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Commit Graph

1361 Commits (0ef5d7d4c883f8d8e97913aa0594275d6c247106)

Author	SHA1	Message	Date
bresch	71fc1b8161	airspeed fusion: use yaw from 312 sequence when pitch is close to 90deg ... This caused bad initialization of the wind estimate on tailsitters	4 years ago
Bazooka Joe	e57af44d71	set parameters that doesn't change with const attribute, for clearification	4 years ago
bresch	a4fe2b1e72	yaw_align: let the mag control logic do the alignement and resets	4 years ago
bresch	2cc023038b	mag control: select mag mode before doing the reset	4 years ago
bresch	fe943cf104	mag reset: force align in MC custom mode (aka. indoor mode) ... Checking the parameter is enough to decide if we want to force the yaw alignment or not	4 years ago
bresch	cadcc58415	mag reset: do not stop the fusion from inside the reset function ... The start/stop is already handled in the dedicated mag control logic The early return is not required as this case is handled just below	4 years ago
bresch	6248646bff	EV yaw: move EV yaw reset out of resetMagHeading function ... Also remove the unnecessary 2nd "manual reset" done in the start function	4 years ago
bresch	48722a2a92	control: inhibit EV yaw from restarting when GPS aid wants to start	4 years ago
bresch	a685987082	GNSS yaw: unset yaw_align if fusion stops before takeoff ... We do not want to rely on a potentially badly initialized heading as it could lead to a flyaway directly after takeoff Also remove the resetMagHeading() call from the GPS fusion control logic as this is properly handled in mag_control.	4 years ago
bresch	51197a5d82	GNSS yaw selection logic refactor	4 years ago
bresch	29243ac5cb	yaw_reset: reduce minimum vector length to compute yaw error ... A value of 1m/s was too conservative and the EKF takes too much time to trigger a yaw reset. The value can be safely reduced because the threshold is computed using the accuracy of the measurement and estimate before being limited by this value.	4 years ago
Kabir Mohammed	aad48407c2	EKF: increase allowed difference between flow and gyro ODRs ... In the normal and lowlight mode for the PAW3902/3 sensor, the ODR is 66Hz, while in super lowlight mode it is 50Hz. The IMU ODR vs flow ODR mismatch threshold was too conservative for the 66Hz ODR, since https://github.com/PX4/PX4-ECL/pull/928. The EKF would keep waiting for the data to line up and never fuse measurements.	4 years ago
Eike	a7b8afe420	Allow rangefinder fusion in vision height mode (Fix for #994) (#999) ... Co-authored-by: Daniel Agar <daniel@agar.ca>	4 years ago
Daniel Agar	4ac57d3bde	EKF: increase fault flags value size to fit current flag bits (> 16)	4 years ago
Eike	5d34d7a24e	Height source vision: Fallback to rangefinder if available (#994)	4 years ago
bresch	6f2dec726a	gps sacc: apply same minimum for EKF2 and yaw estimator	4 years ago
Daniel Agar	e3d1ade660	EKF: use flow for vel test ratio if only active source of horizontal aiding	4 years ago
Morten Fyhn Amundsen	bb950a1550	Expose terrain vpos reset counter	4 years ago
Morten Fyhn Amundsen	ab69681744	Add parameter for terrain timeout	4 years ago
Paul Riseborough	b3c1bd6d40	EKF: Remove un-used code	4 years ago
Daniel Agar	0f47cae1e1	remove ECL_{INFO,WARN,ERN}_TIMESTAMPED macros ... - we already have mechanisms to print these messages timestamped	4 years ago
Paul Riseborough	c1f1415696	EKF: Add usage warning comment	4 years ago
Paul Riseborough	c2b86cdb20	EKF: Provide external reset of event records	4 years ago
Paul Riseborough	9d51ab079a	EKF: Remove duplicated event recording	4 years ago
Paul Riseborough	140ca3f48f	EKF: Add external monitoring of warning and information events	4 years ago
Paul Riseborough	90a445ddbc	EKF: upgrade some events from into to warning status	4 years ago
bresch	5d441d65e1	Accelerate tilt fine alignment by reducing obs noise when at rest ... Fine tilt alignment is accomplished by fusing fake position data after a coarse tilt leveling. The observation noise can be reduced if the vehicle is at rest to speed up the process.	4 years ago
Daniel Agar	098d5ce5c0	EKF allow range aid without horizontal aiding ... - skip range aid velocity check when horizontal aiding isn't active	4 years ago
Nicolas MARTIN	29943a2c09	EKF test ratio status return current height source test ratio	4 years ago
mcsauder	164e53bad3	Add unit tests and update ekf_helper setEkfGlobalOrigin() method to allow for condition when current position is unitialized.	4 years ago
Daniel Agar	63f64b57c1	EKF: set global origin method ... EKF: add convergence after global origin reset test	4 years ago
bresch	04844a04ed	ekf control: move time_last_in_air/on_ground out of GPS control logic	4 years ago
bresch	b00d4a9237	mag fusion: improve on ground forced mag fusion logic ... While a yaw test ration > 1 rejects the mag data in air, the fusion is forced with a limited innovation on ground to fix gyro bias and local magnetic effects problems pre-takeoff. However, the same logic is applied after landing and immediately after the land detector detects landing. In some cases, this can disturb the other EKF states which can lead to a state change of the land detector. To avoid such a loop, the start of this forced yaw fusion is delayed by 5 seconds after landing.	4 years ago
Daniel Agar	310f415175	EKF add const state reset status access	4 years ago
isidroas	0c5291d194	Heading reset to magnetometer from GPS or EV (#969)	4 years ago
Mathieu Bresciani	d4258cc66d	yaw emergency: check angle between vel observation and estimate (#975) ... use thresholds based on state and obs variance * [AUTO COMMIT] update change indication	4 years ago
Loic Dubois	ffab483504	Waiting for the filter to be initialized to set global origin	4 years ago
Paul Riseborough	602e65146c	EKF: Remove unnecessary initialisation	4 years ago
Paul Riseborough	6f664abc4a	EKF: Non functional changes arising from review	4 years ago
Paul Riseborough	b87778e61d	EKF: Make clip detection logic easier to follow	4 years ago
Paul Riseborough	9aa8d93efc	EKF: Use isRecent function	4 years ago
Paul Riseborough	e948b3505f	EKF: Don't reject vertical aiding data if inertial solution is bad ... Also reduce clipping count threshold	4 years ago
Paul Riseborough	c566318db5	EKF: misc improvements to handling of accel clipping	4 years ago
Paul Riseborough	9c89fa3b29	EKF: Use IMU clipping to adjudicate bad accel data check	4 years ago
bresch	cd38621dd6	flow terrain: use dedicated variable for last fusion time ... This avoids confusion with the flow "for velocity" fusion in the main EKF	4 years ago
bresch	5aaa6c6dde	lpos accuracy: bump variance if deadreckon time exceeded	4 years ago
Paul Riseborough	b919f3ddf4	EKF: Restore protection from extreme innovation values	4 years ago
Paul Riseborough	efb78deef9	EKF: Set position fusion gate option false by default	4 years ago
Paul Riseborough	556a195320	EKF: Improve handling of non position mode large position innovations ... These changes fix a bug that allowed IMU gyro errors that cause large tilt errors prior to start of aiding not resulting in large innovation test ratios.	4 years ago
Paul Riseborough	99575d73e1	EKF: Add bad accel bias checking for EV and range finder height use cases	4 years ago