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Move GPS blending from ekf2 to sensors module

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- new sensors work item that subscribes to N x sensor_gps and publishes vehicle_gps_position
 - blending is now configurable with SENS_GPS_MASK and SENS_GPS_TAU

Co-authored-by: Jacob Crabill <jacob@volans-i.com>
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
This commit is contained in:
Jacob Dahl
2020-09-25 23:28:31 -04:00
committed by GitHub
co-authored by Jacob Crabill Jacob Dahl
parent e792c46f20
commit a24488328f
27 changed files with 1147 additions and 861 deletions
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src/modules/mavlink/mavlink_messages.cpp
+6 -6
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -93,6 +93,7 @@
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/rpm.h>
#include <uORB/topics/sensor_baro.h>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/sensor_mag.h>
#include <uORB/topics/sensor_selection.h>
#include <uORB/topics/tecs_status.h>
@@ -105,7 +106,6 @@
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
@@ -1792,7 +1792,7 @@ public:
}
private:
uORB::Subscription _gps_sub{ORB_ID(vehicle_gps_position)};
uORB::Subscription _gps_sub{ORB_ID(sensor_gps), 0};
/* do not allow top copying this class */
MavlinkStreamGPSRawInt(MavlinkStreamGPSRawInt &) = delete;
@@ -1804,7 +1804,7 @@ protected:
bool send(const hrt_abstime t) override
{
vehicle_gps_position_s gps;
sensor_gps_s gps;
if (_gps_sub.update(&gps)) {
mavlink_gps_raw_int_t msg{};
@@ -1868,7 +1868,7 @@ public:
}
private:
uORB::Subscription _gps2_sub{ORB_ID(vehicle_gps_position), 1};
uORB::Subscription _gps2_sub{ORB_ID(sensor_gps), 1};
/* do not allow top copying this class */
MavlinkStreamGPS2Raw(MavlinkStreamGPS2Raw &) = delete;
@@ -1880,7 +1880,7 @@ protected:
bool send(const hrt_abstime t) override
{
vehicle_gps_position_s gps;
sensor_gps_s gps;
if (_gps2_sub.update(&gps)) {
mavlink_gps2_raw_t msg = {};
src/modules/mavlink/mavlink_receiver.cpp
+1 -1
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@@ -2287,7 +2287,7 @@ MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
const uint64_t timestamp = hrt_absolute_time();
struct vehicle_gps_position_s hil_gps = {};
sensor_gps_s hil_gps{};
hil_gps.timestamp_time_relative = 0;
hil_gps.time_utc_usec = gps.time_usec;
src/modules/mavlink/mavlink_receiver.h
+2 -2
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@@ -85,6 +85,7 @@
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/radio_status.h>
#include <uORB/topics/rc_channels.h>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/telemetry_status.h>
#include <uORB/topics/transponder_report.h>
#include <uORB/topics/tune_control.h>
@@ -94,7 +95,6 @@
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_local_position_setpoint.h>
@@ -250,12 +250,12 @@ private:
uORB::Publication<generator_status_s> _generator_status_pub{ORB_ID(generator_status)};
uORB::Publication<optical_flow_s> _flow_pub{ORB_ID(optical_flow)};
uORB::Publication<position_setpoint_triplet_s> _pos_sp_triplet_pub{ORB_ID(position_setpoint_triplet)};
uORB::Publication<sensor_gps_s> _gps_pub{ORB_ID(sensor_gps)};
uORB::Publication<vehicle_attitude_s> _attitude_pub{ORB_ID(vehicle_attitude)};
uORB::Publication<vehicle_attitude_setpoint_s> _att_sp_pub{ORB_ID(vehicle_attitude_setpoint)};
uORB::Publication<vehicle_attitude_setpoint_s> _mc_virtual_att_sp_pub{ORB_ID(mc_virtual_attitude_setpoint)};
uORB::Publication<vehicle_attitude_setpoint_s> _fw_virtual_att_sp_pub{ORB_ID(fw_virtual_attitude_setpoint)};
uORB::Publication<vehicle_global_position_s> _global_pos_pub{ORB_ID(vehicle_global_position)};
uORB::Publication<vehicle_gps_position_s> _gps_pub{ORB_ID(vehicle_gps_position)};
uORB::Publication<vehicle_land_detected_s> _land_detector_pub{ORB_ID(vehicle_land_detected)};
uORB::Publication<vehicle_local_position_s> _local_pos_pub{ORB_ID(vehicle_local_position)};
uORB::Publication<vehicle_odometry_s> _mocap_odometry_pub{ORB_ID(vehicle_mocap_odometry)};