fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 00:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

save learned mag bias per sensor (Multi-EKF support)

Browse Source 
- handle saving the mag bias per sensor (across all estimator instances using that mag) in sensors/vehicle_magnetometer
 - this is now saving back to the actual mag calibration CAL_MAGn_OFF{X,Y,Z}
 - ekf2 reset mag mag bias on any magnetometer or calibration change
 - use Kalman filter scheme to update stored mag bias parameters using all available bias estimates for that sensor

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
This commit is contained in:
Daniel Agar
2021-01-07 09:54:13 -05:00
committed by GitHub
co-authored by Paul Riseborough
parent 537ee5b19b
commit 88f8da27ef
17 changed files with 328 additions and 308 deletions
Download Patch File Download Diff File Expand all files Collapse all files
msg/estimator_sensor_bias.msg
+3
View File
@@ -11,11 +11,14 @@ uint64 timestamp_sample # the timestamp of the raw data (microseconds)
uint32 gyro_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] gyro_bias # gyroscope in-run bias in body frame (rad/s)
float32[3] gyro_bias_variance
bool gyro_bias_valid
uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] accel_bias # accelerometer in-run bias in body frame (m/s^2)
float32[3] accel_bias_variance
bool accel_bias_valid
uint32 mag_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] mag_bias # magnetometer in-run bias in body frame (Gauss)
float32[3] mag_bias_variance
bool mag_bias_valid