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LPE Variance Dependent Publication (#4914)

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* Use variance to control publishing for LPE.

* Don't stop publishing if we have gps/ baro.

* LPE tuning and cleanup.

* Added bias saturation to LPE.

* Added vector enabled low pass filter block.

* Added rk4 integration and pub lowpass to LPE.

* Fix std::abs issue on mac/ reset lowpass on state reset.

* Don't estimate gyro bias when rotating at high speed  att_est_q.

* Lowered low pass on position to 5 Hz for LPE.

* Streamline state space update for LPE.

* Added health flags to est2 log.

* Revert to old tuning, more conservative, less faults.

* Formatting.

* Fix for fault message on LPE.

* Added subscription throttling to LPE.

* Formatting.
This commit is contained in:
James Goppert
2016-07-01 11:43:09 -04:00
committed by GitHub
parent 2a395c3fec
commit 00dfc99e08
17 changed files with 417 additions and 247 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/sdlog2/sdlog2.c
+1
View File
@@ -2138,6 +2138,7 @@ int sdlog2_thread_main(int argc, char *argv[])
memcpy(&(log_msg.body.log_EST2.cov), buf.estimator_status.covariances, maxcopy2);
log_msg.body.log_EST2.gps_check_fail_flags = buf.estimator_status.gps_check_fail_flags;
log_msg.body.log_EST2.control_mode_flags = buf.estimator_status.control_mode_flags;
log_msg.body.log_EST2.health_flags = buf.estimator_status.health_flags;
LOGBUFFER_WRITE_AND_COUNT(EST2);
log_msg.msg_type = LOG_EST3_MSG;
src/modules/sdlog2/sdlog2_messages.h
+5 -4
View File
@@ -410,9 +410,10 @@ struct log_EST1_s {
/* --- EST2 - ESTIMATOR STATUS --- */
#define LOG_EST2_MSG 34
struct log_EST2_s {
float cov[12];
uint16_t gps_check_fail_flags;
uint16_t control_mode_flags;
float cov[12];
uint16_t gps_check_fail_flags;
uint16_t control_mode_flags;
uint8_t health_flags;
};
/* --- EST3 - ESTIMATOR STATUS --- */
@@ -687,7 +688,7 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT_S(TEL3, TEL, "BBBBHHBQ", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf,HbTime"),
LOG_FORMAT(EST0, "ffffffffffffBBHB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,nStat,fNaN,fFault,fTOut"),
LOG_FORMAT(EST1, "ffffffffffffffff", "s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
LOG_FORMAT(EST2, "ffffffffffffHH", "P0,P1,P2,P3,P4,P5,P6,P7,P8,P9,P10,P11,GCHK,CTRL"),
LOG_FORMAT(EST2, "ffffffffffffHHB", "P0,P1,P2,P3,P4,P5,P6,P7,P8,P9,P10,P11,GCHK,CTRL,fHealth"),
LOG_FORMAT(EST3, "ffffffffffffffff", "P12,P13,P14,P15,P16,P17,P18,P19,P20,P21,P22,P23,P24,P25,P26,P27"),
LOG_FORMAT(EST4, "ffffffffffff", "VxI,VyI,VzI,PxI,PyI,PzI,VxIV,VyIV,VzIV,PxIV,PyIV,PzIV"),
LOG_FORMAT(EST5, "ffffffffff", "MAGxI,MAGyI,MAGzI,MAGxIV,MAGyIV,MAGzIV,HeadI,HeadIV,AirI,AirIV"),