- Enable arbitrary euler angle for Mag rotation
- new CUSTOM rotation enum out of the normal enum range
- mag_rot: automatically change to custom if euler rot is set
- sensor_calibration: Magnetometer save custom rotation parameters
- mag_cal: cross mention rotation parameters
- This allows the user to see the RPY options when searching for the rotation parameter
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Co-authored-by: Junwoo Hwang <junwoo@auterion.com>
Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
Co-authored-by: Daniel Agar <daniel@agar.ca>
Fix a memory overflow in case SENS_BOARD_ROT is set to Rotation::ROTATION_MAX (41) which is not a valid value
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
- since last_us is set to 0 every time the bias is not observable, the
total time was also reset -> needed 30 consecutive seconds in mag 3D
to be declared "stable"
- after landing, the mag_aligned_in_flight flag is reset. Using this for
bias validity makes it invalid before we have a chance to save it to
the calibration.
- the thermal offsets are an optional correction applied to the raw data, so when updating an existing calibration offset with new learned bias we don't want this incorporated
- sensor_baro.msg use SI (pressure in Pascals)
- update all barometer drivers to publish directly and remove PX4Barometer helper
- introduce baro cal (offset) mainly as a mechanism to adjust
relative priority
- commander: add simple baro cal that sets baro offsets to align with
GPS altitude (if available)
- create new sensors_status.msg to generalize sensor reporting
Implement an interface for protected build to access parameters.
The implementation only does IOCTL calls to the kernel, where the parameters
live.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
- this was an experiment to casually monitor sensor offsets relative to temperature, but now that all calibration offsets can be adjusted post-flight the stored temperature can be misleading
- deleting to save a little bit of flash (and storing the temperature wasn't useful)
- centralize logic for selecting a preferred calibration slot
- automatically use existing calibration slot if it exists, otherwise
find first available slot, with a preference for a requested index
- existing commander calibration methods rewrite all calibration slots
to match current sensor ordering
- sensors/vehicle_imu: reset learned cal on any calibration change
during parameter update
- sensors/vehicle_imu: cleanup logic estimated bias -> calibration offset
saving
- don't invalidate saved calibration (the point is to keep the last valid)
- remove old debug code, etc
- sensors/vehicle_imu: notify parameter changes if accel or gyro
calibration has changed
- lib/sensor_calibration: add calibrated() and calibration_index()
getters, keep Accelerometer/Gyroscope/Magnetometer in sync
* ekf2: make publishing of learned accel biases more robust
* ekf2: reset accel bias if calibration updated
* msg: add separate accel and gyro calibration counters
* ekf2: use separate accel and gyro calibration counters
* ekf2: rework logic to reset biases when calibration counters increment
* sensors: add saving of learned accel biases
* ekf2: generalized saving accel/gyro/mag in flight sensor calibration
* boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash
Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
- rotates accel & gyro FIFO data before publication both to simplify downstream usage (including log review) and fix other issues
- to best handle int16_t data rotations are now either performed with swaps if possible, otherwise promoted to float, rotated using the full rotation matrix, then rounded back to int16_t
- fix sensors/vehicle_angular_velocity filter reset both with proper rotation and new calibration uncorrect helper
- in FIFO case filtering is done before calibration is applied, but we need to handle a possible reset from a completely different sensor (vehicle body angular velocity -> sensor frame uncorrected data)
- handle saving the mag bias per sensor (across all estimator instances using that mag) in sensors/vehicle_magnetometer
- this is now saving back to the actual mag calibration CAL_MAGn_OFF{X,Y,Z}
- ekf2 reset mag mag bias on any magnetometer or calibration change
- use Kalman filter scheme to update stored mag bias parameters using all available bias estimates for that sensor
Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
- vehicle_imu/vehicle_magnetometer add monotonically increasing `calibration_count` field so that downstream subscribers are aware of calibration changes
- this allows the default priority to be set differently for internal/external sensors
- accel and gyro initialize default priority like mag in preparation for fully supporting external sensors
- fixes#15652
