fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-08 10:11:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: handle IMU calibration changes on delayed time horizon

Browse Source 
- reset biases and covariances on delayed time horizon in addition to
resetting immediately (for the sake of the output predictor)
This commit is contained in:
Daniel Agar
2023-03-06 11:10:28 -05:00
parent 21c7f8ad74
commit 0ca0e954fb
11 changed files with 66 additions and 70 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/SensorCombined.msg
+1 -1
View File
@@ -21,5 +21,5 @@ uint8 CLIPPING_Z = 4
uint8 accelerometer_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame
uint8 gyro_clipping # bitfield indicating if there was any gyro clipping (per axis) during the integration time frame
uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.
uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelerometer calibration changes.
uint8 gyro_calibration_count # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.
msg/VehicleImu.msg
+1 -1
View File
@@ -19,5 +19,5 @@ uint8 CLIPPING_Z = 4
uint8 delta_angle_clipping # bitfield indicating if there was any gyro clipping (per axis) during the integration time frame
uint8 delta_velocity_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame
uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.
uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelerometer calibration changes.
uint8 gyro_calibration_count # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.