4ac57d3bde
EKF: increase fault flags value size to fit current flag bits (> 16)
4 years ago
5d34d7a24e
Height source vision: Fallback to rangefinder if available ( #994 )
4 years ago
6f2dec726a
gps sacc: apply same minimum for EKF2 and yaw estimator
4 years ago
e3d1ade660
EKF: use flow for vel test ratio if only active source of horizontal aiding
4 years ago
bb950a1550
Expose terrain vpos reset counter
4 years ago
ab69681744
Add parameter for terrain timeout
4 years ago
b3c1bd6d40
EKF: Remove un-used code
4 years ago
0f47cae1e1
remove ECL_{INFO,WARN,ERN}_TIMESTAMPED macros
...
- we already have mechanisms to print these messages timestamped
4 years ago
c1f1415696
EKF: Add usage warning comment
4 years ago
c2b86cdb20
EKF: Provide external reset of event records
4 years ago
9d51ab079a
EKF: Remove duplicated event recording
4 years ago
140ca3f48f
EKF: Add external monitoring of warning and information events
4 years ago
90a445ddbc
EKF: upgrade some events from into to warning status
4 years ago
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
098d5ce5c0
EKF allow range aid without horizontal aiding
...
- skip range aid velocity check when horizontal aiding isn't active
4 years ago
29943a2c09
EKF test ratio status return current height source test ratio
4 years ago
164e53bad3
Add unit tests and update ekf_helper setEkfGlobalOrigin() method to allow for condition when current position is unitialized.
4 years ago
63f64b57c1
EKF: set global origin method
...
EKF: add convergence after global origin reset test
4 years ago
04844a04ed
ekf control: move time_last_in_air/on_ground out of GPS control logic
4 years ago
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
310f415175
EKF add const state reset status access
4 years ago
0c5291d194
Heading reset to magnetometer from GPS or EV ( #969 )
4 years ago
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
ffab483504
Waiting for the filter to be initialized to set global origin
4 years ago
602e65146c
EKF: Remove unnecessary initialisation
4 years ago
6f664abc4a
EKF: Non functional changes arising from review
4 years ago
b87778e61d
EKF: Make clip detection logic easier to follow
4 years ago
9aa8d93efc
EKF: Use isRecent function
4 years ago
e948b3505f
EKF: Don't reject vertical aiding data if inertial solution is bad
...
Also reduce clipping count threshold
4 years ago
c566318db5
EKF: misc improvements to handling of accel clipping
4 years ago
9c89fa3b29
EKF: Use IMU clipping to adjudicate bad accel data check
4 years ago
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
5aaa6c6dde
lpos accuracy: bump variance if deadreckon time exceeded
4 years ago
b919f3ddf4
EKF: Restore protection from extreme innovation values
4 years ago
efb78deef9
EKF: Set position fusion gate option false by default
4 years ago
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
99575d73e1
EKF: Add bad accel bias checking for EV and range finder height use cases
4 years ago
ff3c0a6136
EKF: Fix bug preventing recovery from bad delta velocity bias estimates
4 years ago
dd259a288f
EKF: Don't modify accel bias states and variances when inhibited
4 years ago
3e1f2d8674
EKF: Set dvel bias variance to stored value when state is inactive
4 years ago
c212975abe
rng height: reset to baro using common logic
...
The failsafe from rng height to baro height should occur after a reset
to baro triggered by the controlHeightSensorTimeouts function and not in
the fusion selector.
Until now, the EKF was fusing baro measurements between rng updates if
the range finder ODR was slower than the EKF update rate. This is not
the case anymore as the height reset occurs after 5 seconds.
The unit test has been extended to show this behavior.
4 years ago
03fed323ab
EKF: Fix formatting
4 years ago
31fca9c31d
EKF: Update GPS loss message
4 years ago
c65cf13bb8
EKF; Treat combined sideslip and airspeed as a horizontal aiding source
4 years ago
78ce46f007
Removing Matlab derivation
4 years ago
df7f261e03
Add missing const modifier
4 years ago
a8e0e82858
EKF: update mag LPF immediately
4 years ago
398fe159ce
EKF: allow initialising without mag depending on configuration
...
- reduce initial number of required mag and baro samples before init
4 years ago
1237087d70
AlphaFilter add constructor that takes alpha and use in EKF
4 years ago
5ccb8b457d
fakePosFusion: reset _last_known_posNE to current state when starting ( #943 )
...
* [AUTO COMMIT] update change indication
4 years ago
Daniel Agar
Eike
bresch
Morten Fyhn Amundsen
Paul Riseborough
Nicolas MARTIN
mcsauder
isidroas
Loic Dubois
Kamil Ritz