ekf2: organize gyro_bias/accel_bias param yaml

src/modules/ekf2/CMakeLists.txt

@@ -262,6 +262,8 @@ px4_add_module(
 
 	MODULE_CONFIG
 		module.yaml
+		params_gyro_bias.yaml
+		params_accel_bias.yaml
 		params_multi.yaml
 		params_volatile.yaml
 		params_selector.yaml

src/modules/ekf2/module.yaml

@@ -7,6 +7,11 @@ parameters:
         short: EKF2 enable
       type: boolean
       default: 1
+    EKF2_LOG_VERBOSE:
+      description:
+        short: Verbose logging
+      type: boolean
+      default: 1
     EKF2_PREDICT_US:
       description:
         short: EKF prediction period
@@ -18,17 +23,6 @@ parameters:
       min: 1000
       max: 20000
       unit: us
-    EKF2_IMU_CTRL:
-      description:
-        short: IMU control
-      type: bitmask
-      bit:
-        0: Gyro Bias
-        1: Accel Bias
-        2: Gravity vector fusion
-      default: 7
-      min: 0
-      max: 7
     EKF2_DELAY_MAX:
       description:
         short: Maximum delay of all the aiding sensors
@@ -41,6 +35,82 @@ parameters:
       unit: ms
       reboot_required: true
       decimal: 1
+    EKF2_ANGERR_INIT:
+      description:
+        short: 1-sigma tilt angle uncertainty after gravity vector alignment
+      type: float
+      default: 0.1
+      min: 0.0
+      max: 0.5
+      unit: rad
+      reboot_required: true
+      decimal: 3
+    EKF2_HDG_GATE:
+      description:
+        short: Gate size for heading fusion
+        long: Sets the number of standard deviations used by the innovation consistency
+          test.
+      type: float
+      default: 2.6
+      min: 1.0
+      unit: SD
+      decimal: 1
+    EKF2_HEAD_NOISE:
+      description:
+        short: Measurement noise for magnetic heading fusion
+      type: float
+      default: 0.3
+      min: 0.01
+      max: 1.0
+      unit: rad
+      decimal: 2
+    EKF2_NOAID_NOISE:
+      description:
+        short: Measurement noise for non-aiding position hold
+      type: float
+      default: 10.0
+      min: 0.5
+      max: 50.0
+      unit: m
+      decimal: 1
+    EKF2_NOAID_TOUT:
+      description:
+        short: Maximum inertial dead-reckoning time
+        long: Maximum lapsed time from last fusion of measurements that constrain
+          velocity drift before the EKF will report the horizontal nav solution as
+          invalid
+      type: int32
+      default: 5000000
+      min: 500000
+      max: 10000000
+      unit: us
+    EKF2_HGT_REF:
+      description:
+        short: Determines the reference source of height data used by the EKF
+        long: When multiple height sources are enabled at the same time, the height
+          estimate will always converge towards the reference height source selected
+          by this parameter. The range sensor and vision options should only be used
+          when for operation over a flat surface as the local NED origin will move
+          up and down with ground level.
+      type: enum
+      values:
+        0: Barometric pressure
+        1: GPS
+        2: Range sensor
+        3: Vision
+      default: 1
+      reboot_required: true
+    EKF2_IMU_CTRL:
+      description:
+        short: IMU control
+      type: bitmask
+      bit:
+        0: Gyro Bias
+        1: Accel Bias
+        2: Gravity vector fusion
+      default: 7
+      min: 0
+      max: 7
     EKF2_GYR_NOISE:
       description:
         short: Rate gyro noise for covariance prediction
@@ -59,79 +129,6 @@ parameters:
       max: 1.0
       unit: m/s^2
       decimal: 2
-    EKF2_GYR_B_NOISE:
-      description:
-        short: Process noise for IMU rate gyro bias prediction
-      type: float
-      default: 0.001
-      min: 0.0
-      max: 0.01
-      unit: rad/s^2
-      decimal: 6
-    EKF2_ACC_B_NOISE:
-      description:
-        short: Process noise for IMU accelerometer bias prediction
-      type: float
-      default: 0.003
-      min: 0.0
-      max: 0.01
-      unit: m/s^3
-      decimal: 6
-    EKF2_NOAID_NOISE:
-      description:
-        short: Measurement noise for non-aiding position hold
-      type: float
-      default: 10.0
-      min: 0.5
-      max: 50.0
-      unit: m
-      decimal: 1
-    EKF2_HEAD_NOISE:
-      description:
-        short: Measurement noise for magnetic heading fusion
-      type: float
-      default: 0.3
-      min: 0.01
-      max: 1.0
-      unit: rad
-      decimal: 2
-    EKF2_HDG_GATE:
-      description:
-        short: Gate size for heading fusion
-        long: Sets the number of standard deviations used by the innovation consistency
-          test.
-      type: float
-      default: 2.6
-      min: 1.0
-      unit: SD
-      decimal: 1
-    EKF2_HGT_REF:
-      description:
-        short: Determines the reference source of height data used by the EKF
-        long: When multiple height sources are enabled at the same time, the height
-          estimate will always converge towards the reference height source selected
-          by this parameter. The range sensor and vision options should only be used
-          when for operation over a flat surface as the local NED origin will move
-          up and down with ground level.
-      type: enum
-      values:
-        0: Barometric pressure
-        1: GPS
-        2: Range sensor
-        3: Vision
-      default: 1
-      reboot_required: true
-    EKF2_NOAID_TOUT:
-      description:
-        short: Maximum inertial dead-reckoning time
-        long: Maximum lapsed time from last fusion of measurements that constrain
-          velocity drift before the EKF will report the horizontal nav solution as
-          invalid
-      type: int32
-      default: 5000000
-      min: 500000
-      max: 10000000
-      unit: us
     EKF2_IMU_POS_X:
       description:
         short: X position of IMU in body frame
@@ -156,6 +153,7 @@ parameters:
       default: 0.0
       unit: m
       decimal: 3
+
     EKF2_TAU_VEL:
       description:
         short: Time constant of the velocity output prediction and smoothing filter
@@ -174,98 +172,3 @@ parameters:
       max: 1.0
       unit: s
       decimal: 2
-    EKF2_GBIAS_INIT:
-      description:
-        short: 1-sigma IMU gyro switch-on bias
-      type: float
-      default: 0.1
-      min: 0.0
-      max: 0.2
-      unit: rad/s
-      reboot_required: true
-      decimal: 2
-    EKF2_ABIAS_INIT:
-      description:
-        short: 1-sigma IMU accelerometer switch-on bias
-      type: float
-      default: 0.2
-      min: 0.0
-      max: 0.5
-      unit: m/s^2
-      reboot_required: true
-      decimal: 2
-    EKF2_ANGERR_INIT:
-      description:
-        short: 1-sigma tilt angle uncertainty after gravity vector alignment
-      type: float
-      default: 0.1
-      min: 0.0
-      max: 0.5
-      unit: rad
-      reboot_required: true
-      decimal: 3
-    EKF2_ABL_LIM:
-      description:
-        short: Accelerometer bias learning limit
-        long: The ekf accel bias states will be limited to within a range equivalent
-          to +- of this value.
-      type: float
-      default: 0.4
-      min: 0.0
-      max: 0.8
-      unit: m/s^2
-      decimal: 2
-    EKF2_ABL_ACCLIM:
-      description:
-        short: Maximum IMU accel magnitude that allows IMU bias learning
-        long: If the magnitude of the IMU accelerometer vector exceeds this value,
-          the EKF accel bias state estimation will be inhibited. This reduces the
-          adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale
-          factor errors on the accel bias estimates.
-      type: float
-      default: 25.0
-      min: 20.0
-      max: 200.0
-      unit: m/s^2
-      decimal: 1
-    EKF2_ABL_GYRLIM:
-      description:
-        short: Maximum IMU gyro angular rate magnitude that allows IMU bias learning
-        long: If the magnitude of the IMU angular rate vector exceeds this value,
-          the EKF accel bias state estimation will be inhibited. This reduces the
-          adverse effect of rapid rotation rates and associated errors on the accel
-          bias estimates.
-      type: float
-      default: 3.0
-      min: 2.0
-      max: 20.0
-      unit: rad/s
-      decimal: 1
-    EKF2_ABL_TAU:
-      description:
-        short: Accel bias learning inhibit time constant
-        long: The vector magnitude of angular rate and acceleration used to check
-          if learning should be inhibited has a peak hold filter applied to it with
-          an exponential decay. This parameter controls the time constant of the decay.
-      type: float
-      default: 0.5
-      min: 0.1
-      max: 1.0
-      unit: s
-      decimal: 2
-    EKF2_GYR_B_LIM:
-      description:
-        short: Gyro bias learning limit
-        long: The ekf gyro bias states will be limited to within a range equivalent
-          to +- of this value.
-      type: float
-      default: 0.15
-      min: 0.0
-      max: 0.4
-      unit: rad/s
-      decimal: 3
-    EKF2_LOG_VERBOSE:
-      description:
-        short: Verbose logging
-      type: boolean
-      default: 1

src/modules/ekf2/params_accel_bias.yaml

@@ -0,0 +1,72 @@
+module_name: ekf2
+parameters:
+- group: EKF2
+  definitions:
+    EKF2_ABIAS_INIT:
+      description:
+        short: 1-sigma IMU accelerometer switch-on bias
+      type: float
+      default: 0.2
+      min: 0.0
+      max: 0.5
+      unit: m/s^2
+      reboot_required: true
+      decimal: 2
+    EKF2_ACC_B_NOISE:
+      description:
+        short: Process noise for IMU accelerometer bias prediction
+      type: float
+      default: 0.003
+      min: 0.0
+      max: 0.01
+      unit: m/s^3
+      decimal: 6
+    EKF2_ABL_LIM:
+      description:
+        short: Accelerometer bias learning limit
+        long: The ekf accel bias states will be limited to within a range equivalent
+          to +- of this value.
+      type: float
+      default: 0.4
+      min: 0.0
+      max: 0.8
+      unit: m/s^2
+      decimal: 2
+    EKF2_ABL_ACCLIM:
+      description:
+        short: Maximum IMU accel magnitude that allows IMU bias learning
+        long: If the magnitude of the IMU accelerometer vector exceeds this value,
+          the EKF accel bias state estimation will be inhibited. This reduces the
+          adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale
+          factor errors on the accel bias estimates.
+      type: float
+      default: 25.0
+      min: 20.0
+      max: 200.0
+      unit: m/s^2
+      decimal: 1
+    EKF2_ABL_GYRLIM:
+      description:
+        short: Maximum IMU gyro angular rate magnitude that allows IMU bias learning
+        long: If the magnitude of the IMU angular rate vector exceeds this value,
+          the EKF accel bias state estimation will be inhibited. This reduces the
+          adverse effect of rapid rotation rates and associated errors on the accel
+          bias estimates.
+      type: float
+      default: 3.0
+      min: 2.0
+      max: 20.0
+      unit: rad/s
+      decimal: 1
+    EKF2_ABL_TAU:
+      description:
+        short: Accel bias learning inhibit time constant
+        long: The vector magnitude of angular rate and acceleration used to check
+          if learning should be inhibited has a peak hold filter applied to it with
+          an exponential decay. This parameter controls the time constant of the decay.
+      type: float
+      default: 0.5
+      min: 0.1
+      max: 1.0
+      unit: s
+      decimal: 2

src/modules/ekf2/params_gyro_bias.yaml

@@ -0,0 +1,34 @@
+module_name: ekf2
+parameters:
+- group: EKF2
+  definitions:
+    EKF2_GBIAS_INIT:
+      description:
+        short: 1-sigma IMU gyro switch-on bias
+      type: float
+      default: 0.1
+      min: 0.0
+      max: 0.2
+      unit: rad/s
+      reboot_required: true
+      decimal: 2
+    EKF2_GYR_B_NOISE:
+      description:
+        short: Process noise for IMU rate gyro bias prediction
+      type: float
+      default: 0.001
+      min: 0.0
+      max: 0.01
+      unit: rad/s^2
+      decimal: 6
+    EKF2_GYR_B_LIM:
+      description:
+        short: Gyro bias learning limit
+        long: The ekf gyro bias states will be limited to within a range equivalent
+          to +- of this value.
+      type: float
+      default: 0.15
+      min: 0.0
+      max: 0.4
+      unit: rad/s
+      decimal: 3