Tridge EKF #27806
Closed
Tridge EKF #27806
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
…city error is bounded
These changes enable the EKF to use the last observable wind velocity vector estimate to synthesise an airspeed measurement if operating without an airspeed sensor and when all other measurement types that can constrain velocoty drift are lost. This enables the EKF to use dead reckoning to continue after loss of GPS when there is no air speed sensor fitted and without the need to set a default airspeed value. The logic used to fuse a default airspeed value has also been cleaned up and the call to FuseAirSpeed() from inside SelectBetaDragFusion() has been removed. AP_NavEKF3: Fix error in default airspeed observation variance AP_NavEKF3: Enable shadow fusion of airspeed when sensor is disabled
These changes prevent the EKF from consuming GPS data too soon when it is recovering from jamming if the EKF is able to navigate using dead reckoning.
Explicitly test time taken to reset to GPS loss and regain of lock for copter without and plane with dead reckoning assistance.
Make it user selectable. Remove potential for a race condition between decisions based on latest data and the EKF fusion processing which operates on a delayed time horizon. This is achieved by preventing data entering the buffer if awaiting checks to pass ensuring that no EKF fusion time horizon processes can use data that hasn't passed checks. Log the waitingForGpsChecks class variable
The previous method resulted in data incest and fusion of predicted airspeed on every EKF internal time step. This was not apparent during flight where the vehicle was turning, but during long straight legs did not constrain along track drift.
also minor comment and format fixes
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
No description provided.