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Add mag bias estimator to CAN GPS units with IMUs

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- run `sensors` hub to process sensor_mag and publish vehicle_magnetometer
 - update uavcannode to use vehicle_magnetometer
This commit is contained in:
alexklimaj
2022-06-19 15:46:36 -04:00
committed by Daniel Agar
parent 73f45fee6e
commit 4cc3e78558
12 changed files with 87 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
boards/ark/can-gps/default.px4board
+5
View File
@@ -14,10 +14,15 @@ CONFIG_DRIVERS_TONE_ALARM=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_DRIVERS_UAVCANNODE=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_SENSORS=y
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
CONFIG_SYSTEMCMDS_UORB=y
boards/ark/can-gps/init/rc.board_defaults
+1
View File
@@ -4,6 +4,7 @@
#------------------------------------------------------------------------------
param set-default CBRK_IO_SAFETY 0
param set-default MBE_ENABLE 1
safety_button start
tone_alarm start
boards/ark/can-rtk-gps/default.px4board
+5
View File
@@ -14,10 +14,15 @@ CONFIG_DRIVERS_TONE_ALARM=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_DRIVERS_UAVCANNODE=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_SENSORS=y
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
CONFIG_SYSTEMCMDS_UORB=y
boards/ark/can-rtk-gps/init/rc.board_defaults
+1
View File
@@ -5,6 +5,7 @@
param set-default CBRK_IO_SAFETY 0
param set-default CANNODE_GPS_RTCM 1
param set-default MBE_ENABLE 1
safety_button start
tone_alarm start
boards/cuav/can-gps-v1/default.px4board
+13
View File
@@ -1,6 +1,8 @@
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m4"
CONFIG_BOARD_ROMFSROOT="cannode"
CONFIG_BOARD_CONSTRAINED_FLASH=y
CONFIG_BOARD_NO_HELP=y
CONFIG_BOARD_CONSTRAINED_MEMORY=y
CONFIG_BOARD_COMPILE_DEFINITIONS="-DUSE_S_RGB_LED_DMA"
CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -12,5 +14,16 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
CONFIG_DRIVERS_TONE_ALARM=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_DRIVERS_UAVCANNODE=y
CONFIG_MODULES_SENSORS=y
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
CONFIG_SYSTEMCMDS_UORB=y
CONFIG_SYSTEMCMDS_VER=y
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
boards/freefly/can-rtk-gps/default.px4board
+10 -2
View File
@@ -1,16 +1,22 @@
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m7"
CONFIG_BOARD_ROMFSROOT="cannode"
CONFIG_BOARD_CONSTRAINED_FLASH=y
CONFIG_BOARD_NO_HELP=y
CONFIG_BOARD_CONSTRAINED_MEMORY=y
CONFIG_DRIVERS_BAROMETER_BMP388=y
CONFIG_DRIVERS_BOOTLOADERS=y
CONFIG_DRIVERS_GPS=y
CONFIG_DRIVERS_IMU_ST=y
CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_DRIVERS_UAVCANNODE=y
CONFIG_MODULES_LOAD_MON=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_SENSORS=y
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
CONFIG_SYSTEMCMDS_LED_CONTROL=y
CONFIG_SYSTEMCMDS_MFT=y
CONFIG_SYSTEMCMDS_MTD=y
@@ -19,5 +25,7 @@ CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
CONFIG_SYSTEMCMDS_UORB=y
CONFIG_SYSTEMCMDS_VER=y
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
boards/holybro/can-gps-v1/default.px4board
+13
View File
@@ -2,6 +2,7 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m4"
CONFIG_BOARD_ROMFSROOT="cannode"
CONFIG_BOARD_CONSTRAINED_FLASH=y
CONFIG_BOARD_NO_HELP=y
CONFIG_BOARD_CONSTRAINED_MEMORY=y
CONFIG_DRIVERS_ADC_BOARD_ADC=y
CONFIG_DRIVERS_BAROMETER_BMP388=y
@@ -12,6 +13,18 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_DRIVERS_UAVCANNODE=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_SENSORS=y
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
CONFIG_SYSTEMCMDS_UORB=y
CONFIG_SYSTEMCMDS_VER=y
CONFIG_SYSTEMCMDS_WORK_QUEUE=y
boards/matek/gnss-m9n-f4/default.px4board
+9
View File
@@ -1,6 +1,8 @@
CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
CONFIG_BOARD_ARCHITECTURE="cortex-m4"
CONFIG_BOARD_ROMFSROOT="cannode"
CONFIG_BOARD_CONSTRAINED_FLASH=y
CONFIG_BOARD_NO_HELP=y
CONFIG_BOARD_CONSTRAINED_MEMORY=y
CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -10,13 +12,20 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
CONFIG_BOARD_UAVCAN_INTERFACES=1
CONFIG_DRIVERS_UAVCANNODE=y
CONFIG_MODULES_GYRO_CALIBRATION=y
CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
CONFIG_MODULES_SENSORS=y
# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
CONFIG_SYSTEMCMDS_I2CDETECT=y
CONFIG_SYSTEMCMDS_NSHTERM=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_SERIAL_PASSTHRU=y
CONFIG_SERIAL_PASSTHRU_UBLOX=y
CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
CONFIG_SYSTEMCMDS_UORB=y