d4258cc66d
yaw emergency: check angle between vel observation and estimate ( #975 )
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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
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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
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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
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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
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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
78ce46f007
Removing Matlab derivation
4 years ago
18f334f4db
flow: add unit test for yaw motion ( #950 )
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
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- 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
37e84b763a
README: fix zenodo badge (rename ecl -> PX4-ECL)
4 years ago
5ccb8b457d
fakePosFusion: reset _last_known_posNE to current state when starting ( #943 )
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* [AUTO COMMIT] update change indication
4 years ago
9d22f140dd
gps_alt: constrain var using 1.5 as a typical ratio of vacc/hacc
4 years ago
b0cf45e2d2
gps_alt: rename getGpsAltVar -> getGpsHeightVariance
4 years ago
62f2e26c49
gps_alt: reset GPS alt variance usign helper function
4 years ago
f7bddda3d5
gps_alt: do not scale up reported gps vertical accuracy
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The comment said that the horizontal accuracy needs to be scaled up
using the typical epv/eph ratio but the epv (vacc) is already available,
so no scaling is required.
4 years ago
02369cd415
gps_alt: extract measurement variance computation and saturation
4 years ago
1541e4b414
EKF: update control status and fault status getters
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- the fault status union exceeded 16 bits, but the getter was get_filter_fault_status(uint16_t *val)
4 years ago
fbf67bdef9
reset gps height use vacc
4 years ago
8f3df7a97b
flow: restructure optical flow control logic ( #928 )
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- extract motion checks performed on ground
- move all non-timing check to controlOpticalFlowFusion. This simplifies and standardirzes the setOpticalFlowData function. Furthermore, in some cases (SITL, PX4Flow), the dt is forced to 0 when the quality is 0 (which is usual on ground) so the ekf needs to ignore those values on ground to initialize properly the flow fusion.
- add filter convergence test
- move check for dt time max in setOpticalFlowData
- in the simulator, do not update dt as this is the sensor integration
period.
4 years ago
38358002bb
Auto update change indication by github actions
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Co-authored-by: kamilritz <kamilritz@users.noreply.github.com>
4 years ago
688a054bdb
EKF: controlDragFusion() add parenthesis for readability
4 years ago
944b18c63e
EKF: Remove non useful status print
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Local position is never valid when filter is initialised so there is no use printing the status.
4 years ago
ee94980a8f
EKF: Clean up wind state activation logic
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Ensure wind states are deactivated in one place and always when in a non-position mode.
Activate wind states separately for each observation method.
4 years ago
44ebfb8c43
EKF: Don't report local position as valid when in a non-position mode
4 years ago
Mathieu Bresciani
Loic Dubois
Paul Riseborough
PX4BuildBot
PX4 BuildBot
Daniel Agar
priseborough
Kamil Ritz
zhaoxiaowei