Mekf Wind INS #2320
Mekf Wind INS #2320
Conversation
- state interface is not updated directly, it should go through air_data or eventually some INS filter - NPS is updated as well - tas_from_eas (air_data) takes at least the altitude into account (not temperature) when direct measurements of P and T are not availble
- the behavior is now the same than before paparazzi#2303: default pressure output is PSI, butterworth filter enabled by default - add an auto_offset setting to zero the sensor before flight
- full INS including wind estimation using MEKF filter - integration using the C++ Eigen matrix library (included as a submodule) - using airspeed, angle of attack and sideslip sensor in addition to IMU, GPS and baro - wind estimation part can be disabled - test program for eigen + fake syscalls to run on MCU
- flight recorder - configurable power switch init - configurable chibios AP stacks
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I am thrilled about seeing this PR! By the way, what is the status of using Eigen while debugging? Can you compile with -o0, make some complex operations such as inverses and still print the values of matrices? I remember you were facing the same problems as me several years ago with Eigen in the microcontroller (and I never figured out the why of the problem). |
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You can compile with -o0 in simulation of course. I don't remember if I managed to do it for real target in the end. But you can definitely do some complex operations. Their is a small test program that I kept in the PR to only test basic Eigen stuff. You can try it. |
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Fair enough indeed. Yes, the problems were/are in the ARM, not in the simulation (and to be honest, it is in the simulation where I check/validate the numerical implementation of an algorithm). Thanks again for this PR. In fact, it would make much easier the implementation of the GVF in 3D for rotorcraft. |
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@podhrmic do you validate the PR ? |
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Yes I do:-) |
This new module is a full INS including wind estimation based on IMU/GPS/baro + airspeed/AoA/Sideslip measurements with MEKF filter.
The integration is using the C++ Matrix library Eigen included as a submodule.
Some minor changes:
Reference:
Martin Brossard, Jean-Philippe Condomines, Silvère Bonnabel. Tightly coupled navigation and wind estimation for mini UAVs. AIAA GNC 2018, AIAA Guidance, Navigation, and Control Conference, Jan 2018, Kissimee, United States.
https://hal-enac.archives-ouvertes.fr/hal-01814261