* EKF: Improve covariance prediction stability
Eliminates collapse of vertical velocity state variance due to rounding errors that can occur under some operating conditions.
* EKF: Fix typo
* test: Fix initialisation test cases
Provide sufficient time for variances to stabilise and fix calculation of reference quaternion for alignment.
* test: Allow for accumulated rounding error in IMU sampling test
* test: Allow sufficient time for quaternion variances to reduce after initial alignment
* test: Increase allowance for tilt alignment delay and inertial nav errors
* test: Increase allowance for tilt alignment delay and inertial nav errors
* adpat reset velocity test
* test: update change indication file
* test: Adjust tests to handle alignment time and prediction errors
* README.md: Add documentation for change indicator test
This fixes the issue where the last lines of the log output was not
printed in case of error or on the verbose setting. This meant that
essentially the actual test error was not printed.
The fix involves two parts:
1. Firstly collect the output again even if a process has exited.
2. Collect all lines at once and not one line per iteration.
* EKF: centralize range finder tilt check
* Ekf-control: do not double check for terrain estimate validity
isRangeAidSuitable can only return true if the terrain estimate is valid
so there is no need for an additional check
* range_finder_checks: restructure the checks to avoid early returns
There is now only one clear path that can lead to the validity being
true.
Furthermore, if the _rng_hgt_valid is true, we can trust it and we don't
need for additional checks such as tilt.
The case where we need to provide fake measurements because the drone is
on the ground and the range finder data is bad is already handled
in "controlHeightFusion" so there is no need to hack the range finder
checks with that.
* Add Sensor and SensorRangeFinder classes
The purpose is to encapsulate the checks for each sensor in a dedicated
class with the same interface
* SensorRangeFinder: encapsulate in estimator::sensor namespace
* EKF: rename _sensor_rng to _range_sensor
* Range checks: include limits in valid range
* RangeChecks: update comment in the continuity checks
* RangeChecks: move more low-level checks in functions
Also move setTilt out of the terrain estimator, this is anyway protected internally
to not compute cos/sin if the parameter did not change.
* Sensor: remove unused virtual functions
Those are not required yet but can still be added later
* SensorRangeFinder: re-organise member variables
Also rename getRangeToEarth to getCosTilt
* SensorRangeFinder: split setSensorTilt and setCosMaxTilt functions
* SensorRangeFinder: Add a few unit tests
- good data
- tilt exceeded
- max range exceeded
* SensorRangeFinder: set hysteresis in us instead of ms
* SensorRangeFinder: Add more tests
* SensorRangeFinder: update continuity, hysteresis and stuck tests
* SensorRangeFinder: rename variables
* SensorRangeFinder: get rid of "delayed" specification
From the SensorRangeFinder class point of view, it's not relevant to
know if the data is delayed or not
* SensorRangeFinder: move time_last_valid out of stuck check
* SensorRangeFinder: rename file names to sensor_range_finder
* SensorRangeFinder: address Kamil's comments
* SensorRangeFinder: Add more tilt tests
* SensorRangeFinder: store current tilt offset
This is to avoid recomputing cos/sin functions at each loop
kamilritz
Pedro Roque
Paul Riseborough
Matthias Grob
Julian Oes
Daniel Agar
bresch
JaeyoungLim