* ekf2: centralize mag covariance reset. A complete and clean reset of the
mag states covariances is now performed through the "resetMagCov"
function only. This avoid having slight differences of implementations
across the code.
* Ekf: reset quat cov with initial uncertainty instead of zero
* Add const modifiers
* Pass imu data as sampe
* Remove emergency reset request counter
* Improve matrix library usage
* Indentation fix
* Do not store innovation matrix for each model
* Make weights a separate vector
* EKF: Add missing alignment transfer to AHRS solutions
* EKF: Replace #define constants with static constexpr
* EKF: Move declaration for weights into GSF section
* EKF: Fix documentation error
Co-authored-by: Paul Riseborough <p_riseborough@live.com.au>
* EKF: Use common rate vector calculation for offset corrections
* EKF: Remove duplicate matrix entry calculations
* EKF: Create a EKF-GSF yaw estimator class
* EKF: add emergency yaw reset functionality
* EKF: remove un-used function
* EKF: Ensure required constants are defined for all builds
* EKF: Fix CI build error
* Revert "EKF: remove un-used function"
This reverts commit 93005309c7f3794414ad99c86218b3062e00bbd3.
* EKF: Replace in-lined Tait-Bryan 312 conversions with function call
Also remove unnecessary operations
* EKF: Remove unnecessary update of external vision rotation matrix
* EKF: Use const
* EKF: use const
* EKF: don't use class variable as a temporary variable
* EKF: update comments
* EKF: Improve efficiency of yaw reset
Use conversion from rotation matrix to Euler angles instead of quaternion to euler angles.
* EKF: use const
* EKF: remove un-used struct element
* EKF: more descriptive function name
* EKF: use existing matrix row operator
* EKF: remove unnecessary rotation matrix update
* EKF: Use square matrix type
* EKF: Improve protection for bad innovation covariance
* EKF: Use matrix library operations
* EKF: Replace memcpy with better alternative
memcpy bypasses compiler sanity checks and is unnecessary in this instance.
* EKF: Split EKF-GSF yaw reset function
Adds a common function to support yaw reset that can be used elsewhere.
* EKF: Use common function for quaternion state and covariance yaw reset
* EKF: Replace inlined matrix operation
* EKF: Use const
* EKF: Change accessor function name
* EKF: Use const
* EKF: Don't create unnecessary duplicate variable locations
* EKF: Remove duplicate covariance innovation inverse
* EKF: Don't create unnecessary duplicate variable locations
* EKF: Rely on geo library to provide gravity
* EKF: Improve protection from bad updates
* EKF: Reduce effect of vibration on yaw estimator AHRS
* EKF: Improve yaw estimator AHRS accuracy during manoeuvre transients
In a velocity reset we only used the GPS measurement if _gps_check_fail_status.value was equal to zero. The value of this flag is independent of EKF2_GPS_CHECK so checks can fail even if they are not configured to have any effect.
To obtain the correct difference between two angles, we need to wrap
the result between -pi and pi. Otherwise, the difference between two
angles close to 180 degrees but with opposite signs will produce a large
error.
For example if a = -179 and b = 179, b - a = 258 instead of -2 degrees
As the name can be ambiguous, it gets renamed
"uncorrelateQuatFromOtherStates".
Also replace the loops storing the values and reapplying them by simply
zeroing two slices (this also saves 130B of flash).
The intent of the function "uncorrelateQuatStates()" is to uncorrelathe quaternions from the other states but not between each other as they are and should remain linked alltogether.
Clearing the quaternions to quaternion covariances introduced unstabilities in other states (especially accel biases).
* ekf_control: Inhibit mag fusion when field magnitude is large
Move mag inhibition check in separate function
* ekf_control: pull out of functionalities out of controlMagFusion
- yaw abd mag bias observability checks
- mag 3D conditions
- load mag covariances
- set and clear mag control modes
* ekf_control: refactor mag heading/3D start/stop.
Move mag declination, mag 3d and mag heading fusion out of the main function
* ekf_control: extract mag yaw reset and mag declination fusion requirements
* ekf_control: use WMM in isStronMagneticField for mag fusion inhibition
- Correct units of WMM strength table
* ekf_control: extract mag_state_only functionality of AUTOFW (VTOL custom)
Also split inAirYawReset from onGroundYawReset
* ekf_control: extract mag automatic selection
- transform if-else into switch-case for parameter fusion type selection
* ekf_control: extract run3DMagAndDeclFusion, reorganize functions, fix
flag naming in Test script
* ekf_control: do not run mag fusion if tilt is not aligned.
Reset some variables on ground even if mag fusion is not running yet. It
could be that it runs later so we need to make sure that those variables
are properly set.
* ekf_control: move controlMagFusion and related functions to mag_control.cpp
* ekf control: check for validity of mag strength from WMM and falls back
to average earth mag field with larger gate if not valid
* ekf control: remove evyaw check for mag inhibition
* ekf control: change nested ternary operator into if-else if
* Ekf: create AlphaFilter template class for simple low-pass filtering
0.1/0.9 type low-pass filters are commonly used to smooth data, this
class is meant to abstract the computation of this filter
* ekf control: reset heading using mag_lpf data to avoid resetting on an outlier
fixes ecl issue #525
* ekf control: replace mag_states_only flag with mag_field_disturbed and
add parameter to enable or disable mag field strength check
* ekf control: remove AUTOFW mag fusion type as not needed This was implemented for VTOL but did not solve the problem and should not be used anymore
* ekf control: use start/stop mag functions everywhere instead of setting the flag
* ekf control: Run mag fusion depending on yaw_align instead of tilt_align
as there is no reason to fuse mag when the ekf isn't aligned
* AlphaFilter: add test for float and Vector3f
The quaternion to inverse rotation matrix function has been updated so that the rotation it produces is the inverse to that produced by the matrix library and the the inverse of the quaternion is uses. This function is now used to directly calculate an inverse rotation matrix rather than calculating the forward rotation and then transposing it.
Mathieu Bresciani
kamilritz
Paul Riseborough
Carl Olsson
Paul Riseborough
Daniel Agar
RomanBapst