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move vehicle at reset detection ekf2 -> land_detector

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Co-authored-by:: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2022-01-18 12:57:04 -05:00
co-authored by : bresch
parent 953c90d3a6
commit bbf3b7ac9d
18 changed files with 126 additions and 156 deletions
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msg/ekf_gps_drift.msg
+2 -1
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@@ -2,4 +2,5 @@ uint64 timestamp # time since system start (microseconds)
float32 hpos_drift_rate # Horizontal position rate magnitude checked using EKF2_REQ_HDRIFT (m/s)
float32 vpos_drift_rate # Vertical position rate magnitude checked using EKF2_REQ_VDRIFT (m/s)
float32 hspd # Filtered horizontal velocity magnitude checked using EKF2_REQ_HDRIFT (m/s)
bool blocked # true when drift calculation is blocked due to IMU movement check controlled by EKF2_MOVE_TEST
bool blocked # true when drift calculation is blocked due to IMU movement check
msg/estimator_status.msg
-5
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@@ -1,11 +1,6 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample # the timestamp of the raw data (microseconds)
float32[3] vibe # IMU vibration metrics in the following array locations
# 0 : Gyro delta angle coning metric = filtered length of (delta_angle x prev_delta_angle)
# 1 : Gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle)
# 2 : Accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity)
float32[3] output_tracking_error # return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m)
uint16 gps_check_fail_flags # Bitmask to indicate status of GPS checks - see definition below
msg/vehicle_land_detected.msg
+7
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@@ -1,11 +1,18 @@
uint64 timestamp # time since system start (microseconds)
bool freefall # true if vehicle is currently in free-fall
bool ground_contact # true if vehicle has ground contact but is not landed (1. stage)
bool maybe_landed # true if the vehicle might have landed (2. stage)
bool landed # true if vehicle is currently landed on the ground (3. stage)
bool in_ground_effect # indicates if from the perspective of the landing detector the vehicle might be in ground effect (baro). This flag will become true if the vehicle is not moving horizontally and is descending (crude assumption that user is landing).
bool in_descend
bool has_low_throttle
bool vertical_movement
bool horizontal_movement
bool close_to_ground_or_skipped_check
bool at_rest