fd33e60f78
ekf: fix GNSS yaw fusion wrapping
2023-03-13 10:46:34 +01:00
fa6fda6cce
ekf2: new gravity observation ( #21038 )
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Signed-off-by: Daniel M. Sahu <danielmohansahu@gmail.com >
2023-02-07 13:28:58 -05:00
efe1d43550
ekf2: symforce codegen remove reserved identifier naming
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- from the C standard, "All identifiers that begin with an underscore and either an uppercase letter or another underscore are always reserved for any use"
2023-01-30 09:24:32 -05:00
b4b48cae75
ekf2: terrain flow - migrate to Symforce
2023-01-21 15:31:19 -05:00
49f8bcfc69
ekf2: purge old ekf2 derivation
2023-01-06 18:35:19 -05:00
420f5ef2b7
ekf2: migrate drag fusion derivation to SymForce
2023-01-05 12:03:24 -05:00
04f76c932e
ekf2: decompose drag vector into x-y components
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The drag force is a vector.
drag_x = drag.norm() * vx / v.norm()
2023-01-05 12:03:24 -05:00
86a3d2459a
ekf2: remove old yaw estimator generated code
2022-12-23 10:28:19 -05:00
7c33019510
EKF2: move yaw estimator to symforce
2022-12-23 10:28:19 -05:00
4cb327fba3
ekf2: remove old GPS yaw autogenerated code
2022-11-22 09:59:31 -05:00
eff2c6adcf
ekf2: migrate GNSS yaw fusion to SymForce
2022-11-22 09:59:31 -05:00
f319cc528b
ekf2: remove old flow fusion generated code
2022-11-14 11:51:32 -05:00
b54a4417fa
ekf2: migrate flow fusion to SymForce
2022-11-14 11:51:32 -05:00
96e7ea7a08
ekf2: remove old mag declination auto-code
2022-10-20 18:16:25 -04:00
2f3ea88099
ekf2: migrate mag declination to SymForce
2022-10-20 18:16:25 -04:00
cf9859965a
ekf2: remove old yaw fusion auto-code
2022-10-19 17:34:31 +02:00
f11908a266
ekf2: generate yaw fusion jacobians using symforce
2022-10-19 17:34:31 +02:00
8b9ac2d7f3
ekf2: remove old mag 3D fusion auto-code
2022-10-17 16:14:56 -04:00
b92cbe12a0
ekf2: migrate mag 3D fusion to symforce
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ekf2: merge mag 3d innov var, Hx and Kx computation to reduce flash
Slightly less code produced, almost no performance change
ekf2_mag3D: do not pre-compute Kalman gains
The vector of Kalaman gains is not too expensive to compute using
matrix-vector multiplication. Pre-generating it using CSE takes a lot of
flash space for little benefit.
2022-10-17 16:14:56 -04:00
a8a3107c05
ekf2: remove old covariance prediction code
2022-10-14 11:42:23 -04:00
a4e511b90e
ekf2: migrate covariance prediction to SymForce
2022-10-14 11:42:23 -04:00
bdd043f27f
ekf2: fix sideslip fusion sign
2022-10-12 16:14:47 +02:00
53865118fb
ekf2: remove old sideslip fusion code
2022-10-12 09:55:35 -04:00
5f54f6fcda
ekf2: migrate sideslip fusion to SymForce
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- split fusion into update (compute innov and innov_var) and actual fusion to the state vector
- use estimator_aid_source_1d struct to group the data
2022-10-12 09:55:35 -04:00
4b687beb3b
ekf2: remove old airspeed fusion code
2022-10-03 10:59:42 -04:00
29ebef1f74
ekf2: migrate fuse_airspeed to SymForce
2022-10-03 10:59:42 -04:00
41cda14126
ekf2: add symforce code generation helper target
2022-10-03 10:59:42 -04:00
a715b5468e
mc_wind_estimator - improve readability ( #19545 )
2022-08-02 09:26:06 +02:00
503aa87957
ekf2_derivation: create functions to generate innov_var or HK only
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This is required when the innovation variance computation and the fusion
are performed in two different functions.
2022-07-07 09:42:54 -04:00
3d01b5aa11
ekf2_derivation: use unsimplified q->rot for observation equations
2022-07-05 14:25:35 +02:00
28b34a634b
ekf2_derivation: do not print null equations
2022-07-05 14:25:35 +02:00
78dd557b26
ekf2_derivation: automatically replace pow function
2022-07-05 14:25:35 +02:00
11f78a3686
ekf2_derivation: update generated equations with SymPy 1.10.1
2022-07-05 14:25:35 +02:00
e9c07fac6f
EKF: move python tuning tools to EKF module
2022-04-21 13:39:26 +02:00
1d7791dad6
commander: monitor GPS validity and EKF2 dead reckoning
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- ekf2: expose dead reckoning as control status flags
- commander:
- add GPS validity check
- in AUTO MISSION if dependent on GPS then a loss of GPS will
2022-02-22 09:46:21 -05:00
21163d859e
Whitespace cleanup.
2021-10-19 13:29:26 -04:00
2cf66a5d8f
ekf2: move EKF out of ecl
2021-07-15 10:38:24 -04:00
bresch