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estimated IMU bias preflight checks

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- commander preflightcheck use estimator_sensor_bias message instead of EKF state index magic number
 - ekf2 publish estimated bias limits in estimator_sensor_bias
 - preflightcheck only error if bias estimate exceeds half of configured limit (delete COM_ARM_EKF_AB and COM_ARM_EKF_GB parameters)
This commit is contained in:
Daniel Agar
2021-01-12 09:09:42 +01:00
committed by Lorenz Meier
parent 7c95e99156
commit 48f125f150
10 changed files with 51 additions and 70 deletions
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msg/estimator_sensor_bias.msg
+10 -7
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@@ -3,22 +3,25 @@
# scale errors, in-run bias and thermal drift (if thermal compensation is enabled and available).
#
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
# In-run bias estimates (subtract from uncorrected data)
uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] gyro_bias # gyroscope in-run bias in body frame (rad/s)
uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] gyro_bias # gyroscope in-run bias in body frame (rad/s)
float32 gyro_bias_limit # magnitude of maximum gyroscope in-run bias in body frame (rad/s)
float32[3] gyro_bias_variance
bool gyro_bias_valid
uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] accel_bias # accelerometer in-run bias in body frame (m/s^2)
uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] accel_bias # accelerometer in-run bias in body frame (m/s^2)
float32 accel_bias_limit # magnitude of maximum accelerometer in-run bias in body frame (m/s^2)
float32[3] accel_bias_variance
bool accel_bias_valid
uint32 mag_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] mag_bias # magnetometer in-run bias in body frame (Gauss)
uint32 mag_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] mag_bias # magnetometer in-run bias in body frame (Gauss)
float32 mag_bias_limit # magnitude of maximum magnetometer in-run bias in body frame (Gauss)
float32[3] mag_bias_variance
bool mag_bias_valid