fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-20 13:43:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

save significant IMU bias changes learned by the EKF

Browse Source 
* 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
Download Patch File Download Diff File Expand all files Collapse all files
msg/vehicle_imu.msg
+2 -1
View File
@@ -16,4 +16,5 @@ uint8 CLIPPING_Y = 2
uint8 CLIPPING_Z = 4
uint8 delta_velocity_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame
uint8 calibration_count # Calibration changed counter. Monotonically increases whenever calibration changes.
uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.
uint8 gyro_calibration_count # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.