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

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- 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
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src/modules/logger/logged_topics.cpp
+2 -1
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@@ -125,7 +125,7 @@ void LoggedTopics::add_default_topics()
add_topic_multi("estimator_local_position", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_sensor_bias", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_states", 1000, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_status", 500, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_status", 200, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_status_flags", 0, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("estimator_visual_odometry_aligned", 200, MAX_ESTIMATOR_INSTANCES);
add_topic_multi("yaw_estimator_status", 1000, MAX_ESTIMATOR_INSTANCES);
@@ -143,6 +143,7 @@ void LoggedTopics::add_default_topics()
add_topic_multi("sensor_mag", 1000, 4);
add_topic_multi("vehicle_imu", 500, 4);
add_topic_multi("vehicle_imu_status", 1000, 4);
add_topic_multi("vehicle_magnetometer", 500, 4);
#ifdef CONFIG_ARCH_BOARD_PX4_SITL
add_topic("actuator_controls_virtual_fw");