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ekf-replay: fix airspeed replay

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If available, the EKF uses airspeed_validated, not airspeed
This commit is contained in:
bresch 2025-01-24 14:52:30 +01:00 committed by Daniel Agar
parent c3ba39f931
commit c76e74338b
5 changed files with 13 additions and 0 deletions
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1
msg/Ekf2Timestamps.msg
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@ -14,6 +14,7 @@ int16 RELATIVE_TIMESTAMP_INVALID = 32767 # (0x7fff) If one of the relative times
# difference of +-3.2s to the sensor_combined topic.
int16 airspeed_timestamp_rel
int16 airspeed_validated_timestamp_rel
int16 distance_sensor_timestamp_rel
int16 optical_flow_timestamp_rel
int16 vehicle_air_data_timestamp_rel

4
src/modules/ekf2/EKF2.cpp
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@ -745,6 +745,7 @@ void EKF2::Run()
ekf2_timestamps_s ekf2_timestamps {
.timestamp = now,
.airspeed_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID,
.airspeed_validated_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID,
.distance_sensor_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID,
.optical_flow_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID,
.vehicle_air_data_timestamp_rel = ekf2_timestamps_s::RELATIVE_TIMESTAMP_INVALID,
@ -2080,6 +2081,9 @@ void EKF2::UpdateAirspeedSample(ekf2_timestamps_s &ekf2_timestamps)
}
_airspeed_validated_timestamp_last = airspeed_validated.timestamp;
ekf2_timestamps.airspeed_validated_timestamp_rel = (int16_t)((int64_t)airspeed_validated.timestamp / 100 -
(int64_t)ekf2_timestamps.timestamp / 100);
}
} else if (((ekf2_timestamps.timestamp - _airspeed_validated_timestamp_last) > 3_s) && _airspeed_sub.updated()) {

1
src/modules/logger/logged_topics.cpp
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@ -294,6 +294,7 @@ void LoggedTopics::add_estimator_replay_topics()
// current EKF2 subscriptions
add_topic("airspeed");
add_topic("airspeed_validated");
add_topic("vehicle_optical_flow");
add_topic("sensor_combined");
add_topic("sensor_selection");

6
src/modules/replay/ReplayEkf2.cpp
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@ -39,6 +39,7 @@
// for ekf2 replay
#include <uORB/topics/airspeed.h>
#include <uORB/topics/airspeed_validated.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/landing_target_pose.h>
#include <uORB/topics/sensor_combined.h>
@ -91,6 +92,9 @@ ReplayEkf2::onSubscriptionAdded(Subscription &sub, uint16_t msg_id)
} else if (sub.orb_meta == ORB_ID(airspeed)) {
_airspeed_msg_id = msg_id;
} else if (sub.orb_meta == ORB_ID(airspeed_validated)) {
_airspeed_validated_msg_id = msg_id;
} else if (sub.orb_meta == ORB_ID(distance_sensor)) {
_distance_sensor_msg_id = msg_id;
@ -138,6 +142,7 @@ ReplayEkf2::publishEkf2Topics(const ekf2_timestamps_s &ekf2_timestamps, std::ifs
};
handle_sensor_publication(ekf2_timestamps.airspeed_timestamp_rel, _airspeed_msg_id);
handle_sensor_publication(ekf2_timestamps.airspeed_validated_timestamp_rel, _airspeed_validated_msg_id);
handle_sensor_publication(ekf2_timestamps.distance_sensor_timestamp_rel, _distance_sensor_msg_id);
handle_sensor_publication(ekf2_timestamps.optical_flow_timestamp_rel, _optical_flow_msg_id);
handle_sensor_publication(ekf2_timestamps.vehicle_air_data_timestamp_rel, _vehicle_air_data_msg_id);
@ -225,6 +230,7 @@ ReplayEkf2::onExitMainLoop()
PX4_INFO("Topic, Num Published, Num Error (no timestamp match found):");
print_sensor_statistics(_airspeed_msg_id, "airspeed");
print_sensor_statistics(_airspeed_validated_msg_id, "airspeed_validated");
print_sensor_statistics(_distance_sensor_msg_id, "distance_sensor");
print_sensor_statistics(_optical_flow_msg_id, "vehicle_optical_flow");
print_sensor_statistics(_sensor_combined_msg_id, "sensor_combined");

1
src/modules/replay/ReplayEkf2.hpp
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@ -82,6 +82,7 @@ private:
static constexpr uint16_t msg_id_invalid = 0xffff;
uint16_t _airspeed_msg_id = msg_id_invalid;
uint16_t _airspeed_validated_msg_id = msg_id_invalid;
uint16_t _distance_sensor_msg_id = msg_id_invalid;
uint16_t _optical_flow_msg_id = msg_id_invalid;
uint16_t _sensor_combined_msg_id = msg_id_invalid;