rc_input: singlewire use push_pull

fix commander: make sure to count all valid mags in preflight check
Previously, if a mag was not required (not index 0 and not used by ekf), it was not counted in num_enabled_and_valid_calibration. If a user set SYS_HAS_MAG to e.g. 3, it would then trigger a preflight failure, even if there were 3 calibrated and enabled mags.
2026-06-02 03:40:05 +08:00 · 2024-06-01 19:15:42 +02:00 · 2024-05-31 12:30:34 -04:00 · 2024-05-31 10:38:17 -04:00 · 2024-05-31 10:38:17 -04:00 · 2024-05-31 10:38:17 -04:00
13 changed files with 380 additions and 511 deletions
@@ -35,7 +35,7 @@ bool cs_gps_yaw_fault         # 27 - true when the GNSS heading has been declare
 bool cs_rng_fault             # 28 - true when the range finder has been declared faulty and is no longer being used
 bool cs_inertial_dead_reckoning # 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
 bool cs_wind_dead_reckoning     # 30 - true if we are navigationg reliant on wind relative measurements
-bool cs_rng_kin_valid           # 31 - true when the range finder data is healthy and the kinematic consistency check is passing
+bool cs_rng_kin_consistent      # 31 - true when the range finder kinematic consistency check is passing
 bool cs_fake_pos                # 32 - true when fake position measurements are being fused
 bool cs_fake_hgt                # 33 - true when fake height measurements are being fused
 bool cs_gravity_vector          # 34 - true when gravity vector measurements are being fused
@@ -62,6 +62,11 @@ public:
 	{
 		Node **p;

+		// Don't allow duplicates to be inserted
+		if (find(node_name)) {
+			return;
+		}
+
 		if (_top == nullptr) {
 			p = &_top;

@@ -314,7 +314,7 @@ void  RCInput::swap_rx_tx()
 #  ifdef TIOCSSINGLEWIRE

 	if (rv != OK) {
-		ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
+		ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED | SER_SINGLEWIRE_PUSHPULL);
 	}

 #  else
@@ -50,10 +50,6 @@ void MagnetometerChecks::checkAndReport(const Context &context, Report &reporter
 		bool is_mag_fault = false;
 		const bool is_required = instance == 0 || isMagRequired(instance, is_mag_fault);

-		if (!is_required) {
-			continue;
-		}
-
 		const bool exists = _sensor_mag_sub[instance].advertised();
 		bool is_valid = false;
 		bool is_calibration_valid = false;
@@ -83,6 +79,11 @@ void MagnetometerChecks::checkAndReport(const Context &context, Report &reporter
 			reporter.setIsPresent(health_component_t::magnetometer);
 		}

+		// Do not raise errors if a mag is not required
+		if (!is_required) {
+			continue;
+		}
+
 		const bool is_sensor_ok = is_valid && is_calibration_valid && !is_mag_fault;

 		if (!is_sensor_ok) {
@@ -59,13 +59,6 @@ void Ekf::controlMagFusion()
 		return;
 	}

-	// stop mag (require a reset before using again) if there was an external yaw reset (yaw estimator, GPS yaw, etc)
-	if (_mag_decl_cov_reset && (_state_reset_status.reset_count.quat != _state_reset_count_prev.quat)) {
-		ECL_INFO("yaw reset, stopping mag fusion to force reinitialization");
-		stopMagFusion();
-		resetMagCov();
-	}
-
 	magSample mag_sample;

 	if (_mag_buffer && _mag_buffer->pop_first_older_than(_time_delayed_us, &mag_sample)) {
@@ -154,11 +147,13 @@ void Ekf::controlMagFusion()

 		// WMM update can occur on the last epoch, just after mag fusion
 		const bool wmm_updated = (_wmm_gps_time_last_set >= aid_src.time_last_fuse);
+		const bool using_ne_aiding = _control_status.flags.gps || _control_status.flags.aux_gpos;
+

 		{
-		const bool mag_consistent_or_no_gnss = _control_status.flags.mag_heading_consistent || !_control_status.flags.gps;
+		const bool mag_consistent_or_no_ne_aiding = _control_status.flags.mag_heading_consistent || !using_ne_aiding;
 		const bool common_conditions_passing = _control_status.flags.mag
-						       && ((_control_status.flags.yaw_align && mag_consistent_or_no_gnss)
+						       && ((_control_status.flags.yaw_align && mag_consistent_or_no_ne_aiding)
 						           || (!_control_status.flags.ev_yaw && !_control_status.flags.yaw_align))
 						       && !_control_status.flags.mag_fault
 						       && !_control_status.flags.mag_field_disturbed
@@ -185,74 +180,47 @@ void Ekf::controlMagFusion()

 		// if we are using 3-axis magnetometer fusion, but without external NE aiding,
 		// then the declination must be fused as an observation to prevent long term heading drift
-		// fusing declination when gps aiding is available is optional.
-		const bool not_using_ne_aiding = !_control_status.flags.gps && !_control_status.flags.aux_gpos;
-		_control_status.flags.mag_dec = _control_status.flags.mag
-						&& (not_using_ne_aiding || !_control_status.flags.mag_aligned_in_flight);
+		const bool no_ne_aiding_or_pre_takeoff = !using_ne_aiding || !_control_status.flags.in_air;
+		_control_status.flags.mag_dec = _control_status.flags.mag && no_ne_aiding_or_pre_takeoff;

 		if (_control_status.flags.mag) {

 			if (continuing_conditions_passing && _control_status.flags.yaw_align) {

-				if (mag_sample.reset || checkHaglYawResetReq() || wmm_updated) {
+				if (mag_sample.reset || checkHaglYawResetReq() || (wmm_updated && no_ne_aiding_or_pre_takeoff)) {
 					ECL_INFO("reset to %s", AID_SRC_NAME);
 					resetMagStates(_mag_lpf.getState(), _control_status.flags.mag_hdg || _control_status.flags.mag_3D);
 					aid_src.time_last_fuse = _time_delayed_us;

 				} else {
-					if (!_mag_decl_cov_reset) {
-						// After any magnetic field covariance reset event the earth field state
-						// covariances need to be corrected to incorporate knowledge of the declination
-						// before fusing magnetometer data to prevent rapid rotation of the earth field
-						// states for the first few observations.
-						fuseDeclination(0.02f);
-						_mag_decl_cov_reset = true;
-						fuseMag(mag_sample.mag, R_MAG, H, aid_src);
+					// The normal sequence is to fuse the magnetometer data first before fusing
+					// declination angle at a higher uncertainty to allow some learning of
+					// declination angle over time.
+					const bool update_all_states = _control_status.flags.mag_3D || _control_status.flags.mag_hdg;
+					const bool update_tilt = _control_status.flags.mag_3D;
+					fuseMag(mag_sample.mag, R_MAG, H, aid_src, update_all_states, update_tilt);

-					} else {
-						// The normal sequence is to fuse the magnetometer data first before fusing
-						// declination angle at a higher uncertainty to allow some learning of
-						// declination angle over time.
-						const bool update_all_states = _control_status.flags.mag_3D || _control_status.flags.mag_hdg;
-						const bool update_tilt = _control_status.flags.mag_3D;
-						fuseMag(mag_sample.mag, R_MAG, H, aid_src, update_all_states, update_tilt);
+					// the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned
+					if (update_all_states && update_tilt) {
+						_fault_status.flags.bad_mag_x = (aid_src.innovation_variance[0] < aid_src.observation_variance[0]);
+						_fault_status.flags.bad_mag_y = (aid_src.innovation_variance[1] < aid_src.observation_variance[1]);
+						_fault_status.flags.bad_mag_z = (aid_src.innovation_variance[2] < aid_src.observation_variance[2]);
+					}

-						// the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned
-						if (update_all_states && update_tilt) {
-							_fault_status.flags.bad_mag_x = (aid_src.innovation_variance[0] < aid_src.observation_variance[0]);
-							_fault_status.flags.bad_mag_y = (aid_src.innovation_variance[1] < aid_src.observation_variance[1]);
-							_fault_status.flags.bad_mag_z = (aid_src.innovation_variance[2] < aid_src.observation_variance[2]);
-						}
-
-						if (_control_status.flags.mag_dec) {
-							fuseDeclination(0.5f);
-						}
+					if (_control_status.flags.mag_dec) {
+						fuseDeclination(0.5f);
 					}
 				}

 				const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.reset_timeout_max);

 				if (is_fusion_failing) {
-					if (_nb_mag_3d_reset_available > 0) {
-						// Data seems good, attempt a reset (mag states only unless mag_3D currently active)
+					if (no_ne_aiding_or_pre_takeoff) {
 						ECL_WARN("%s fusion failing, resetting", AID_SRC_NAME);
 						resetMagStates(_mag_lpf.getState(), _control_status.flags.mag_hdg || _control_status.flags.mag_3D);
 						aid_src.time_last_fuse = _time_delayed_us;

-						if (_control_status.flags.in_air) {
-							_nb_mag_3d_reset_available--;
-						}
-
-					} else if (starting_conditions_passing) {
-						// Data seems good, but previous reset did not fix the issue
-						// something else must be wrong, declare the sensor faulty and stop the fusion
-						//_control_status.flags.mag_fault = true;
-						ECL_WARN("stopping %s fusion, starting conditions failing", AID_SRC_NAME);
-						stopMagFusion();
-
 					} else {
-						// A reset did not fix the issue but all the starting checks are not passing
-						// This could be a temporary issue, stop the fusion without declaring the sensor faulty
 						ECL_WARN("stopping %s, fusion failing", AID_SRC_NAME);
 						stopMagFusion();
 					}
@@ -267,12 +235,9 @@ void Ekf::controlMagFusion()
 		} else {
 			if (starting_conditions_passing) {

-				_control_status.flags.mag = true;
-
 				// activate fusion, reset mag states and initialize variance if first init or in flight reset
 				if (!_control_status.flags.yaw_align
 				    || wmm_updated
-				    || !_mag_decl_cov_reset
 				    || !_state.mag_I.longerThan(0.f)
 				    || (getStateVariance<State::mag_I>().min() < kMagVarianceMin)
 				    || (getStateVariance<State::mag_B>().min() < kMagVarianceMin)
@@ -283,16 +248,17 @@ void Ekf::controlMagFusion()

 					resetMagStates(_mag_lpf.getState(), reset_heading);
 					aid_src.time_last_fuse = _time_delayed_us;
-					_nb_mag_3d_reset_available = 2;

 					if (reset_heading) {
 						_control_status.flags.yaw_align = true;
 					}

+					_control_status.flags.mag = true;
+
 				} else {
 					if (fuseMag(mag_sample.mag, R_MAG, H, aid_src)) {
 						ECL_INFO("starting %s fusion", AID_SRC_NAME);
-						_nb_mag_3d_reset_available = 2;
+						_control_status.flags.mag = true;
 					}
 				}
 			}
@@ -367,23 +333,7 @@ void Ekf::resetMagStates(const Vector3f &mag, bool reset_heading)
 						* Vector3f(_mag_strength_gps, 0, 0);

 		// mag_B: reset
-#if defined(CONFIG_EKF2_GNSS)
-
-		if (isYawEmergencyEstimateAvailable()) {
-
-			const Dcmf R_to_earth = updateYawInRotMat(_yawEstimator.getYaw(), _R_to_earth);
-			const Dcmf R_to_body = R_to_earth.transpose();
-
-			// mag_B: reset using WMM and yaw estimator
-			_state.mag_B = mag - (R_to_body * mag_earth_pred);
-
-			ECL_INFO("resetMagStates using yaw estimator");
-
-		} else if (!reset_heading && _control_status.flags.yaw_align) {
-#else
-
 		if (!reset_heading && _control_status.flags.yaw_align) {
-#endif
 			// mag_B: reset using WMM
 			const Dcmf R_to_body = quatToInverseRotMat(_state.quat_nominal);
 			_state.mag_B = mag - (R_to_body * mag_earth_pred);
@@ -399,9 +349,6 @@ void Ekf::resetMagStates(const Vector3f &mag, bool reset_heading)
 			resetMagHeading(mag);
 		}

-		// earth field was reset to WMM, skip initial declination fusion
-		_mag_decl_cov_reset = true;
-
 	} else {
 		// mag_B: reset
 		_state.mag_B.zero();
@@ -103,7 +103,13 @@ bool Ekf::fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estima

 		VectorState Kfusion = P * H / aid_src.innovation_variance[index];

-		if (!update_all_states) {
+		if (update_all_states) {
+			if (!update_tilt) {
+				Kfusion(State::quat_nominal.idx + 0) = 0.f;
+				Kfusion(State::quat_nominal.idx + 1) = 0.f;
+			}
+
+		} else {
 			// zero non-mag Kalman gains if not updating all states

 			// copy mag_I and mag_B Kalman gains
@@ -116,14 +122,8 @@ bool Ekf::fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estima
 			Kfusion.slice<State::mag_B.dof, 1>(State::mag_B.idx, 0) = K_mag_B;
 		}

-		if (!update_tilt) {
-			Kfusion(State::quat_nominal.idx + 0) = 0.f;
-			Kfusion(State::quat_nominal.idx + 1) = 0.f;
-		}
-
 		if (measurementUpdate(Kfusion, H, aid_src.observation_variance[index], aid_src.innovation[index])) {
 			fused[index] = true;
-			limitDeclination();
 		}
 	}

@@ -149,10 +149,6 @@ bool Ekf::fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estima

 bool Ekf::fuseDeclination(float decl_sigma)
 {
-	if (!_control_status.flags.mag) {
-		return false;
-	}
-
 	float decl_measurement = NAN;

 	if ((_params.mag_declination_source & GeoDeclinationMask::USE_GEO_DECL)
@@ -191,87 +187,12 @@ bool Ekf::fuseDeclination(float decl_sigma)

 		_fault_status.flags.bad_mag_decl = !is_fused;

-		if (is_fused) {
-			limitDeclination();
-		}
-
 		return is_fused;
 	}

 	return false;
 }

-void Ekf::limitDeclination()
-{
-	const Vector3f mag_I_before = _state.mag_I;
-
-	// get a reference value for the earth field declinaton and minimum plausible horizontal field strength
-	float decl_reference = NAN;
-	float h_field_min = 0.001f;
-
-	if (_params.mag_declination_source & GeoDeclinationMask::USE_GEO_DECL
-	    && (PX4_ISFINITE(_mag_declination_gps) && PX4_ISFINITE(_mag_strength_gps) && PX4_ISFINITE(_mag_inclination_gps))
-	   ) {
-		decl_reference = _mag_declination_gps;
-
-		// set to 50% of the horizontal strength from geo tables if location is known
-		h_field_min = fmaxf(h_field_min, 0.5f * _mag_strength_gps * cosf(_mag_inclination_gps));
-
-	} else if ((_params.mag_declination_source & GeoDeclinationMask::SAVE_GEO_DECL)
-		   && PX4_ISFINITE(_params.mag_declination_deg) && (fabsf(_params.mag_declination_deg) > 0.f)
-		  ) {
-		// use parameter value if GPS isn't available
-		decl_reference = math::radians(_params.mag_declination_deg);
-	}
-
-	if (!PX4_ISFINITE(decl_reference)) {
-		return;
-	}
-
-	// do not allow the horizontal field length to collapse - this will make the declination fusion badly conditioned
-	// and can result in a reversal of the NE field states which the filter cannot recover from
-	// apply a circular limit
-	float h_field = sqrtf(_state.mag_I(0) * _state.mag_I(0) + _state.mag_I(1) * _state.mag_I(1));
-
-	if (h_field < h_field_min) {
-		if (h_field > 0.001f * h_field_min) {
-			const float h_scaler = h_field_min / h_field;
-			_state.mag_I(0) *= h_scaler;
-			_state.mag_I(1) *= h_scaler;
-
-		} else {
-			// too small to scale radially so set to expected value
-			_state.mag_I(0) = 2.0f * h_field_min * cosf(decl_reference);
-			_state.mag_I(1) = 2.0f * h_field_min * sinf(decl_reference);
-		}
-
-		h_field = h_field_min;
-	}
-
-	// do not allow the declination estimate to vary too much relative to the reference value
-	constexpr float decl_tolerance = 0.5f;
-	const float decl_max = decl_reference + decl_tolerance;
-	const float decl_min = decl_reference - decl_tolerance;
-	const float decl_estimate = atan2f(_state.mag_I(1), _state.mag_I(0));
-
-	if (decl_estimate > decl_max)  {
-		_state.mag_I(0) = h_field * cosf(decl_max);
-		_state.mag_I(1) = h_field * sinf(decl_max);
-
-	} else if (decl_estimate < decl_min)  {
-		_state.mag_I(0) = h_field * cosf(decl_min);
-		_state.mag_I(1) = h_field * sinf(decl_min);
-	}
-
-	if ((mag_I_before - _state.mag_I).longerThan(0.01f)) {
-		ECL_DEBUG("declination limited mag I [%.3f, %.3f, %.3f] -> [%.3f, %.3f, %.3f] (decl: %.3f)",
-			  (double)mag_I_before(0), (double)mag_I_before(1), (double)mag_I_before(2),
-			  (double)_state.mag_I(0), (double)_state.mag_I(1), (double)_state.mag_I(2),
-			  (double)decl_reference
-			 );
-	}
-}
-
 float Ekf::calculate_synthetic_mag_z_measurement(const Vector3f &mag_meas, const Vector3f &mag_earth_predicted)
 {
 	// theoretical magnitude of the magnetometer Z component value given X and Y sensor measurement and our knowledge
@@ -86,9 +86,7 @@ void Ekf::controlRangeHeightFusion()
 			}
 		}

-		if (_range_sensor.isDataReady()) {
-			_control_status.flags.rng_kin_valid = _rng_consistency_check.isKinematicallyConsistent() && _range_sensor.isHealthy();
-		}
+		_control_status.flags.rng_kin_consistent = _rng_consistency_check.isKinematicallyConsistent();

 	} else {
 		return;
@@ -578,7 +578,7 @@ union filter_control_status_u {
 		uint64_t rng_fault               : 1; ///< 28 - true when the range finder has been declared faulty and is no longer being used
 		uint64_t inertial_dead_reckoning : 1; ///< 29 - true if we are no longer fusing measurements that constrain horizontal velocity drift
 		uint64_t wind_dead_reckoning     : 1; ///< 30 - true if we are navigationg reliant on wind relative measurements
-		uint64_t rng_kin_valid           : 1; ///< 31 - true when the range finder data is healthy and the kinematic consistency check is passing
+		uint64_t rng_kin_consistent      : 1; ///< 31 - true when the range finder kinematic consistency check is passing
 		uint64_t fake_pos                : 1; ///< 32 - true when fake position measurements are being fused
 		uint64_t fake_hgt                : 1; ///< 33 - true when fake height measurements are being fused
 		uint64_t gravity_vector          : 1; ///< 34 - true when gravity vector measurements are being fused
@@ -163,22 +163,26 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)


 #if defined(CONFIG_EKF2_MAGNETOMETER)
-	if (_control_status.flags.mag) {
-		// mag_I: add process noise
-		float mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.f, 1.f);
-		float mag_I_process_noise = sq(mag_I_sig);
+	// mag_I: add process noise
+	float mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.f, 1.f);
+	float mag_I_process_noise = sq(mag_I_sig);

-		for (unsigned index = 0; index < State::mag_I.dof; index++) {
-			const unsigned i = State::mag_I.idx + index;
+	for (unsigned index = 0; index < State::mag_I.dof; index++) {
+		const unsigned i = State::mag_I.idx + index;
+
+		if (P(i, i) < sq(_params.mag_noise)) {
 			P(i, i) += mag_I_process_noise;
 		}
+	}

-		// mag_B: add process noise
-		float mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.f, 1.f);
-		float mag_B_process_noise = sq(mag_B_sig);
+	// mag_B: add process noise
+	float mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.f, 1.f);
+	float mag_B_process_noise = sq(mag_B_sig);

-		for (unsigned index = 0; index < State::mag_B.dof; index++) {
-			const unsigned i = State::mag_B.idx + index;
+	for (unsigned index = 0; index < State::mag_B.dof; index++) {
+		const unsigned i = State::mag_B.idx + index;
+
+		if (P(i, i) < sq(_params.mag_noise)) {
 			P(i, i) += mag_B_process_noise;
 		}
 	}
@@ -304,10 +308,7 @@ void Ekf::resetAccelBiasCov()
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 void Ekf::resetMagCov()
 {
-	if (_mag_decl_cov_reset) {
-		ECL_INFO("reset mag covariance");
-		_mag_decl_cov_reset = false;
-	}
+	ECL_INFO("reset mag covariance");

 	P.uncorrelateCovarianceSetVariance<State::mag_I.dof>(State::mag_I.idx, sq(_params.mag_noise));
 	P.uncorrelateCovarianceSetVariance<State::mag_B.dof>(State::mag_B.idx, sq(_params.mag_noise));
@@ -705,8 +705,6 @@ private:
 	// used by magnetometer fusion mode selection
 	bool _yaw_angle_observable{false};	///< true when there is enough horizontal acceleration to make yaw observable
 	AlphaFilter<float> _mag_heading_innov_lpf{0.1f};
-	bool _mag_decl_cov_reset{false};	///< true after the fuseDeclination() function has been used to modify the earth field covariances after a magnetic field reset event.
-	uint8_t _nb_mag_3d_reset_available{0};
 	uint32_t _min_mag_health_time_us{1'000'000}; ///< magnetometer is marked as healthy only after this amount of time

 	estimator_aid_source3d_s _aid_src_mag{};
@@ -764,8 +762,6 @@ private:
 	// argument passed in is the declination uncertainty in radians
 	bool fuseDeclination(float decl_sigma);

-	// apply sensible limits to the declination and length of the NE mag field states estimates
-	void limitDeclination();
 #endif // CONFIG_EKF2_MAGNETOMETER

 #if defined(CONFIG_EKF2_AIRSPEED)
@@ -1908,7 +1908,7 @@ void EKF2::PublishStatusFlags(const hrt_abstime &timestamp)
 		status_flags.cs_rng_fault             = _ekf.control_status_flags().rng_fault;
 		status_flags.cs_inertial_dead_reckoning = _ekf.control_status_flags().inertial_dead_reckoning;
 		status_flags.cs_wind_dead_reckoning     = _ekf.control_status_flags().wind_dead_reckoning;
-		status_flags.cs_rng_kin_valid           = _ekf.control_status_flags().rng_kin_valid;
+		status_flags.cs_rng_kin_consistent      = _ekf.control_status_flags().rng_kin_consistent;
 		status_flags.cs_fake_pos                = _ekf.control_status_flags().fake_pos;
 		status_flags.cs_fake_hgt                = _ekf.control_status_flags().fake_hgt;
 		status_flags.cs_gravity_vector          = _ekf.control_status_flags().gravity_vector;
@@ -220,172 +220,172 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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Author	SHA1	Message	Date
Peter van der Perk	c00ed78dda	rc_input: singlewire use push_pull	2024-06-01 19:15:42 +02:00
Beat Küng	ca112fea8a	fix commander: make sure to count all valid mags in preflight check Previously, if a mag was not required (not index 0 and not used by ekf), it was not counted in num_enabled_and_valid_calibration. If a user set SYS_HAS_MAG to e.g. 3, it would then trigger a preflight failure, even if there were 3 calibrated and enabled mags.	2024-05-31 12:30:34 -04:00
bresch	53210dd8f3	ekf2-mag: with NE aiding, constrain heading drift only before takeoff After takeoff, the heading is easily observable	2024-05-31 10:38:17 -04:00
bresch	3dac9af09e	ekf2-mag: do not reset on WMM change when NE aiding is active The mag field states are observed. No need to reset them.	2024-05-31 10:38:17 -04:00
bresch	ee765e7859	ekf2-mag: do not reset when NE aiding is active	2024-05-31 10:38:17 -04:00
bresch	6515935b52	ekf2-mag: do not limit the earth mag field estimate The EKF can recover from an initial bad earth mag field estimate. Constraining the field is not necessary and can lead to an unpredicted behavior of the filter. Declination fusion is safe to run even when the horizontal field is 0	2024-05-31 10:38:17 -04:00
bresch	774b6ed3b8	ekf2-mag: do not use yaw emergency estimator to reset mag states On slowly moving vehicles (e.g.: boats, rovers), the yaw estimator has worse convergence than the main EKF. Resetting the mag states using the yaw estimator as reference can lead to poor heading. Also, the EKF can recover really well from initially incorrect mag states.	2024-05-31 10:38:17 -04:00
bresch	c3d984703c	ekf2-mag: remove immediate declination fusion after reset	2024-05-31 10:38:17 -04:00
bresch	a6007e4b93	ekf2-mag: turn around update_all_states condition Non-functional	2024-05-31 10:38:17 -04:00
bresch	c11c75d32e	ekf2-mag: always add process noise until initial value	2024-05-31 10:38:17 -04:00
Eric Katzfey	493c9e49db	uORB: ORBSet don't allow duplicate insertion * fixes a small memory leak in uORBManager.cpp (if using ORB_COMMUNICATOR)	2024-05-30 16:53:48 -04:00