bresch 1bf791ba3f MC_HTE: Stability improvements ...

- Use a low-passed value of the signed innovation test ratio to trigger
the state variance boost. The threshold of 0.2 has been chosen using log
replay and simulation scenarii.
- Do not reset the learned accel noise during a state variance boost.
After a few tests, this does not seem to help at all.
- Continue to learn the accel noise even if the measurement got rejected
to avoid ignoring sudden changes of noise
- Lower the acceleration noise time constant and increase min/max
values to avoid learning quickly a small variance that could temporarly
destabilize the filter
- Update filter time constants. Increasing the speed of the residual lpf
improves the quality of the learned accel noise

2020-03-15 13:57:02 -04:00

..

CMakeLists.txt

move hover_thrust_estimator to new module (mc_hover_thrust_estimator)

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hover_thrust_estimator_params.c

move hover_thrust_estimator to new module (mc_hover_thrust_estimator)

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MulticopterHoverThrustEstimator.cpp

move hover_thrust_estimator to new module (mc_hover_thrust_estimator)

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MulticopterHoverThrustEstimator.hpp

move hover_thrust_estimator to new module (mc_hover_thrust_estimator)

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zero_order_hover_thrust_ekf_test.cpp

MC_HTE: Stability improvements

2020-03-15 13:57:02 -04:00

zero_order_hover_thrust_ekf.cpp

MC_HTE: Stability improvements

2020-03-15 13:57:02 -04:00

zero_order_hover_thrust_ekf.hpp

MC_HTE: Stability improvements

2020-03-15 13:57:02 -04:00