A constant large value in the (signed) normalized innovation test ratio is a sign
of bias in the state estimate. This metric can be used to trigger a
covariance boost or reset
Some receivers are initializing to some heading and then resetting to
the correct one after a couple of seconds. EKF2 should detect that and
reset to the new value
- naming consistency (estimator prefix as "namespace")
- only publish if baro is available and bias is changing as a small logging optimization
- avoid unnecessary copying (get const reference to status directly)
- trivial code style fixes
For historical reasons, there is a check in EKF2 to only publish global
position if it has moved for 1mm.
This is no longer necessary, and also this if doesn't save any cpu cycles
in real conditions where GPS errors are always much bigger that this.
When using simulated or fake GPS, based on some other positioning
system, the GPS coordinate input can be very accurate due to quantization
or true accuracy. In this case this check bites and perfectly valid position
doesn't get published.
Just removed this if.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
- this error is primarily useful when significant gaps in magnetometer are present, otherwise the occasional gaps at startup, etc are distracting in regular usage
- this is to help more users get the benefit (by default) and perhaps circumvent the common mistake of setting EKF2_HGT_MODE to range sensor
- this should be safe to enable as the range aid defaults are fairly conservative (max horizontal velocity 1 m/s, and range aid gate 1 SD)
* msg: Add estinator information and warning events message (estimator_event_flags)
* ekf2: publish information and warning events
* logger: log estimator_event_flags
* update ecl submodule to latest
Co-authored-by: Daniel Agar <daniel@agar.ca>
- publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind)
- rename message wind_estimate to wind
- publish wind from currently used ekf instance (ekf2selector)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
