This repository has been archived by the owner on May 1, 2024. It is now read-only.
ekf: disable xy accel bias learning before takeoff #818
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
As those biases are usually poorly observable before takeoff because they are almost perpendicular to the gravity vector, learning is often driven by noise and numerical issues. This results in incorrect bias learning before takeoff when the drone is static on ground for a long period of time.
kamilritz
previously approved these changes
May 15, 2020
|
CI tests are checking if the variances are big enough after some initialisation time. These values are set based on previous results. They can be changed without hesitation. |
|
Can you do a test flight on uneven ground? Then we could replay before and after and see the difference. |
|
Should be sufficient tolerance given acos of 0.8 is ~36 deg. |
priseborough
approved these changes
May 19, 2020
|
@bresch It would be beneficial to also add unit tests for this. |
|
@kamilritz Add the checks that the correct axes are not learned in the roll90 and pitch90 initialization? Would that be enough or do you have another check in mind? |
|
Yes, for all main axis pointing down, a check that only the right bias is learned |
Sign up for free
to subscribe to this conversation on GitHub.
Already have an account?
Sign in.
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Outdated suggestions cannot be applied.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.
replaces #816
follows #817
In the log below, I oriented sequentially each axis with the gravity vector
Note that the accel bias learning is quite bad because the only sources of aiding are baro and fake hpos.