UAV-develop/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-08-02 04:58:15 +08:00
Code Issues Packages Projects Releases Wiki Activity

HoverThrustEstimator: add a new single state estimator

Browse Source 
with measurement noise auto-tuning

The purpose of this estimator is to improve land detection and vertical
velocity feedforward

Recovery strategy:
This is required when the setpoint suddenly changes in air or that the
EKF is diverging. A lowpassed test ratio is used as a trigger for the recovery logic
Also, a lowpassed residual is used to estimate the steady-state value
and remove it when estimating the accel noise to avoid increasing the
accel noise when the redisual is caused by an offset.
This commit is contained in:
bresch
2020-01-19 13:56:05 +01:00
committed by Mathieu Bresciani
parent a61f1647ad
commit 0f1c7590e9
12 changed files with 619 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files

10
msg/hover_thrust_estimate.msg Normal file
View File

@@ -0,0 +1,10 @@
uint64 timestamp # time since system start (microseconds)
float32 hover_thrust # estimated hover thrust [0.1, 0.9]
float32 hover_thrust_var # estimated hover thrust variance
float32 accel_innov # innovation of the last acceleration fusion
float32 accel_innov_var # innovation variance of the last acceleration fusion
float32 accel_innov_test_ratio # normalized innovation squared test ratio
float32 accel_noise_var # vertical acceleration noise variance estimated form innovation residual