Commit Graph

6 Commits

Author SHA1 Message Date
Daniel Agar c4c41c49e5 ekf2: move fuseVelPosHeight() -> fuseDirectStateMeasurement()
- don't bother keeping bad_vel_{N,E,D} and bad_pos_{N,E,D} fault status bits
2024-02-20 13:16:24 -05:00
bresch fe7988672f ekf2: auxiliary position fusion
Co-authored-by: Daniel Agar <daniel@agar.ca>
2023-12-01 11:50:22 +01:00
Mathieu Bresciani 74a54b3b12
EKF2: improve resilience against incorrect mag data
- when GNSS is used require low mag heading innovations during
  horizontal acceleration (yaw observable) to validate the mag
- only fuse mag heading just enough to constrain the yaw estimate
  variance to a sane value. Leave enough uncertainty to allow for a
  correction when the yaw is observable through GNSS fusion
2023-08-17 09:55:15 -04:00
Daniel Agar d75bb62a65
ekf2: separate mag and mag heading control logic (#21212)
- split mag_3d into new standalone mag fusion and mag fusion allowed to update all states (full mag_3d)
 - new dedicated control logic for mag/mag_3d fusion and standalone mag heading fusion
 - if WMM available use for mag_I and mag_B init
 - mag states reset if external yaw reset (yaw estimator, GPS yaw, etc)
 - mag reset if declination changed (eliminate _mag_yaw_reset_req)
 - mag fusion (but not mag_hdg or mag_3d) can be active during gps_yaw or ev_yaw (if yaw aligned north)

Co-authored-by: bresch <brescianimathieu@gmail.com>
2023-08-04 10:39:16 -04:00
Daniel Sahu fa6fda6cce
ekf2: new gravity observation (#21038)
Signed-off-by: Daniel M. Sahu <danielmohansahu@gmail.com>
2023-02-07 13:28:58 -05:00
Daniel Agar cea185268e
msg ROS2 compatibility, microdds_client improvements (timesync, reduced code size, added topics, etc), fastrtps purge
- update all msgs to be directly compatible with ROS2
 - microdds_client improvements
   - timesync
   - reduced code size
   - add to most default builds if we can afford it
   - lots of other little changes
 - purge fastrtps (I tried to save this multiple times, but kept hitting roadblocks)
2022-10-19 19:36:47 -04:00