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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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src/modules/commander/Commander.cpp
+11
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@@ -4055,6 +4055,17 @@ void Commander::estimator_check(const vehicle_status_flags_s &vstatus_flags)
const bool mag_fault_prev = (_estimator_status_sub.get().control_mode_flags & (1 << estimator_status_s::CS_MAG_FAULT));
// use primary estimator_status
if (_estimator_selector_status_sub.updated()) {
estimator_selector_status_s estimator_selector_status;
if (_estimator_selector_status_sub.copy(&estimator_selector_status)) {
if (estimator_selector_status.primary_instance != _estimator_status_sub.get_instance()) {
_estimator_status_sub.ChangeInstance(estimator_selector_status.primary_instance);
}
}
}
if (_estimator_status_sub.update()) {
const estimator_status_s &estimator_status = _estimator_status_sub.get();