fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-27 15:23:35 +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
src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
+4 -2
View File
@@ -160,8 +160,10 @@ void VehicleMagnetometer::MagCalibrationUpdate()
const Vector3f bias_variance{estimator_sensor_bias.mag_bias_variance};
const bool valid = (hrt_elapsed_time(&estimator_sensor_bias.timestamp) < 1_s)
&& (estimator_sensor_bias.mag_device_id != 0) && estimator_sensor_bias.mag_bias_valid
&& (bias_variance.min() > min_var_allowed) && (bias_variance.max() < max_var_allowed);
&& (estimator_sensor_bias.mag_device_id != 0) &&
estimator_sensor_bias.mag_bias_valid &&
estimator_sensor_bias.mag_bias_stable &&
(bias_variance.min() > min_var_allowed) && (bias_variance.max() < max_var_allowed);
if (valid) {
// find corresponding mag calibration