EKF2 Updates #7087
EKF2 Updates #7087
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Miscellaneous bug fixes and improvements including: More conservative reporting of velocity and position accuracy when aiding is lost Separate reporting of accuracy for local and global position Detection and recovery from badly conditioned accel bias states and covariance values Logic to prevent high manoeuvre levels causing bad acceleration bias learning Reduce sensitivity of covariance prediction to timing jitter Continue reporting of GPS quality until the later of airborne or checks pass Add ability to perform wind estimation for multi-rotors using a specific force drag model
Add assessment of IMU bias and mag field estimation Reduce warning false positives by adjusting thresholds and eliminating use of peak value plots for output observer monitoring Clear each figure after saving to reduce memory usage
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@PX4TestFlights Please test |
Fix error in scaling of population high frequency vibration metrics Add histograms for delta angle and velocity bias data Fix variable descriptions
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Can not connect to QGC 3.1.3 using this PR on |
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What is the size of the executable you have loaded? A large number of the V2 boards used a model of the STM32 chip with the silicon bug that prevented use of the upper 1MB of flash space in conjunction with the high speed USB connection. |
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@priseborough it is |
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Since this is already merged into master, I am going to try flashing latest master and check again. |
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I just flashed latest master, and I can connect to QGC 3.1.3. I will share logs later. Thanks. |
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I just did couple of flights with latest master which had this PR merged, and got nice flights. I have not yet encountered the altitude problem, that I used to get before: jumps in altitude mode, and not descending while the stick is down. So far so good. Thanks. Here is a log: |
This updates the ecl to latest master and updates the python scripts for ecl EKF log analysis.
This ecl version includes the following bug fixes and improvements:
A minimum code change for interface compatibility has been made in the ekf2 module.
The python automated EKF log analysis has been updated. Here are the PDF plots generated from a test flight performed using this PR:
22_55_30.ulg.pdf
Here is the output diagnostic summary:
22_55_30.ulg.mdat.csv.zip
The python tool was then run on a directory containing logs from several days of flying with the population summary plots produced
population_data.pdf