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Hover thrust estimator #13981

Merged
merged 4 commits into from
Feb 7, 2020
Merged

Hover thrust estimator #13981

merged 4 commits into from
Feb 7, 2020

Commits on Feb 7, 2020

  1. HoverThrustEstimator: add a new single state estimator 

    with measurement noise auto-tuning

The purpose of this estimator is to improve land detection and vertical
velocity feedforward

Recovery strategy:
This is required when the setpoint suddenly changes in air or that the
EKF is diverging. A lowpassed test ratio is used as a trigger for the recovery logic
Also, a lowpassed residual is used to estimate the steady-state value
and remove it when estimating the accel noise to avoid increasing the
accel noise when the redisual is caused by an offset.
    @bresch
    bresch committed Feb 7, 2020
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  2. HoverThrustEstimator: Add convergence tests 

    With noisy accel and thrust in hover, climb and descent conditions.
    @bresch
    bresch committed Feb 7, 2020
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  3. ZeroOrderHoverThrustEstimatorTest: add hover thrust jump test case 

    This is done to test the recovery function of the estimator in case
of divergence or sudden extreme hover thrust change.

Also specify seed of random generator
    @bresch
    bresch committed Feb 7, 2020
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  4. uorb_rtps_message_ids: add hover_thrust_estimate msg

    @bresch
    bresch committed Feb 7, 2020
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