- new static notch filter configured via IMU_GYRO_NF1_FRQ and IMU_GYRO_NF1_BW
- existing notch parameters IMU_GYRO_NF_FREQ and IMU_GYRO_NF_BW become
IMU_GYRO_NF0_FRQ and IMU_GYRO_NF0_BW
- 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)
- introduces new parameter EKF2_PREDICT_US to configure the filter
update period in microseconds
- actual filter update period will be an integer multiple of IMU
- 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
- this simplifies the reset by allowing a notch filter to reset as
needed
- improves cascade initialization, on reset each filter will reset
properly from the previous
- 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
- non-trivial perf counters (elapsed & interval) are relatively expensive
- if ESC and FFT notch filtering are enabled this reduces 6 updates (2 per axis) to 1
- avoid unnecessary filter reset on parameter update
- additional minor optimizations (precomputing dt inverse, etc)
- moving filter reset check and dynamic notch filter update checks out of the update loops
- this were necessary previously when the scale factor wasn't applied prior to filtering the otherwise raw data
- fix confusion between estimated bias and calibration offset when
saving after each flight
- when the stable bias estiamte is retrieved during flight it's
immediately converted to a sensor offset and saved
- fixes https://github.com/PX4/PX4-Autopilot/issues/18658
* 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>
Daniel Agar