Daniel Agar
f9509b442c
ekf2: height aid source consistency ( #20405 )
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- working towards keeping all height source (baro/ev/gnss/rng) handling as consistent as possible, possibly refactoring these out into separate classes later
2022-10-19 15:35:07 -04:00
bresch
f77d7d9413
[AUTO COMMIT] update change indication
2022-10-19 17:34:31 +02:00
Daniel Agar
0d2ff6e224
ekf2: test ekf_logger further reduce std::precision to minimize false positives
2022-10-18 14:19:16 -04:00
Daniel Agar
116bb6049f
ekf2: fusion helper consistency
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- yaw fusion use measurementUpdate()
- fuseVelPosHeight() respect _accel_bias_inhibit (like measurementUpdate())
2022-10-17 10:17:31 -04:00
bresch
458e5a6b0e
ekf2: update change indicator
2022-10-14 11:42:23 -04:00
Daniel Agar
38d332a553
ekf2: inhibit accel bias dynamically when fake position/height fusion active
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- inhibit accel bias learning dynamically depending on the angle between an accelerometer and the vertical axis when fake position fusion is active
2022-09-22 20:32:20 -04:00
bresch
34d8bd7988
update EKF2 change indicator
2022-09-10 12:29:29 -04:00
dagar
75f6f22223
[AUTO COMMIT] update change indication
2022-08-31 08:52:30 -04:00
Daniel Agar
9b0b0d1168
ekf2: update test change indication csv
2022-08-25 15:55:45 -04:00
bresch
0061ef8b89
[AUTO COMMIT] update change indication
2022-08-24 09:16:11 -04:00
Daniel Agar
39453405a0
ekf2: cleanup zero innovation heading fusion
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- refactor updateQuaternion() to compute the yaw jacobian directly (respecting the rotation sequence determination)
- fuseHeading()/fuseYaw321()/fuseYaw312() helpers are eliminated and now mag heading fusion and EV yaw fusion compute the innovation in place
- clear up logic for performing zero innovation heading fusion when quaternion variance exceeds threshold (no more _is_yaw_fusion_inhibited flag manipulation)
- when at rest continue fusing last static heading with very low variance even if other heading sources are active
2022-07-19 11:58:27 -04:00
PX4BuildBot
a247b42907
[AUTO COMMIT] update change indication
2022-06-04 15:57:11 -04:00
Daniel Agar
1e25aee6fa
ekf2: estimator aid source status (baro height)
2022-05-25 09:25:12 -04:00
Daniel Agar
639222dd65
ekf2: estimator aid source status (GPS pos, GPS vel)
2022-05-23 16:21:49 -04:00
Daniel Agar
1ae467e9cd
ekf2: estimator aid source status (starting with fake position)
2022-05-23 16:21:49 -04:00
Daniel Agar
db4545e442
Update world_magnetic_model to latest Sat May 21 11:14:10 UTC 2022
2022-05-21 14:57:55 -04:00
Daniel Agar
8166a500ac
Update world_magnetic_model to latest Mon Apr 11 11:14:11 UTC 2022 ( #19475 )
2022-04-12 10:11:51 -04:00
Daniel Agar
a430f0ccae
ekf2: add simple zero velocity update when vehicle at rest ( #19149 )
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- further decreases initial tilt alignment time (now down to 2.5 seconds if still) and improves initial bias estimates
2022-03-12 12:56:31 -05:00
Daniel Agar
b7e0f17c6a
ekf2: minor position/velocity reset cleanup
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- try to use avoid resetVelocity() call where possible
- reset timeouts centrally
2022-03-08 11:16:35 -05:00
Daniel Agar and PX4 BuildBot
6224e11463
Update world_magnetic_model to latest Sat Feb 26 16:47:08 UTC 2022 ( #19262 )
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* Update world_magnetic_model to latest Sat Feb 26 16:47:08 UTC 2022
* [AUTO COMMIT] update change indication
Co-authored-by: PX4 BuildBot <bot@px4.io >
2022-02-26 15:39:37 -05:00
Daniel Agar
d6d529539d
ekf2: consolidate and simplify gnd effect logic
2022-02-22 16:59:10 -05:00
Daniel Agar and : bresch
f3e2a197ad
move vehicle at rest detection ekf2 -> land_detector
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- move vehicle at reset detection ekf2 -> land_detector
- ekf_unit: reduce init period
- Fake fusion is when at rest is quite strong and makes the variance reduce rapidly. Reduce the amount of time we wait before checking if the variances are still large enough.
- ekf_unit: reduce minimum vel/pos variance required after init
- Fake pos fusion has a low observation noise, making the vel/pos variances reduce quickly.
Co-authored-by:: bresch <brescianimathieu@gmail.com >
2022-02-01 17:50:19 -05:00
Daniel Agar
ae3070bbf1
ekf2: make filter update period configurable
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- 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
bresch
82e88a9547
[AUTO COMMIT] update change indication
2022-01-25 15:07:48 +01:00
dagar
476c1e5c09
[AUTO COMMIT] update change indication
2022-01-19 09:04:53 -05:00
PX4BuildBot
6fbc0e95d0
[AUTO COMMIT] update change indication
2022-01-04 09:12:45 -05:00
PX4BuildBot
aae794965a
[AUTO COMMIT] update change indication
2021-12-05 11:03:58 -05:00
dagar
9646b49b60
[AUTO COMMIT] update change indication
2021-11-18 13:58:53 -05:00
Daniel Agar
fec0d6c5ed
ekf2: change indication further reduce data precision
2021-11-02 10:21:54 +01:00
bresch
1317b1a6e1
[AUTO COMMIT] update change indication
2021-11-01 13:59:34 +01:00
dagar
a2801bab80
[AUTO COMMIT] update change indication
2021-10-26 14:39:58 -04:00
Daniel Agar
2b1c97eb37
Update world_magnetic_model to latest Sun Aug 22 11:14:24 UTC 2021
2021-08-22 16:28:00 -04:00
Daniel Agar
54918f650b
Update world_magnetic_model to latest Sun Aug 1 16:57:37 UTC 2021
2021-08-01 13:53:53 -04:00
Mathieu Bresciani and Daniel Agar
17ebcd2456
mag_control: fuse fake heading during leveling fine alignment ( #17964 )
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Co-authored-by: Daniel Agar <daniel@agar.ca >
2021-07-27 11:50:50 +02:00
Daniel Agar
e01b631465
ekf2: change indication test limit float precision to minimize false positives
2021-07-26 13:54:36 -04:00
dagar
a8e3c46cdb
[AUTO COMMIT] update change indication
2021-07-19 16:53:45 -04:00
Daniel Agar
9087ba2259
world_magnietc_model: update to latest and fix code style
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- minimize test_geo_lookup.cpp optimization to improve compile times
2021-07-18 15:49:53 -04:00
Daniel Agar
2cf66a5d8f
ekf2: move EKF out of ecl
2021-07-15 10:38:24 -04:00
Daniel Agar