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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
co-authored by Paul Riseborough
parent d5245a22d3
commit 0f411d6820
56 changed files with 1747 additions and 295 deletions
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src/modules/logger/logged_topics.cpp
+22 -16
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@@ -55,15 +55,7 @@ void LoggedTopics::add_default_topics()
add_topic("cellular_status", 200);
add_topic("commander_state");
add_topic("cpuload");
add_topic("ekf_gps_drift");
add_topic("esc_status", 250);
add_topic("estimator_innovation_test_ratios", 200);
add_topic("estimator_innovation_variances", 200);
add_topic("estimator_innovations", 200);
add_topic("estimator_optical_flow_vel", 200);
add_topic("estimator_sensor_bias", 1000);
add_topic("estimator_states", 1000);
add_topic("estimator_status", 200);
add_topic("generator_status");
add_topic("home_position");
add_topic("hover_thrust_estimate", 100);
@@ -109,24 +101,39 @@ void LoggedTopics::add_default_topics()
add_topic("vehicle_status");
add_topic("vehicle_status_flags");
add_topic("vtol_vehicle_status", 200);
add_topic("yaw_estimator_status", 200);
// multi topics
add_topic_multi("actuator_outputs", 100, 2);
add_topic_multi("logger_status", 0, 2);
add_topic_multi("multirotor_motor_limits", 1000, 2);
add_topic_multi("rate_ctrl_status", 200, 2);
add_topic_multi("telemetry_status", 1000);
add_topic_multi("wind_estimate", 1000);
add_topic_multi("telemetry_status", 1000, 4);
// EKF multi topics (currently max 9 estimators)
static constexpr uint8_t MAX_ESTIMATOR_INSTANCES = 4;
add_topic("estimator_selector_status", 200);
add_topic_multi("ekf_gps_drift", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_attitude", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_global_position", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_innovation_variances", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_innovations", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_optical_flow_vel", 200, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_sensor_bias", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_states", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_status", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("yaw_estimator_status", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("wind_estimate", 1000); // published by both ekf2 and airspeed_selector
// log all raw sensors at minimal rate (at least 1 Hz)
add_topic_multi("battery_status", 300, 4);
add_topic_multi("differential_pressure", 1000, 3);
add_topic_multi("battery_status", 300, 2);
add_topic_multi("differential_pressure", 1000, 2);
add_topic_multi("distance_sensor", 1000);
add_topic_multi("optical_flow", 1000, 2);
add_topic_multi("optical_flow", 1000, 1);
add_topic_multi("sensor_accel", 1000, 4);
add_topic_multi("sensor_baro", 1000, 4);
add_topic_multi("sensor_gps", 1000, 3);
add_topic_multi("sensor_gps", 1000, 2);
add_topic_multi("sensor_gyro", 1000, 4);
add_topic_multi("sensor_mag", 1000, 4);
add_topic_multi("vehicle_imu", 500, 4);
@@ -374,7 +381,6 @@ bool LoggedTopics::add_topic_multi(const char *name, uint16_t interval_ms, uint8
return true;
}
bool LoggedTopics::initialize_logged_topics(SDLogProfileMask profile)
{
int ntopics = add_topics_from_file(PX4_STORAGEDIR "/etc/logging/logger_topics.txt");