The wind variance can be reset to a value larger than the wind init
variance (e.g.: when the reset occurs when flying close to the N or E
axis). Constraining the variance after a covariance initialization would
artificially increase the correlation and could destabilize the filter.
* added support for resetting wind states to external observation
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* moved wind related functions into separate file
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* added VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* correctly compute variances
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* ekf2: implement wind reset
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* only allow VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE during wind dead-reckoning
and increase horizontal velocity variance to allow velocity states to move
towards solution that is aligned with the newly set wind
Signed-off-by: RomanBapst <bapstroman@gmail.com>
* only reset wind on ground
* still use wind reset using airspeed when it wasn't initialized
* exclude func for rover, change reset interface
* handle wind reset in drag-fusion
* replace state reset with variance reset in sideslip/drag fusion
* remove resetWind function
---------
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Marco Hauswirth <marco.hauswirth@auterion.com>
- remove commander test ratio "tuning knobs" (COM_ARM_EKF_{HGT,POS,VEL,YAW})
- these are effectively redundant with the actual tuning (noise & gate)
in the estimator, plus most users have no idea why they'd be
adjusting these other than to silence an annoying preflight complaint
- remove ekf2 "PreFlightChecker" with hard coded innovation limits
- ekf2 preflight innovation flags are now simply if any active source
exceeds half the limit preflight
Also, as the flow makes the link between range and horizontal velocity,
only allow it to start if at least one of the two is known. Otherwise
the EKF will struggle to estimate both values at the same time.
* BMP581: Add Bosch BMP581 barometer
* Copyright：fix copyright header year
* style: not use pointers and Bool returns, Check the failed condition return
* delay: Replace usleep() with ScheduleDelayed()
* definitions: Delete unused definitions
* comment: Delet redundant comments
* constants: Change to uppercase
* BMP581: run make format
* estimator gps check fail flag for spoofing
* warn whenever spoofing state changes to true, use default hysteresis to completely stop fusion
* dont introduce more GPS namings, GNSS instead
* flash: exclude mantis for cuav_x7pro
- previously we could get stuck with optical flow still technically
active (_control_status.flags.opt_flow=true), but nothing being
updated due to excessive tilt, etc
- collapse updateOptFlow() and startFlowFusion() to avoid recomputing H
- this is a relatively expensive call we can easily avoid with the
right structure
- adjust flow sample gyro_rate immediately after popping from ring
buffer
- always update flow gyro bias (calcOptFlowBodyRateComp()) regardless
of flow quality or magnitude
* lib: add FilteredDerivative class
* AirspeedValidator: add first principle check
- filters throttle, pitch and airspeed rate, and triggers
if the airspeed rate is negative even though the vehicle
is pitching down and giving high throttle.
Check has to fail for duration defined by ASPD_FP_T_WINDOW
to trigger an airspeed failure.
* AirspeedValidator: define constants for first principle check
* FilteredDerivative: set initialised to false if sample interval is invalid
* airspeed_selector: improved comment
* increase IAS derivative filter time constant from 4 to 5
* use legacy parameter handling for FW_PSP_OFF
* handle FW_THR_MAX as well
* ROMFS/airframes: exclude some airframes for v6x and v4pro to save flash on them
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Signed-off-by: RomanBapst <bapstroman@gmail.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
* reset position by fusion
* handle local_pos_valid for fixed wing in gnss denied
* [WIP] ekf2: setEkfGlobalOrigin respect current height reference and vertical position aiding
* global origin, also reset vertical pos without gps as ref
* fix wo gnss, that bitcraze ci passes
* revert some changes as requested
* remove duplicate reset messages
* undo unrelated whitespace changes, I'll fix it everywhere in a followup
* [SQUASH] ekf2: add vehicle_command_ack
* resetGlobalPosToExternalObservation consolidate logic
* remove gnss check from local_pos validation check
* reset when 0<accuracy<1, otherwise fuse
* replace gps param with flag
* ekf2: dead reckon time exceeded, respect ZUPT preflight if air data or optical flow expected
* subtract timeout from last inertial dead-reck, change fake pos conditions, save flash
---------
Co-authored-by: Daniel Agar <daniel@agar.ca>
Pulls cell count, min voltage and max voltage from log file but still allows for over-rides. Also added debug info to tell user what what it found in the log and what it is using
Co-authored-by: chfriedrich98 <125505139+chfriedrich98@users.noreply.github.com>
Heading offset was configured as radians but should be configured as
degrees on Septentrio receivers. The parameter was already in degrees
but the configuration logic was changing it into radians. Also allow the
entire allowed range of heading offset values for Septentrio receivers.
The documentation for `SEP_DUMP_COMM` was quite unclear and users had to
use the user guide to find out what exactly it did. The new
documentation tries to make the purpose clearer.
This fixes an incorrect check of the device paths during instantiation
of the Septentrio driver that caused the driver to start and not print
an error message.
- track accel clipping count per axis
- only set bad_acc_clipping fault_status if at least one axis is
clipping continuously or if all have been clipping at warning level
- Note: this doesn't impact the clipping projections that boost the
accel process noise, pause bias estimation, and skip gravity fusion
on a per sample basis
- Fixes matplotlib version expression from ">=3.0.*" ro ">=3.0" which is the right syntax
Fixes issue #23329
Co-authored-by: lee wonwoo <leewonwoo@leeui-MacBookPro.local>
We had a case where someone took off with an experimental
system with 100% RAM usage on the embedded system
without noticing. This lead to problems during flight.
Since we already have a CPU load check it seems natural
to also check the reported RAM usage.
- new parameter EKF2_LOG_VERBOSE to enable (currently enabled by default)
- force advertise topics immediately (based on EKF2_LOG_VERBOSE and per aid source configuration)
- logger optionally log all estimator topics at minimal rate
When using optical flow for terrain aiding, we cannot assume that the
terrain estimate is valid if flow is fused as is can only be observed
during motion. When no direct observation is available, the terrain is
assumed to be valid if its 1sigma uncertainty is < 10% of the hagl.
Terrain is the state: terrain vertical position
Hagl (height above ground level) is the vertical distance between the
vertical position and the terrain vertical position
* mission: skip a vtol takoff mission item if already in air and a fixed wing
* MissionBase: also skip FW takeoff when already in-air
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
* mission: use setNextMissionItem to skip vtol takeoff when already in air
* mission: Only skip the VTOL takeoff in air for mission and rtl mission
If flying RTL mission reverse it must still include the takeoff point.
---------
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
Co-authored-by: Silvan Fuhrer <silvan@auterion.com>
Without this flag the command silently succeeds even though the logs contains
an error. It's much more developer friendly to fail early in case of an error.
The log path is then also shown in the console output.
# Check if there are files checked in that don't end in a newline (POSIX requirement)
git grep --cached -Il ''| xargs -L1 bash -c 'if test "$(tail -c 1 "$0")"; then echo "No new line at end of $0"; exit 1; fi'
if[$? -ne 0];then
return_value=1
fi
# Check if there are files checked in that have duplicate newlines at the end (fail trailing whitespace checks)
git grep --cached -Il ''| xargs -L1 bash -c 'if tail -c 2 "$0" | ( read x && read y && [ x"$x" = x ] && [ x"$y" = x ]); then echo "Multiple newlines at the end of $0"; exit 1; fi'
{"date":"Tue Nov 3 13:02:09 2020","public":"4db0c20105552a3cd7fbaf5cba7ab0811b3663db28525edb1436f2578d02b7fd","private":"734d597e7d8ab0a1d0d64b95083aa6bee34b46b9e6e76dac1e363af114f12d15"}
{"date":"Tue Nov 3 13:02:09 2020","public":"4db0c20105552a3cd7fbaf5cba7ab0811b3663db28525edb1436f2578d02b7fd","private":"734d597e7d8ab0a1d0d64b95083aa6bee34b46b9e6e76dac1e363af114f12d15"}
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