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ekf2 handle accelerometer clipping

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- track clipping per IMU axis and pass through to ecl/EKF
 - update ecl/EKF to include delta velocity clipping changes (PX4/ecl#663)
This commit is contained in:
Daniel Agar
2020-04-07 20:11:08 -04:00
committed by GitHub
parent 74aa3201ce
commit cf37be8c44
12 changed files with 101 additions and 36 deletions
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msg/sensor_accel_integrated.msg
+2 -1
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@@ -8,4 +8,5 @@ uint64 error_count
float32[3] delta_velocity # delta velocity in the NED board axis in m/s over the integration time frame (dt)
uint16 dt # integration time (microseconds)
uint8 samples # number of samples integrated
uint8 clip_count # total clip count per integration period on any axis
uint8[3] clip_counter # clip count per axis over the integration period
msg/sensor_combined.msg
+5
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@@ -13,3 +13,8 @@ uint32 gyro_integral_dt # gyro measurement sampling period in us
int32 accelerometer_timestamp_relative # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
float32[3] accelerometer_m_s2 # average value acceleration measured in the XYZ body frame in m/s/s over the last accelerometer sampling period
uint32 accelerometer_integral_dt # accelerometer measurement sampling period in us
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_gyro_integrated.msg
+2 -1
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@@ -8,4 +8,5 @@ uint64 error_count
float32[3] delta_angle # delta angle in the NED board axis in rad/s over the integration time frame (dt)
uint16 dt # integration time (microseconds)
uint8 samples # number of samples integrated
uint8 clip_count # total clip count per integration period on any axis
uint8[3] clip_counter # clip count per axis over the integration period
msg/vehicle_imu.msg
+4 -2
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@@ -11,5 +11,7 @@ float32[3] delta_velocity # delta velocity in the NED board axis in m/s ov
uint16 dt # integration period in us
uint8 integrated_samples # number of samples integrated
uint8 clip_count # total clip count per integration period on any axis
uint8 CLIPPING_X = 1
uint8 CLIPPING_Y = 2
uint8 CLIPPING_Z = 4
uint8 delta_velocity_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame