- 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>
- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
- limit modules from updating faster than once per second
- the purpose is to ensure that every WorkItem (and WorkItems scheduled
by WorkItems) is allowed to run to completion every step
- per workqueue register a lockstep component whenever a work item is
added (if not already registered)
- once the work queue is empty unregister component
- avoids the need for ekf2_timestamp publications by q and lpe
- adds logger to the lockstep cycle and makes it poll on ekf2_timestamps
or vehicle_attitude. This avoids dropped samples (required for replay).
This fixes SITL with lockstep when using LPE and q estimator.
The required changes are:
- Publish ekf2_timestamps because simulator_mavlink expects them.
- Run LPE at 250 Hz instead of 80 Hz in order to keep everything in
lockstep running at 250 Hz.
Fixes these invalid format strings:
- A `%d` for a pointer (replaced it by `%p`)
- A 0x%08x (and a 0x%0x8!) for a pointer (replaced by %p)
- 2 cases of `%d` for a `ssize_t` (replaced it by `%zi`)
- 1 case of a %u for an `int` (replaced by %i)
- 3 cases of %d for a `long` (replaced by %ld)
- 19 cases of `%d`, `%i`, `%u` or `%lu` for a `size_t` (replaced it by `%zu`)
- An unused formatting argument (removed it)
- A missing `%d` (added it)
- A missing `%s` (added it)
- 2 cases of `%llu` for a `uint64_t` (replaced it by `"%" PRIu64`)
- 6 cases of giving a string directly as format string (replaced it by `("%s", string)`)
- 2 cases of %*-s, which should probably have been %-*s.
(Looks like NuttX accepts (the invalid) %*-s, but other platforms don't.)
- A %04x for a `uint32_t` (replaced by "%04" PRIx32)
Matthias Grob