4df0054873
geo: purge old globallocal_converter
4 years ago
b3c1bd6d40
EKF: Remove un-used code
4 years ago
4bad2a272c
EKF: Use debug prints for NuttX builds
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
cb8367026c
[AUTO COMMIT] update change indication
4 years ago
93dd4e5754
fix unit tests
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
81937370ac
[AUTO COMMIT] update change indication
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
9521e81b09
[AUTO COMMIT] update change indication
4 years ago
ae0c054d75
Update geo_lookup WMM to latest Mon Feb 8 11:48:14 UTC 2021
4 years ago
5aaa6c6dde
lpos accuracy: bump variance if deadreckon time exceeded
4 years ago
46251db4a1
geo: explicitly link libm
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
c25c97f8b5
[AUTO COMMIT] update change indication
4 years ago
96418101e1
test: Allow for larger vel variance growth due to dvel bias variance
4 years ago
1b1c049e81
test: Update unit test to match expected behaviour
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
211c84c85b
Rng finder unit test: cover "un-stuck" logic
4 years ago
Daniel Agar
Paul Riseborough
bresch
bresch
Nicolas MARTIN
mcsauder
isidroas
Loic Dubois
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PX4 BuildBot
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