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save significant IMU bias changes learned by the EKF

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* ekf2: make publishing of learned accel biases more robust
* ekf2: reset accel bias if calibration updated
* msg: add separate accel and gyro calibration counters
* ekf2: use separate accel and gyro calibration counters
* ekf2: rework logic to reset biases when calibration counters increment
* sensors: add saving of learned accel biases
* ekf2: generalized saving accel/gyro/mag in flight sensor calibration
* boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
This commit is contained in:
Daniel Agar
2021-11-07 15:34:27 -05:00
committed by GitHub
co-authored by Paul Riseborough
parent 5969508fa7
commit 68026eadeb
10 changed files with 406 additions and 50 deletions
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boards/holybro/kakutef7/default.px4board
-2
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@@ -41,8 +41,6 @@ CONFIG_SYSTEMCMDS_DMESG=y
CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
CONFIG_SYSTEMCMDS_MIXER=y
CONFIG_SYSTEMCMDS_PARAM=y
CONFIG_SYSTEMCMDS_PERF=y
CONFIG_SYSTEMCMDS_PWM=y
CONFIG_SYSTEMCMDS_REBOOT=y
CONFIG_SYSTEMCMDS_TOP=y
CONFIG_SYSTEMCMDS_VER=y