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WIP: multi-EKF replay hacks and replay overhaul

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This commit is contained in:
Daniel Agar
2021-08-18 22:16:04 -04:00
parent 1af2ecaff6
commit af8d1c9c6c
52 changed files with 773 additions and 1294 deletions
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msg/CMakeLists.txt
-2
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@@ -56,7 +56,6 @@ set(msg_files
cpuload.msg
differential_pressure.msg
distance_sensor.msg
ekf2_timestamps.msg
ekf_gps_drift.msg
esc_report.msg
esc_status.msg
@@ -130,7 +129,6 @@ set(msg_files
sensor_accel.msg
sensor_accel_fifo.msg
sensor_baro.msg
sensor_combined.msg
sensor_correction.msg
sensor_gps.msg
sensor_gyro.msg
msg/ekf2_timestamps.msg
-23
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@@ -1,23 +0,0 @@
# this message contains the (relative) timestamps of the sensor inputs used by EKF2.
# It can be used for reproducible replay.
# the timestamp field is the ekf2 reference time and matches the timestamp of
# the sensor_combined topic.
uint64 timestamp # time since system start (microseconds)
int16 RELATIVE_TIMESTAMP_INVALID = 32767 # (0x7fff) If one of the relative timestamps
# is set to this value, it means the associated sensor values did not update
# timestamps are relative to the main timestamp and are in 0.1 ms (timestamp +
# *_timestamp_rel = absolute timestamp). For int16, this allows a maximum
# difference of +-3.2s to the sensor_combined topic.
int16 airspeed_timestamp_rel
int16 distance_sensor_timestamp_rel
int16 optical_flow_timestamp_rel
int16 vehicle_air_data_timestamp_rel
int16 vehicle_magnetometer_timestamp_rel
int16 visual_odometry_timestamp_rel
# Note: this is a high-rate logged topic, so it needs to be as small as possible
msg/sensor_combined.msg
-20
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@@ -1,20 +0,0 @@
# Sensor readings in SI-unit form.
# These fields are scaled and offset-compensated where possible and do not
# change with board revisions and sensor updates.
uint64 timestamp # time since system start (microseconds)
int32 RELATIVE_TIMESTAMP_INVALID = 2147483647 # (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid
# gyro timstamp is equal to the timestamp of the message
float32[3] gyro_rad # average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period
uint32 gyro_integral_dt # gyro measurement sampling period in microseconds
int32 accelerometer_timestamp_relative # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
float32[3] accelerometer_m_s2 # average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period
uint32 accelerometer_integral_dt # accelerometer measurement sampling period in microseconds
uint8 CLIPPING_X = 1
uint8 CLIPPING_Y = 2
uint8 CLIPPING_Z = 4
uint8 accelerometer_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the sampling period
msg/sensor_selection.msg
+2 -1
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@@ -1,7 +1,8 @@
#
# Sensor ID's for the voted sensors output on the sensor_combined topic.
# Sensor ID's for the primary IMU.
# Will be updated on startup of the sensor module and when sensor selection changes
#
uint64 timestamp # time since system start (microseconds)
uint32 accel_device_id # unique device ID for the selected accelerometers
uint32 gyro_device_id # unique device ID for the selected rate gyros