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mc_hover_thrust_estimator: validity flag and other small improvements/fixes

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- track and publish validity based on hover thrust variance, innovation test ratio, and hysteresis
 - only publish on actual updates or becoming inactive
 - fix dt (previous timestamp wasn't being saved)
 - use local position timestamp (corresponding) to accel data rather than current time to avoid unnecessary timing jitter
 - check local position validity before using
 - mc_hover_thrust_estimator: move from wq:lp_default -> wq:nav_and_controllers to ensure the hover thrust estimator runs after the position controller and uses the same vehicle_local_position data
 - land_detector: check hover thrust estimate validity and adjust low throttle thresholds if hover thrust is available
 - mc_pos_control: only use hover thrust estimate if valid
This commit is contained in:
Daniel Agar
2020-08-03 10:30:52 -04:00
committed by GitHub
parent 958d5a36ec
commit ba640acfcc
7 changed files with 103 additions and 36 deletions
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msg/hover_thrust_estimate.msg
+4 -1
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@@ -1,4 +1,5 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # time of corresponding sensor data last used for this estimate
float32 hover_thrust # estimated hover thrust [0.1, 0.9]
float32 hover_thrust_var # estimated hover thrust variance
@@ -8,3 +9,5 @@ float32 accel_innov_var # innovation variance of the last acceleration fusion
float32 accel_innov_test_ratio # normalized innovation squared test ratio
float32 accel_noise_var # vertical acceleration noise variance estimated form innovation residual
bool valid