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0f1c7590e9
with measurement noise auto-tuning The purpose of this estimator is to improve land detection and vertical velocity feedforward Recovery strategy: This is required when the setpoint suddenly changes in air or that the EKF is diverging. A lowpassed test ratio is used as a trigger for the recovery logic Also, a lowpassed residual is used to estimate the steady-state value and remove it when estimating the accel noise to avoid increasing the accel noise when the redisual is caused by an offset.
11 lines
497 B
Plaintext
11 lines
497 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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float32 hover_thrust # estimated hover thrust [0.1, 0.9]
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float32 hover_thrust_var # estimated hover thrust variance
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float32 accel_innov # innovation of the last acceleration fusion
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float32 accel_innov_var # innovation variance of the last acceleration fusion
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float32 accel_innov_test_ratio # normalized innovation squared test ratio
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float32 accel_noise_var # vertical acceleration noise variance estimated form innovation residual
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