Multi-EKF support (ekf2)

mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 20:03:35 +08:00

- 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

									
										src/modules/rover_pos_control/RoverPositionControl.hpp
									
		-1
	
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				@@ -69,7 +69,6 @@

				#include <uORB/topics/vehicle_global_position.h>

				#include <uORB/topics/vehicle_local_position.h>

				#include <uORB/topics/actuator_controls.h>

				#include <uORB/topics/ekf2_timestamps.h>

				#include <uORB/uORB.h>

				using matrix::Dcmf;