EKF2: Improved Alignment Control #4554
Merged
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
|
Thanks @priseborough. I tested this with two added commits. The first is to switch back to EKF2 in SITL and the second to use the param values you suggested. I got the home position init after around 15s which is not instantly but already a big improvement. |
|
Was 15sec with the default parameters? That is about how much time it takes to be confident in the angular accuracy given the large switch-on gyro bias uncertainty we allow for (5.7 deg/sec 1-sigma). |
priseborough
force-pushed
the
pr-ekf2Alignment
branch
from
7d398c3
to
3c4ff84
Compare
adds ability to set initial tilt alignment uncertainty
…le workflow with EKF2 init lag" This reverts commit 5039661.
The sensors in the SITL environment are near ideal, so the initialization in ekf2 can happen quicker.
fixes bug that can cause alignment to fail for pitch angles near +-90 deg
priseborough
force-pushed
the
pr-ekf2Alignment
branch
from
3c4ff84
to
f5a1569
Compare
Further updates to improve angular alignment consistency
priseborough
force-pushed
the
pr-ekf2Alignment
branch
from
1dda69d
to
567e10e
Compare
Incorporates big fixes for use of external vision data
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Outdated suggestions cannot be applied.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.
Improves control over the initial alignment process. Required to take advantage of PX4/PX4-ECL#134.
Addresses #128 if combined with following tuning parameter changes to take advantage of 'ideal' SITL environment:
EKF2_GBIAS_INIT = 0.01
EKF2_ANGERR_INIT = 0.01