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Author SHA1 Message Date
bresch 9ebfed010f mag_cal: increase uncertainty of calibration parameters 
in air bias estimation is usually really accurate and should be weighted
more heavily compared to the calibration parameters that are often
more approximate given the worse magnetic environment near the ground.
 2023-07-11 11:33:53 -04:00
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
bresch afa085da7f geofence: fix altitude change fence check 
When asking for an altitude change only, the current position needs to
be used, otherwise the geofence check is be skipped
 2023-07-06 22:39:39 -04:00
Mathieu Bresciani 288e3ae74a EKF2: vision attitude error filter (#21791) 
* ekf2-ev: filter q_error for frame correction
* ekf2: filter EV attitude error centrally
 2023-07-03 11:13:59 -04:00
bresch 8d1b0e45fa opt-requirements: bump SymForce version 2023-06-26 14:10:54 -04:00
bresch eb70c9f6f3 ekf2: update auto-generated code to SymForce 0.9.0 2023-06-26 14:10:54 -04:00
bresch fdf7867a3e ekf2: update derivation to SymForce 0.9.0 2023-06-26 14:10:54 -04:00
bresch c99f56f010 wind_estimator: update generated code to Symforce 0.9.0 2023-06-26 14:10:54 -04:00
bresch 73e5ff109c wind_estimator: update derivation to use SymForce 0.9.0 2023-06-26 14:10:54 -04:00
Mathieu Bresciani 24de623989 EKF2: Zero gyro update (#21691) 
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
bresch 8b67fa91a1 factory cal: exclude _PRIO params 2023-06-09 21:05:40 -04:00
bresch 5233b33242 update change indicator 2023-06-05 11:58:42 -04:00
bresch 403a6310c4 gnss yaw: compare auto-generated Jacobian against autodiff 2023-06-05 11:58:42 -04:00
bresch c6b259d5f6 yaw_fusion: compare auto-generated Jacobian against autodiff 2023-06-05 11:58:42 -04:00
bresch d4528dc53a sideslip: compare auto-generated Jacobian against autodiff 2023-06-05 11:58:42 -04:00
bresch e7c4a22be8 mag_3d: compare auto-generated Jacobian against autodiff 2023-06-05 11:58:42 -04:00
bresch c6f1a63659 opt_flow: compare auto-generated Jacobian against autodiff 2023-06-05 11:58:42 -04:00
bresch d03f242c04 DCM: use simplified conversion from unit quaternion 
This is exactly equivalent for a unit quaternion (and only unit
quaternions should be used to encode a rotation)
 2023-06-05 11:58:42 -04:00
bresch 9d7abf2552 ekf2: symforce - use builtin Rot3 and Quaternion operations 2023-06-05 11:58:42 -04:00
bresch 616a71a959 MC_auto: avoid yaw step if previous setpoint is NAN 
A VTOL plane in MC mode has no yaw setpoint during takeoff because of
weather-vane. To align for the front transition, the yaw target jumps
and caused a step in the controller, making it reach saturation.

With this commit, the previous yaw setpoint is set to the current yaw
when no yaw setpoint is sent in order to create a smooth yaw trajectory
starting at the current orientation when yaw target is suddenly finite.

The yawspeed filter also now contains the yaw speed instead of dyaw in
order to prevent chattering due to dt jitter.
 2023-05-12 13:42:09 +02:00
Mathieu BrescianiJosh HendersonMatthias Grob
 		1e4fcfc614 mc_pos_control: fix potential thrust spike on hover thrust change 
Co-authored-by: Josh Henderson <hendjoshsr71@gmail.com>
Co-authored-by: Matthias Grob <maetugr@gmail.com>
 2023-05-08 21:42:25 -04:00
bresch 521abecbbf ekf2: remove all remaining uses of EKF2_AID_MASK 2023-04-28 22:31:17 -04:00
bresch 98a8d080b6 ekf2 params: fix my bad english 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
bresch 17806a9608 ekf2: robustify wind init using airspeed 
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
bresch fb3b4a3151 ekf2: remove duplicate buffer push of system flags 2023-04-04 15:56:09 -04:00
bresch 89bb4622ef gazebo_tailsitter: disable multi-EKF for replayable logs 2023-03-31 15:22:38 -04:00
bresch 50b084cf17 MC auto: allow yawing during hold 2023-03-31 17:32:33 +02:00
bresch ed7c4bc5d7 ekf2: init tilt using quaternion from gravity vector 2023-03-31 10:15:12 +02:00
bresch 6bee0893de add circle intersection unit tests 2023-03-22 10:03:48 +01:00
bresch af345c88e9 TrajMath: use fmaxf instead of max 2023-03-22 10:03:48 +01:00
bresch c7bddda1db MC auto: add maximum RC assist distance during landing 2023-03-22 10:03:48 +01:00
bresch d6fa42fefd mc att: add unit tests for AttitudeControlMath helper 2023-03-22 10:01:27 +01:00
bresch edaf5bf0cd mc att: extract tilt yaw error compensation to lib 2023-03-22 10:01:27 +01:00
bresch f65daf7259 mc att: do not pass by euler angles to generate att sp from sticks 2023-03-22 10:01:27 +01:00
bresch 3e3307c0d0 ekf2: fix mag declination innovation angle wrapping 2023-03-21 21:07:28 -04:00
bresch 91364ba901 mc land detect: use z_deriv and vz for vert movement check 
z_deriv is less prone to bias errors
 2023-03-21 09:22:58 -04:00
bresch fd33e60f78 ekf: fix GNSS yaw fusion wrapping 2023-03-13 10:46:34 +01:00
bresch fafcdbf4ed tests: empty parentheses were disambiguated as a function declaration 2023-02-17 21:10:44 -05:00
bresch 8ebf47edb1 ekf2: stop mag fusion when there is no data anymore 2023-02-17 08:51:55 -05:00
bresch 6e30f8f5cb ekf2: use dedicated aid_src message for flow for terrain aiding 2023-01-21 15:31:19 -05:00
bresch b4b48cae75 ekf2: terrain flow - migrate to Symforce 2023-01-21 15:31:19 -05:00
bresch 3d50a7ce44 CAL_MAG_SIDES: do not save with factory cal 2023-01-13 10:48:01 -05:00
bresch 3d73e273e6 MAG_SIDES: don't spam user to not change parameter 
otherwise this will always show up on every boot if factory calibration
was done in an earlier release
 2023-01-13 10:48:01 -05:00
bresch ced41febb7 hide legacy read-only parameter under Developer category 2023-01-13 11:40:56 +01:00
Mathieu Bresciani 767fcb2774 sensors: prefix mag config param SENS instead of CAL (#20723) 
* sensors: prefix mag config param SENS instead of CAL
* mag sides: keep CAL_MAG_SIDES required by QGC
 2023-01-12 09:42:36 -05:00
bresch 49f8bcfc69 ekf2: purge old ekf2 derivation 2023-01-06 18:35:19 -05:00
bresch 26122886ae ekf2: drag fusion - improve parameter description 
The user should refer to the online documentation for tuning guidelines
and not the parameter description.
 2023-01-05 12:03:24 -05:00
bresch 06ef39d05e ekf2: MC drag fusion - interpolate between X an Y "b" coefficients 
Use the current sideslip angle to generate a drag coefficient that is a
mixture of X and Y coefficients, creating an elliptic distribution.
 2023-01-05 12:03:24 -05:00
bresch 420f5ef2b7 ekf2: migrate drag fusion derivation to SymForce 2023-01-05 12:03:24 -05:00
bresch 04f76c932e ekf2: decompose drag vector into x-y components 
The drag force is a vector.
drag_x = drag.norm() * vx / v.norm()
 2023-01-05 12:03:24 -05:00
bresch 0509f612dd ekf2: fix drag data downsampling 
setDragData needs the imu data at full speed to downsample it without
skipping samples.
 2023-01-05 12:03:24 -05:00
bresch 14bf04b9a4 SIH: add to px4_fmu-v5_default and auto start GPS sim driver 
- add simulator kconfig dependencies
 - exclude SIH (+deps) where sufficient flash isn't available
 2023-01-04 16:26:15 -05:00
bresch 28d664aed5 EKF2: purge outdated matlab scripts 
Those files are no longer maintained and will just confuse new users
 2022-12-30 13:01:58 -05:00
bresch 3e4e5c991c ekf2: add mag unit tests 2022-12-29 12:56:36 -05:00
bresch 657bd6cf72 ekf2: stop mag fusion when inhibited for too long 
Also do not try to run anything if mag is inhibited
 2022-12-29 12:56:36 -05:00
bresch c75a9058a5 EKF2: only fuse zero innovation if yaw var is large 2022-12-29 12:56:36 -05:00
bresch 86a3d2459a ekf2: remove old yaw estimator generated code 2022-12-23 10:28:19 -05:00
bresch 0388c161e7 ekf2: compare yaw estimator sympy vs symforce 2022-12-23 10:28:19 -05:00
bresch 7c33019510 EKF2: move yaw estimator to symforce 2022-12-23 10:28:19 -05:00
bresch 41abf695a8 ekf2: use more efficient covariance update computation 
KSK' is faster to compute than KHP and is mathematically equivalent
 2022-12-12 12:31:54 -05:00
Mathieu Bresciani a187bb3b80 ekf2: predict covariance before predicting state (#20715) 
* To predict the covariance, the jacobian from the previous to the current state is required.
 2022-12-07 09:34:19 -05:00
bresch 8e3517fae0 DataValidator: fix unexpected failover 
Instead of always starting with instance 0 (potentially an internal
mag), first take the current sensor as reference to compare the other
ones against it.
The issue is that otherwise we can end up in a
situation where a switch occurs because the currently used sensor isn't
much better than a sensor with a lower index: because the selected one
isn't much better, we cannot "fail-over" to it and get stuck on another
sensor, triggering a fail-over.
 2022-12-06 08:16:23 +01:00
bresch 5155346d60 ekf2: do not use gnss data when no lock 2022-11-30 08:50:34 -05:00
bresch 5d7faefa84 ekf2: don't add invalid GNSS samples to the buffer 2022-11-30 00:22:15 -05:00
bresch 7888cc8cfd GyroCalibration: update sensor correction before using it 
Otherwise, the thermal offset value can be outdated
 2022-11-23 13:24:43 -05:00
bresch dae37803da TC: erase current calibration when temp cal is completed 2022-11-23 13:24:43 -05:00
bresch 60c448ce3a ekf2: GNSS yaw, use reported yaw accuracy when available 2022-11-22 09:59:31 -05:00
bresch b25bc1b982 ekf2: GNSS yaw, update->fuse pattern 2022-11-22 09:59:31 -05:00
bresch 4cb327fba3 ekf2: remove old GPS yaw autogenerated code 2022-11-22 09:59:31 -05:00
bresch 16a3fee54f ekf2_test: check behavior of GNSS yaw fusion at singularities 2022-11-22 09:59:31 -05:00
bresch 4116de31ad ekf2: compare GNSS yaw fusion sympy vs symforce 2022-11-22 09:59:31 -05:00
bresch eff2c6adcf ekf2: migrate GNSS yaw fusion to SymForce 2022-11-22 09:59:31 -05:00
bresch 22420a7bf1 ekf2: do not fuse ZVU if other velocity source is active 2022-11-15 11:17:07 -05:00
bresch c67f03f383 ekf2: update change indicator 2022-11-14 11:51:32 -05:00
bresch f319cc528b ekf2: remove old flow fusion generated code 2022-11-14 11:51:32 -05:00
bresch 2a83dbf81d ekf2_test: compare flow fusion sympy vs symforce 2022-11-14 11:51:32 -05:00
bresch 93564baccf ekf2_flow: recalculate innovation after fusing 1st axis 
The state changed so we need to recalculate the innovation of the 2nd
axis after fusing the 1st one
 2022-11-14 11:51:32 -05:00
bresch 4dbdf23346 ekf2: update _R_to_earth when the state quat changed through fusion 2022-11-14 11:51:32 -05:00
bresch 28458340e6 ekf2_flow: check innov variance health after fusing 1st axis 2022-11-14 11:51:32 -05:00
bresch 73a8c388e8 ekf2: fuse by looping through axes 2022-11-14 11:51:32 -05:00
bresch b54a4417fa ekf2: migrate flow fusion to SymForce 2022-11-14 11:51:32 -05:00
bresch 7d1f1d0f84 ekf2: replace macro constants by typed constexpr 2022-11-14 10:45:23 -05:00
bresch 06702da003 ekf2: add GNSS yaw max interval 
yaw data usually comes at lower rate than vel/pos
 2022-11-14 10:45:23 -05:00
bresch 9834c7917b ekf2: use yaw emergency estimator more aggressively 
During the whole flight, if the difference between the yaw estimate from
EKF2 and the emergency estimator is large and that the GNSS velocity
fusion is failing continuously, immediately reset to the emergency yaw
estimate.
 2022-11-14 10:45:23 -05:00
bresch 96e7ea7a08 ekf2: remove old mag declination auto-code 2022-10-20 18:16:25 -04:00
bresch f0a0a3e545 ekf2_test: compare mag decl fusion sympy vs symforce 2022-10-20 18:16:25 -04:00
bresch 2f3ea88099 ekf2: migrate mag declination to SymForce 2022-10-20 18:16:25 -04:00
bresch 89bc28e836 wind_est: extract utility functions to separate file 2022-10-20 11:41:46 +02:00
bresch 2549054b28 wind_est: remove old derivation 
replaced by derivation.py
 2022-10-20 11:41:46 +02:00
bresch 7115d5643c wind_est: auto-generate initialization of state and cov matrix 2022-10-20 11:41:46 +02:00
bresch a7124d3738 wind_est: auto-generate beta fusion using Symforce 2022-10-20 11:41:46 +02:00
bresch 487b84e90b wind_est: place codegen details in function 2022-10-20 11:41:46 +02:00
bresch cf9859965a ekf2: remove old yaw fusion auto-code 2022-10-19 17:34:31 +02:00
bresch e33215b61c ekf2_test: compare yaw fusion sympy vs symforce 2022-10-19 17:34:31 +02:00
bresch 42f683fa64 ekf2_test: test using positive definite covariance matrix 
A covariance matrix needs to be positive definite
 2022-10-19 17:34:31 +02:00