf2: fix resetGlobalPosToExternalObservation whitespace
2024-01-11 10:59:56 -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
d45c3d3407
ekf2: verbose (DEBUG_BUILD) print status with Matrix improved print
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* ekf2: verbose print status
* matrix/Matrix improve print output
* bold diagonal elements, print ring buffer entry size
* print in scientific notation when >= 10 to respect max size
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Co-authored-by: bresch <brescianimathieu@gmail.com >
2024-01-10 09:46:04 -05:00
74549e29a5
[AUTO COMMIT] update change indication
2023-12-21 11:42:08 +01:00
36eb319834
ekf2-yaw_est: split imu and velocity updates
2023-12-18 18:11:20 +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
5ca22df55c
ekf2-pos bias estimator: use enum
2023-12-05 11:22:59 -05:00
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
97423136d1
ekf2-AGP: scope control enum
2023-12-05 11:22:59 -05:00
4c0b6dbe86
Remove trailing whitespaces and trailing duplicate newlines
2023-12-01 13:11:00 -05:00
fe7988672f
ekf2: auxiliary position fusion
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Co-authored-by: Daniel Agar <daniel@agar.ca >
2023-12-01 11:50:22 +01:00
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
6320ca64a9
ekf2-terr: allow range fusion before takeoff
2023-11-21 21:56:34 -05:00
0f3378e194
ekf2: fix terrain range finder logging
2023-11-21 21:56:34 -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
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Signed-off-by: RomanBapst <bapstroman@gmail.com >
Co-authored-by: Thomas Stastny <thomas.stastny@auterion.com >
2023-11-21 17:13:50 +01:00
70cd224236
EKF2 params: remove wrong horizontal keyword and gps-->GNSS
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2023-11-21 15:23:33 +01:00
c7672fc68c
ekf2-params: delta vel/ang -> accel/gyro
2023-11-20 20:10:16 -05:00
62027b0965
ekf2: remove EKF2_HGT_MODE VerifyParams() transition helpers
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- in theory these are helpful to ensure EKF2_HGT_MODE configuration is
consistent with the relevant aid source (GPS, baro, etc), but it can
be a little awkward with users having to fight manual parameter
changes in the right order
2023-11-16 15:02:43 -05:00
3b2d766573
ekf2: purge remaining EKF2_AID_MASK references
2023-11-16 09:36:58 +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
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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
Daniel Agar