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ekf2: remove redundant IMU vibration metrics

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- consume IMU vibration metrics from vehicle_imu_status
This commit is contained in:
Daniel Agar
2021-08-08 06:26:03 -07:00
committed by Lorenz Meier
parent a397004bf8
commit fb4ac0f08c
4 changed files with 55 additions and 21 deletions
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src/modules/ekf2/EKF2.hpp
+9
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@@ -86,6 +86,7 @@
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_imu.h>
#include <uORB/topics/vehicle_imu_status.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_magnetometer.h>
@@ -128,6 +129,10 @@ public:
int instance() const { return _instance; }
private:
static constexpr uint8_t MAX_NUM_IMUS = 4;
static constexpr uint8_t MAX_NUM_MAGS = 4;
void Run() override;
void PublishAttitude(const hrt_abstime &timestamp);
@@ -149,6 +154,8 @@ private:
void PublishWindEstimate(const hrt_abstime &timestamp);
void PublishYawEstimatorStatus(const hrt_abstime &timestamp);
void SelectImuStatus();
void UpdateAirspeedSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateAuxVelSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateBaroSample(ekf2_timestamps_s &ekf2_timestamps);
@@ -157,6 +164,7 @@ private:
void UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateMagSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateRangeSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateImuStatus();
void UpdateMagCalibration(const hrt_abstime &timestamp);
@@ -236,6 +244,7 @@ private:
uORB::Subscription _status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
uORB::Subscription _vehicle_imu_status_sub{ORB_ID(vehicle_imu_status)};
uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
uORB::SubscriptionCallbackWorkItem _sensor_combined_sub{this, ORB_ID(sensor_combined)};