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ekf2/commander: simplify navigation filter preflight checks

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- remove commander test ratio "tuning knobs" (COM_ARM_EKF_{HGT,POS,VEL,YAW})
   - these are effectively redundant with the actual tuning (noise & gate)
     in the estimator, plus most users have no idea why they'd be
     adjusting these other than to silence an annoying preflight complaint
 - remove ekf2 "PreFlightChecker" with hard coded innovation limits
 - ekf2 preflight innovation flags are now simply if any active source
   exceeds half the limit preflight
This commit is contained in:
Daniel Agar
2024-07-18 16:39:18 +02:00
committed by Mathieu Bresciani
parent a42dc2165c
commit eac14b7db2
15 changed files with 104 additions and 806 deletions
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msg/EstimatorStatus.msg
+2 -1
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@@ -102,9 +102,10 @@ uint8 reset_count_quat # number of quaternion reset events (allow to wrap if c
float32 time_slip # cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time
bool pre_flt_fail_innov_heading
bool pre_flt_fail_innov_height
bool pre_flt_fail_innov_pos_horiz
bool pre_flt_fail_innov_vel_horiz
bool pre_flt_fail_innov_vel_vert
bool pre_flt_fail_innov_height
bool pre_flt_fail_mag_field_disturbed
uint32 accel_device_id