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EKF: Improved tilt alignment control #134
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Convert quaternion covariances into an angular alignment variance vector and discard the z component so that yaw uncertainty does not affect the result.
Convert uncertainty in initial rotate vector into quaternion covariances using symbolic toolbox derived expressions. Enable setting of initial angle uncertainty via a parameter
This was referenced May 17, 2016
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Alignment from +90 pitch and +90 yaw is taking longer than it should - investigating now. It appears to be unrelated to this PR and is caused by a NaN that is reproducible on replay. |
Uses best conditioned of 321 or 312 Euler sequence to calculate initial yaw angle. Allows alignment of yaw angle using external vision data
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Alignment failure at 90deg pitch fixed by: e4b2e9c |
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Improves control over the initial alignment process. Used in conjunction with PX4/PX4-Autopilot#4554.
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
The quaternion covariances are converted to rotation vector variances so that the tilt uncertainty can be isolated from the yaw uncertainty when checking filter convergence.
The initial IMU bias uncertainty can be tuned to allow faster alignment for boards with accurate sensors (eg SITL)
The initial angular alignment uncertainty can be tuned to allow faster alignment for applications where the vehicle is not subject to accelerations on startup.
The initial quaternion state co-variances are set from the tilt uncertainty using the correct transformation from rotation vector to quaternions.
Has been bench tested with a range of initial orientations.