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[EKF2] Tilt estimate improvements #24247

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[EKF2] Tilt estimate improvements #24247

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d29fd26
ekf2-decl: do not always update tilt
bresch Jan 21, 2025
beb7e7d
ekf2-gravity: start based on accel LPF instead of peak hold
bresch Jan 23, 2025
b1b6810
ekf2-gravity: do not estimate accel bias when gravity fusion is active
bresch Jan 23, 2025
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5 changes: 3 additions & 2 deletions src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -54,8 +54,9 @@ void Ekf::controlGravityFusion(const imuSample &imu)

const float upper_accel_limit = CONSTANTS_ONE_G * 1.1f;
const float lower_accel_limit = CONSTANTS_ONE_G * 0.9f;
const bool accel_lpf_norm_good = (_accel_magnitude_filt > lower_accel_limit)
&& (_accel_magnitude_filt < upper_accel_limit);
const float accel_lpf_norm_sq = _accel_lpf.getState().norm_squared();
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_accel_lpf is only being updated during init, but I was thinking we should move it regardless.

PX4-Autopilot/src/modules/ekf2/EKF/ekf.cpp

Lines 180 to 198 in beb7e7d

bool Ekf::initialiseFilter()
{
// Filter accel for tilt initialization
const imuSample &imu_init = _imu_buffer.get_newest();
// protect against zero data
if (imu_init.delta_vel_dt < 1e-4f || imu_init.delta_ang_dt < 1e-4f) {
return false;
}
if (_is_first_imu_sample) {
_accel_lpf.reset(imu_init.delta_vel / imu_init.delta_vel_dt);
_gyro_lpf.reset(imu_init.delta_ang / imu_init.delta_ang_dt);
_is_first_imu_sample = false;
} else {
_accel_lpf.update(imu_init.delta_vel / imu_init.delta_vel_dt);
_gyro_lpf.update(imu_init.delta_ang / imu_init.delta_ang_dt);
}

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I was moving it here, but got a little sidetracked. #24046

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Ouch, I didn't realize that; thanks

const bool accel_lpf_norm_good = (accel_lpf_norm_sq > sq(lower_accel_limit))
&& (accel_lpf_norm_sq < sq(upper_accel_limit));

// fuse gravity observation if our overall acceleration isn't too big
_control_status.flags.gravity_vector = (_params.imu_ctrl & static_cast<int32_t>(ImuCtrl::GravityVector))
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