fda30d8cec
geo_lookup: expand latitude to +-80 degrees
2020-06-22 09:45:22 -04:00
109eca5200
geo_lookup: create simple python script to update tables
2020-06-22 09:45:22 -04:00
41b9e4f628
geo_lookup: move tables to separate file
2020-06-22 09:45:22 -04:00
a8bb8ea99f
move TECS, L1, and validation to PX4/Firmware
2020-06-18 18:48:36 -04:00
a296fe7d8c
Move AlphaFilter out of EKF
2020-06-15 13:07:51 -04:00
daec5ae608
AlphaFilter: replace isfinite with positive denominator check
2020-06-15 13:07:51 -04:00
e835bc34c4
remove inline modifier
2020-06-12 15:11:16 +02:00
74780aa512
Refactor gps fusion commencing
2020-06-12 15:11:16 +02:00
38cbd1a182
AlphaFilter: prevent setParameters division by zero
2020-06-09 16:32:24 -04:00
b7d54b5477
gps: fixed filter initialization bug around gps
...
- do not gps reference altitude to zero in case gps checks pass before the
filter initialized
- reset the filtered gps position and position derivative filters in case
we are in air or there is movement on the ground
Signed-off-by: RomanBapst <bapstroman@gmail.com >
2020-06-08 16:19:38 +02:00
8f533cb878
terrain_estimator: fix sensor aid selection
2020-06-05 20:44:30 +02:00
821e1fa8fc
terrain_estimator: add unit tests
2020-06-05 20:44:30 +02:00
aa96fa6d9e
Random style fixes in the code
2020-06-05 20:44:30 +02:00
5d6a72e383
sensor_simulator: add possibility to set GPS position rate
...
one can set the position rate = velocity to obtain consistent gps data
2020-06-05 20:44:30 +02:00
b3dc06d0cb
Added height above ground source bitmask indicating which sensor is used
2020-06-04 09:44:19 +02:00
62e15cbacf
sensor_simulator: set IMU rate to 200Hz as this is the new value
...
used in the Firmware
2020-06-03 17:09:20 +02:00
6126c190b2
sensor_simulator: update EKF at IMU rate
...
This is how it is also done in ekf2_main. Otherwise, this leads to
multiple integration of the same IMU data due to asynchronous sensor
updates triggering a prediction step between IMU updates.
Fix unit tests that broke because of this fix
2020-06-03 17:09:20 +02:00
59183f70ba
EKF: Reduce EKF-GSF vulnerability to large yaw gyro bias errors ( #831 )
...
* EKF: Reduce EKF-GSF vulnerability to large yaw gyro bias errors
* Update EKF/ekf_helper.cpp
* EKF: Fix comment typo
Co-authored-by: Roman Bapst <bapstroman@gmail.com >
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com >
Co-authored-by: Roman Bapst <bapstroman@gmail.com >
2020-06-02 17:42:54 +10:00
d0ddda8917
tecs: fix typo init(i)alized
2020-05-29 20:03:22 +03:00
86fc94b75a
Remove tilt align from position innovation check
2020-05-25 11:12:24 +02:00
b024cdd282
unit test: check that the accel bias is only learned when observable ( #827 )
2020-05-25 11:10:01 +02:00
c91c78dcf6
EKF: Allow reset of yaw to EKF-GSF later in flight
2020-05-22 13:05:10 +03:00
600240d95f
EKF: resetGpsAntYaw() fix double promotion
2020-05-20 12:44:18 -04:00
39c09b8092
add basic gps yaw fusion test
2020-05-20 08:52:52 +02:00
21f49c22dc
Use resetQuatStateYaw during gps yaw reset
2020-05-20 08:52:52 +02:00
7f21364844
EKF: use initial wind uncertainty with no airspeed sensor ( #823 )
2020-05-20 08:38:58 +02:00
bf78044bcd
EKF: fix initialization of local position validity 2 ( #820 )
...
The `_deadreckon_time_exceeded` flag is used in
`local_position_is_valid()`. This means that
`_params.valid_timeout_max` after startup, in my observed case 5
seconds, the local position switche from valid to invalid and then after
a while back to valid again.
With this fix, the local position is flagged invalid from boot and gets validated after the first aiding event.
Co-authored-by: Julian Oes <julian@oes.ch >
2020-05-20 08:24:23 +02:00
716caa5168
Refactor position resets ( #822 )
2020-05-19 21:53:46 +02:00
37d9cef262
ekf: disable xy accel bias learning before takeoff ( #818 )
...
* ekf: disable xy accel bias learning before takeoff
As those biases are usually poorly observable before takeoff because
they are almost perpendicular to the gravity vector, learning is often
driven by noise and numerical issues. This results in incorrect bias
learning before takeoff when the drone is static on ground for a long
period of time.
* ekf: update unit test and change indicator
2020-05-19 18:02:40 +10:00
9788c3bdf2
ekf: split accel bias learning in independant xyz components ( #817 )
...
This is a non-functional change required to select accel bias estimation
per axis selection. The intent is then to disable the learning before
takeoff of the components that are poorly observable.
2020-05-15 09:20:27 +02:00
19bbea75c0
Fix GPS altitude not fused if GPS checks fail and GPS is primary height source ( #813 )
...
* EKF: Fix failure to select a height sensor
* EKF: Remove unnecessary check and improve documentation
2020-05-14 19:26:16 +10:00
24f2e60b7e
Reduce stored strings, to save flash space ( #815 )
2020-05-13 08:09:26 +02:00
98801ad17b
Support vision velocity expressed in body frame too ( #708 )
...
* Support vision velocity expressed in body frame
* Use switch statement for vision velocity frame
* Robustify vision velocity frame test
* Increase lower bound on vision velocity noise to 0.05 m/s
2020-05-12 16:03:35 +02:00
c3de452e8e
Remove duplicate code during vision yaw reset ( #810 )
2020-05-12 08:44:39 +02:00
b40adf3dec
Refactor velocity resets
2020-05-12 08:05:32 +02:00
03191847f9
Fix ev_pos_obs_var(1) entry ( #809 )
2020-05-11 10:44:05 +02:00
440383f039
Increase matrix library usage and remove white line
2020-05-11 09:09:52 +02:00
97b437233e
ekf: remove unused function
2020-05-08 16:55:23 +02:00
26d4fbc000
EKF: reduce scope of variable and remove redeclaration of member
2020-05-08 16:55:23 +02:00
edc8a88c24
yaw_fusion: remove useless initialization
2020-05-08 16:55:23 +02:00
75c49b2082
ekf_helper: fuse double if
2020-05-08 16:55:23 +02:00
0e3bf2872c
EKFGSF_yaw: cleanup initialization of member variables
2020-05-08 16:55:23 +02:00
12835b999e
cmake update CXX standard 11 -> 14
...
- this doesn't really change anything, just staying in sync with PX4/Firmware
2020-05-01 13:33:49 -04:00
cda7486897
EKF: Prevent yaw reset to GPS caused by loss of GPS data ( #805 )
2020-04-30 17:50:26 +10:00
8b6d665a13
Avoid subtraction of two uint
2020-04-27 10:17:01 +02:00
70d65ea55f
Test:Increase GPS jump need for rejection
2020-04-25 10:11:01 +02:00
c19f40e574
Add reset position test for GPS and VISION
2020-04-25 10:11:01 +02:00
78a6b9f7a8
SensorSimulator: Fix GPS horizontal position step
2020-04-25 10:11:01 +02:00
050298f6c1
Improve matrix library usage
2020-04-25 10:11:01 +02:00
5749273d19
refactor resetPosition
2020-04-25 10:11:01 +02:00
Daniel Agar