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ekf2: use new IMU and mag bias and variance getters in ecl/EKF

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- reset IMU bias on calibration change (only works with multi-ekf)
 - standardize PX4_INFO/PX4_WARN/PX4_ERR output for multi-ekf with instance number
 - https://github.com/PX4/PX4-ECL/pull/924
This commit is contained in:
Daniel Agar
2020-12-08 16:06:18 -05:00
committed by GitHub
parent 8f5f564c05
commit 82746af07a
4 changed files with 49 additions and 86 deletions
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src/modules/ekf2/EKF2.hpp
+3 -3
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@@ -178,8 +178,8 @@ private:
hrt_abstime _last_magcal_us = 0; ///< last time the EKF was operating a mode that estimates magnetomer biases (uSec)
hrt_abstime _total_cal_time_us = 0; ///< accumulated calibration time since the last save
float _last_valid_mag_cal[3] = {}; ///< last valid XYZ magnetometer bias estimates (Gauss)
float _last_valid_variance[3] = {}; ///< variances for the last valid magnetometer XYZ bias estimates (Gauss**2)
Vector3f _last_valid_mag_cal{}; ///< last valid XYZ magnetometer bias estimates (Gauss)
Vector3f _last_valid_variance{}; ///< variances for the last valid magnetometer XYZ bias estimates (Gauss**2)
bool _valid_cal_available{false}; ///< true when an unsaved valid calibration for the XYZ magnetometer bias is available
// Used to control saving of mag declination to be used on next startup
@@ -192,7 +192,7 @@ private:
uint64_t _gps_alttitude_ellipsoid_previous_timestamp{0}; ///< storage for previous timestamp to compute dt
float _wgs84_hgt_offset = 0; ///< height offset between AMSL and WGS84
bool _imu_bias_reset_request{false};
uint8_t _imu_calibration_count{0};
uint32_t _device_id_accel{0};
uint32_t _device_id_baro{0};