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Multi-EKF support (ekf2)

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- ekf2 can now run in multi-instance mode (currently up to 9 instances)
    - in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
 - new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
 - sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
 - existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
 - ekf2 single instance mode is still fully supported and the default

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
This commit is contained in:
Daniel Agar
2020-10-27 10:56:11 -04:00
committed by GitHub
parent d5245a22d3
commit 0f411d6820
56 changed files with 1747 additions and 295 deletions
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platforms/common/px4_work_queue/WorkQueueManager.cpp
+17
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@@ -201,6 +201,23 @@ serial_port_to_wq(const char *serial)
return wq_configurations::UART_UNKNOWN;
}
const wq_config_t &ins_instance_to_wq(uint8_t instance)
{
switch (instance) {
case 0: return wq_configurations::INS0;
case 1: return wq_configurations::INS1;
case 2: return wq_configurations::INS2;
case 3: return wq_configurations::INS3;
}
PX4_WARN("no INS%d wq configuration, using INS0", instance);
return wq_configurations::INS0;
}
static void *
WorkQueueRunner(void *context)
{