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17d55dddd62a4bb9a596392cff1f2cd238d2f517
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72 Commits
Author SHA1 Message Date
Sergei Grichine f000238987 SensorGps.msg: switch to double precision for lat/lon/alt 
To match https://github.com/PX4/PX4-GPSDrivers/pull/132 - adding high precision RTK lat/lon/alt components
 2023-07-13 07:50:09 +02:00
Daniel AgarandMathieu Bresciani dfdfbbfa9c msg/vehicle_odometry.msg: simplify covariance handling and update all usage (#19966) 
- replace float32[21] URT covariances with smaller dedicated position/velocity/orientation variances (the crossterms are unused, awkward, and relatively costly)
 - these are easier to casually inspect and more representative of what's actually being used currently and reduces the size of vehicle_odometry_s quite a bit
 - ekf2: add new helper to get roll/pitch/yaw covariances
 - mavlink: receiver ODOMETRY handle more frame types for both pose (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU) and velocity (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU, MAV_FRAME_BODY_FRD)
 - mavlink: delete unused ATT_POS_MOCAP stream (this is just a passthrough)

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
 2022-08-04 12:55:21 -04:00
Hamish Willee e6eed43648 Spelling errors (#19935) 2022-07-27 14:33:16 +10:00
Daniel Agarandalexklimaj d5839e2dd5 optical flow sensor pipeline overhaul 
- all sources of optical flow publish sensor_optical_flow
 - sensor_optical_flow is aggregated by the sensors module, aligned with integrated gyro, and published as vehicle_optical_flow

Co-authored-by: alexklimaj <alex@arkelectron.com>
 2022-06-20 20:56:56 -04:00
Thomas Debrunner 8db7a6225b geo: Moved the map_projection_* functions and state into a self-contained C++ class 2021-12-06 14:30:14 +01:00
Daniel Agar 263b00b65f ekf2 support SET_GPS_GLOBAL_ORIGIN and remove globallocalconverter usage 
- vehicle_command cmd extended from uint16 to support PX4 internal commands that don't map to mavlink
 2021-03-05 18:25:14 -05:00
Daniel Agar 05886e053f mavlink_log_info: always print to console and merge with mavlink_and_console_log_info 2020-05-12 08:53:51 +02:00
Mohammed Kabir 5ffe88672e vehicle_odometry: add timestamp_sample field for latency monitoring 2020-04-28 13:58:43 -04:00
kamilritz 61b569245b Reorder innovations in LPE 2019-12-05 11:29:29 +01:00
kamilritz b73c80428e ECL: Clean velPos logging, deprecate ekf2_innovations msg 2019-12-05 11:29:29 +01:00
Daniel Agar f271efaf62 local_position_estimator: move to WQ and delete unused SubscriptionPollable 2019-11-22 16:02:54 -05:00
Ilya Petrov c58cfce6be do not check VP fusion during GPS startup 
This is solution for https://github.com/PX4/Firmware/issues/11864
 2019-10-15 17:01:20 +01:00
Daniel Agar 2ad12d7977 sensors: create vehicle_angular_velocity module (#12596) 
* split out filtered sensor_gyro aggregation from mc_att_control and move to wq:rate_ctrl
 2019-08-06 12:55:25 -04:00
Oleg Kalachev 7ec6f0dca6 lpe: use minimum flow altitude from uORB instead of hardcoding 2019-05-05 02:57:58 -05:00
bresch f08c00f324 Parameter update - Rename variables in modules/fw_pos_control 
using parameter_update.py script
 2019-04-03 15:38:50 +02:00
Oleg Kalachev fbc8d01a7e Rename distance_sensor.covariance to variance 2019-02-22 18:31:27 +00:00
TSC21 cc73f214d1 add covariance matrices index aliases 2018-09-18 09:52:33 +02:00
TSC21 8325724079 general fixes on VIO data access 2018-09-18 09:52:33 +02:00
TSC21 88ffd047e0 lpe: mocap and vision: set common ref timestamp 2018-09-18 09:52:33 +02:00
TSC21 7629075cae lpe: sensors: mocap: fix global ref init logic 2018-09-18 09:52:33 +02:00
TSC21 efe312d4a6 style and format clean 2018-09-18 09:52:33 +02:00
TSC21 2cc193c173 lpe: mocap: fix enum constant in boolean context 2018-09-18 09:52:33 +02:00
TSC21 048ff56890 lpe: add vehicle_odometry and data validation handlers; improve inout interface 2018-09-18 09:52:33 +02:00
Daniel Agar cf74166801 double promotion warning fix or ignore per module 2018-07-01 09:36:55 +00:00
Daniel Agar 3b5b12e1d1 move baro and magnetometer data out of sensor_combined 2018-04-11 23:26:58 -04:00
stmoon 3ec37aa186 clarify the codes of LPE 2018-04-08 11:13:47 -04:00
Nicolas de Palezieux dd1d0adfef LPE : add support for precision landing measurement fusion 2018-01-15 10:27:23 +01:00
TSC21 ec1c37e1af modules: lpe: push sensor status update to object; prioritize lidar readings over sonar 2018-01-14 22:52:41 +01:00
Paul Riseborough b5be990109 lpe: fix incorrect setting of local_position.z_global 2017-12-07 08:20:16 +00:00
TSC21 483f0d55e0 lpe: style fix 2017-11-03 23:45:43 +01:00
TSC21 691c35f47e lpe: small fixes 2017-11-03 23:45:43 +01:00
TSC21 392999c2df lpe: fix innovation covariance publishing 2017-11-03 23:45:43 +01:00
TSC21 2a2d968b2c modules: lpe: fix double correction on lidar 2017-10-25 19:39:33 +01:00
ChristophTobler 9b5de23553 add ref_timestamp (time when origin was set) to lpe 2017-06-12 09:39:41 +05:30
Kabir Mohammed e63747ec2f lpe : changes to allow hybrid GPS-denied navigation 2017-02-15 21:48:33 +01:00
Kabir Mohammed 0f91378eeb lpe : use vision timestamps to compute measurement delay 2017-02-15 21:48:33 +01:00
Kabir Mohammed 85df00d2da lpe : use per-measurement variance for vision 2017-02-15 21:48:33 +01:00
Paul Riseborough 92f5211f55 local_position_estimator: Make optical flow data conversions consistent with uORB interface 2016-12-30 10:39:10 +01:00
James Goppert c28cd76e5f LPE fault relaxation and sitl fix (#6146) 
* Set LPE FUSE for standard iris sitl config.

* Relax fault detection handling.

* Always correct lidar.
 2016-12-23 15:08:37 -05:00
James Goppert 6ff85fb927 LPE land bug fix and switch to fusion bit mask. 2016-12-21 08:43:18 +01:00
James Goppert 068ef591ab Added fake landing xy velocity measurement to lpe. (#5820) 
Flight tested and is working.
 2016-11-09 19:40:25 -05:00
Roman 7c2ebd96a0 lpe: remove usage of euler angles from attitude topic 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-18 20:46:08 +02:00
Roman 3faaeb06d1 attitude setpoint topic: cleanup of matrix class usage 
Signed-off-by: Roman <bapstroman@gmail.com>
 2016-10-18 20:46:08 +02:00
Lorenz Meier 13833e5fd6 LPE: Use euler angles derived from quaternion 2016-10-18 20:46:08 +02:00
James Goppert e73218c112 Increase min agl for flow from 5 to 30 cm to prevent drift on ground. 2016-10-16 12:12:19 -04:00
James Goppert 9c82293bc4 Fix comment. 2016-10-14 07:00:13 -05:00
James Goppert 3ffff212e1 Added landed agl correction for lpe. 2016-10-14 07:00:13 -05:00
James Goppert cf658638f4 LPE flow improvements. 2016-10-12 23:05:53 -05:00
James Goppert cb5728297e LPE fix to enable visual odom. only navigation. (#5588) 2016-10-03 14:58:02 -04:00
James Goppert 7c2798269c Added vision delay compensation to LPE. (#5585) 2016-10-03 02:28:46 -04:00