Daniel Agar
5fb0084524
ekf2: remove unused shared fields for last velocity observation and variance
2022-02-02 17:43:25 -05:00
Daniel Agar
8a0581516c
ekf2: don't store _auxvel_sample_delayed
2022-02-02 17:43:25 -05:00
Daniel Agar
452b5e94b4
ekf2: don't store _drag_sample_delayed
2022-02-02 17:43:25 -05:00
Daniel Agar
999737ddd5
ekf2: refactor mag control
...
- remove class _mag_sample_delayed
- update mag fusion call graph to use mag sample delayed functionally
- Ekf::resetMagHeading()
- use low pass mag directly, but check if valid (magnitude)
- MAG_FUSE_TYPE_INDOOR treat like auto if heading required
2022-01-31 11:47:10 -05:00
Daniel Agar
90358f078f
add odometry reset counter (ekf2, mavlink, etc)
2022-01-31 09:19:36 -05:00
Daniel Agar
49d9d1c987
ekf2: only set fault status bad_acc_clipping if clipping frequently
2022-01-27 09:59:50 -05:00
Daniel Agar
ae3070bbf1
ekf2: make filter update period configurable
...
- introduces new parameter EKF2_PREDICT_US to configure the filter
update period in microseconds
- actual filter update period will be an integer multiple of IMU
2022-01-26 10:57:09 -05:00
Oleg Kalachev
2945ce7c87
ekf2: fuse optical flow when magnetometer is disabled
...
Co-authored-by: bresch <brescianimathieu@gmail.com>
2022-01-25 15:42:10 +01:00
bresch
1502d77df2
ekf: refactor fake position control logic
2022-01-25 15:07:48 +01:00
bresch
a2260e53da
ekf2: replace yaw failure detection criteria
...
The existing logic using the angle between velocity vectors failed to
determine a yaw failure in practice because the state velocity is often
too small compared to its uncertainty to be used. In all the failures
reported, the yaw emergency estimator converged properly and yaw reset
would have fixed the issue.
A much simpler check using the yaw difference between the main EKF
and the emergency estimator is now used to tell if the vel/pos update
failure is most likely caused by a wrong heading.
2022-01-20 11:54:24 +01:00
Daniel Agar
92a5bbe97f
ekf2: improve ring buffer sizing and dynamically allocate
2022-01-19 09:04:53 -05:00
bresch
66290de745
ekf: improve range primary height source
...
allow range fusion to start with fake measurements if the sensor is
providing bad measurements because too close to the ground
2021-12-10 15:18:10 +01:00
bresch
9147d5ea5c
ekf2: use ground as ekf altitude datum when in range primary hgt mode
2021-12-10 15:18:10 +01:00
bresch
5e790da634
ekf2: reset the timeout timer in the reset function directly
2021-12-10 15:18:10 +01:00
bresch
0d874cf00a
ekf2: move aiding start details in dedicated function
...
When an aiding source needs to be started, simply call the corresponding
starting function and any required reset is handled in there.
2021-12-10 15:18:10 +01:00
bresch
c947562183
ekf: get rid of intermediate variable "fuse_height"
2021-12-07 09:16:21 +01:00
bresch
9651f78b0a
ekf: centralize the height fusion decision
2021-12-07 09:16:21 +01:00
bresch
d583ef6b79
ekf2: move height fusion code to separate source file
2021-12-07 09:16:21 +01:00
bresch
9e54c6d1aa
ekf2: move generic functions to control.cpp
...
these functions aren't specific to GPS fusion
2021-11-01 13:59:34 +01:00
bresch
8aae39e82a
ekf2: move GPS control logic to separate source file
2021-11-01 13:59:34 +01:00
bresch
689ab12845
ekf2: refactor gps vel/pos fusion control logic
2021-11-01 13:59:34 +01:00
bresch
9afc390552
ekf2: move gps yaw reset in starting function
2021-11-01 13:59:34 +01:00
bresch
d0f89f7fff
ekf2: refactor wind reset functions
2021-10-26 10:18:56 +02:00
bresch
6e8f0e92ff
ekf2: refactor airspeed fusion control logic
2021-10-26 10:18:56 +02:00
Daniel Agar
56823b5ac9
ekf2: EKF control don't allow invalid flow gyro to propagate
2021-10-14 16:31:22 -04:00
Mathieu Bresciani
56b0c46444
ekf2: improve optical flow angular rate compensation
2021-10-12 13:17:29 -04:00
bresch
01d0b8800e
commander: report GNSS yaw fault to user
2021-08-05 11:10:02 +02:00
bresch
11cd51c132
EKF: allow emergency reset in GNSS yaw and EV yaw aiding modes
2021-08-05 11:10:02 +02:00
bresch
30c7a596af
GNSS yaw: allow unlimited resets on ground
2021-08-05 11:10:02 +02:00
bresch
521b9f5dcc
control: do not constantly ask for mag reset if yaw not aligned
...
This also prevents triggering the `_mag_yaw_reset_req` flag in magless
mode; preventing the GNSS fustion from starting.
2021-07-27 13:34:53 +02:00
bresch
54c7e74de3
EKF: add baro bias estimator using GNSS altitude
2021-07-19 16:53:45 -04:00
Daniel Agar
c8e6d93cc0
ekf2: backend apply code style (generated code still exempt)
2021-07-15 21:15:41 -04:00
Daniel Agar
2cf66a5d8f
ekf2: move EKF out of ecl
2021-07-15 10:38:24 -04:00
