Draft: Static Vision-based target esitmator (Kalman Filter)#23726

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JonasPerolini wants to merge 169 commits intoPX4:mainfrom

JonasPerolini:pr-static-vision-target-estimator

Commits on Apr 10, 2026

move vision-based target estimator into its own module
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update ci with new custom px4 boards: px4_*_visionTargetEst
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add vision target est custom board to enable development mavlink msgs
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reduce flash if CONSTRAINED_FLASH 2
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update orientation estimator with new params
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in PrecLand, control the orientation received from the VTE orientation
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Mavlink receiver, fix target GNSS conversion to deg
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Only re-set position and bias when a secondary measurement is available
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handle moving targets
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require UAV velocity estimate to start the position estimator
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simplify orientation estimator init
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If est times out, wait 3 seconds before restarting it (instead of 1s)
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fmu v6, Custom board, remove camera feedback and gimbal to save flash size
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Set Normalized Innovation Squared (NIS) test threhsold as a param.
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Refactor start/stop/set estimator to simplify its used for different tasks e.g. prec land, prec takeoff, follow target, delivery, ....
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explicitely set default modules in visionTargetEst.px4board
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precLandStatus only if flash not constrained
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revert slew rate change
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force an estimator reset before starting
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remove fusion enabled field from esttimatorAidSource1d
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update prec-land status for mission base and rtl direct
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make format
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prec land status only if not constrained flash 3
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remove png from documentation
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improve starting and stopping filter logic. Now properly considers orientation
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move task update topics into a function to simplify run()
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simplify estimator's starting condition
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move prec land status into prec land
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rename _covariance to _state_covariance
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publish precland status
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Clean VisionTargetEst
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Unify AugmentedState for Orientation filter
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Unify AugmentedState for Position filter
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Simplify fuse meas function
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Fix rebase
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Rename position filters
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fix _publish_prec_land_status
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override virtual function
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Only aid ekf2 velocity if vision fused recently
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replace SEC2USEC by 1_s
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Unify static and moving KF based on the symforce generation
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wip use unified KF for VTEPosition
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delete old KF filters
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Split Run() to enhance modularity and readability
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remove CONFIG_VTEST_MOVING from boards
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clang tidy
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wip add support for UWB
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Minor fix
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Autogenerated files, remove idxDof struct
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Unify static and moving KF for orientation
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include untracked files
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use math lib to convert from deg to rad
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Also allow to update the bias based on uwb
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Use states for equation of motion derivations (python)
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Orientation filter, use states for eq of motion derivations (python)
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Include a VisionTargetEstTask DEBUG which always runs the VTE
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update param names
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Position KF - use Jacobian to generate matrices
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Only keep moving filter for orientation.
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Use State::size in KF_orientation.cpp
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remove libuavcan (now libdronecan)
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fix bug: KF init with zero vel on consecutive restarts
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Improve VTE support for UWB
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VTE custom board for fmu-v6xrt
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wip clean up GNSS process && solve dt computation issue
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Rename files
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finalise update cmake to generate symforce files on build
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wip clean up
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Support multiple measurements in orientation filter, move common filter definitions in common.h, dynamic param updates
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fix missing wrap_pi
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Allow to start the estimator based on uwb only
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Include attitutde of the drone as input to the position filter to rotate uwb (and irlock) measurements
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include irlock measurement and cap the minimum obs variance for Irlock / uwb
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Unify rangeSensor definition
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wip 2 replace enums with unions
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prevent critical param change if input is not valid
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wip 2 include uwb-based yaw estimation
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stale filtering and caching for vehicle_acceleration
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Clean code
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Fix build with CONFIG_VTEST_MOVING=y
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wip disable modules in the custom visionTargetEst.px4board to avoid FLASH overflow
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Better stale measurements detection
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Commit pre-generated moving target files to support build env without symforce
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Target GNSS obs: compensate UAV motion during the latency interval
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Upgrade relevant timeout constants to PX4 parameters
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Estimators update rate as PX4 param
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Finalize documentation
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fix VisionTargetEstOrientation.msg description
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Update visionTargetEst.px4board config
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Attempt 2 fix the CI
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Allow to disable the build of # TOPICS if the module is not enabled inside px4boards
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Remove extra visionTargetEst.px4board custom builds
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Block the vision target estimator if CONFIG_MODULES_LANDING_TARGET_ESTIMATOR
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Remove support for IRLock
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remove custom visionTargetEst board for fmu-v5
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Throttle recurrent warnings (every 20 seconds)
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Remove support for IRLock
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Improve docs
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apply requested changes
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allow 5ms jitter for measurements more recent than prediction because predition timestamp is set before updating the measurement topics
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Clean uorb msgs, low update rate when no task active, and fix acc downsampling
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Implement OOSM approximation
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protect against large dt (stale filter) and fix vision variance computation
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Scale bias and acc unc by dt (noise per step to random walk)
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New topics for vte innov log, allows to revert changes to px_generate_uorb_topic_files and px_generate_zenoh_topic_files
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formating
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implement OOSM for orientation filter
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remove un-used inputs from Gettransitionmatrix
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Use common OOSM manager for position and orientation filters to avoid duplication
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use temporary variables in predict wrapper functions
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generate symforce files for moving filter
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include process noise in orientation filter
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update uorb msg doc
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update prints from INFO to DEBUG
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Move EKF2 ring buffer to lib, create a static version and use it in VTE OOSM
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unit test for VTEOosm.h
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wip unit test the VTE
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include timestamp_sample into target gnss message
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Improve unit -test coverage
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wip Include unit tests for VisionTargetEst.cpp (+renaming)
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Improve unit tests for VisionTargetEst.cpp
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Fix rebase
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KF_orientation, use symforce for predictCov
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enable velocity fusion for moving pads
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precland, incalidate yaw right away if the estimator reports it invalid
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mavlink receiver properly handle TARGET_OBS_FRAME_LOCAL_NED by converting to vc-NED
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New Descriptor struct for modules
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fix rebase
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revert changes to paramter reference
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fix build for <uORB/topics/prec_land_status.h> when CONFIG_MODULES_VISION_TARGET_ESTIMATOR disabled
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remove print
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fix build for prec_land_status_s and CONSTRAINED_FLASH
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Apply suggested change to optimise yaw uncertainty computation
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Orientation filter, use symforce to derive state pred to have one single source of mathematical derivation
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clean includes and magic numbers
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Orientation filter, guard against stale data (similar to VTEPosition)
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wip clean unit tests
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target_absolute mav receiver, rotate velocity using q_target
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target_relative, use _vehicle_attitude_sub.copy instead of .update
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populate rel_pos_valid and rel_vel_valid in _target_estimator_state_pub
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processObsGNSSPosTarget offset uav velocity from antenna to center of mass
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findLandSetpoint: do not require an updated triplet to be robust against filter restarts during the landing
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precland reset yaw on activation and inactivation
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fix _target_pose.cov_vx_rel computation
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free _vte_fusion_perf
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port mavlink receiver changes to simulatorMavlink
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use LPF to filter initial GNSS bias
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If bias was properly estimated, init filter as GNSS - bias
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update docs
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To check how stable the bias is, use delta to average
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symforce, return matrices instead of passing by argument
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update params from EKF2_GPS_POS_X to SENS_GPS0_OFFX for https://github.com/PX4/PX4-Autopilot/pull/26634
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use array of EstimatorState instead of matrix
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follow up to https://github.com/PX4/PX4-Autopilot/pull/23726/changes/a00b8842c304f1d3a756cecc822525613019b800 fix Oosm unit test
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minor cleaning
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sitl default board add CONFIG_MAVLINK_DIALECT="development" for TARGET_RELATIVE and TARGET_ABSOLUTE
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TARGET_RELATIVE pub yaw only when q_target is non-zero
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VTEPosition use signed GNSS time compensation for bias averaging phase instead of abs
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precland and FlightTaskAuto, reset and republish yaw when target not valid
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advertise _vte_bias_init_status_pub
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Block GNSS or vision observations until bias is averaged once observable
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migrate parameters from .c to .yaml
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clean rebase
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VisionTargetEst, simplify param handling
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Simplify parameters handling to reduce the number of class variables
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Simplification: remove support for scaled vision variance VTE_EV_NOISE_MD, always use var from report
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Simplification: symforce derivation get state without for loop
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Move PLD_YAW_EN and prec_land_status behind CONFIG_MODULES_VISION_TARGET_ESTIMATOR
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fix clang diagnostic
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