- 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
- 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>
- this avoids any jitter in the integration timespan from impacting the vibration metrics
- vehicle_imu_status vibration metrics are not consumed by anything
(yet), so changing the scaling of the metric shouldn't matter
- IMU integrator set max dt based on final return size (uint16)
- improve integration consuming gyro as needed then integrate all available accel until caught up
- increase required number of samples for sensor rate measurement (online Welford mean)
- use WelfordMean library to determine sensor sample rate average
- if gyro samples exceeds queue depth, instead round to nearest even integer to ease scheduling
- force update if publication latency is falling behind
- remove redundant sample interval perf counters
- status print accel & gyro interval standard deviation
- no warning if accel is disabled
- threshold increased 100 -> 1000 (only warn if severe ongoing clipping)
- more generic warning message (vehicle isn't necessarily in air flying)
- 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
- vehicle_imu/vehicle_magnetometer add monotonically increasing `calibration_count` field so that downstream subscribers are aware of calibration changes
- this lowers the load immediately at boot while still allowing each VehicleIMU instance to properly measure the actual accel/gyro data rates
- for lockstep builds this is ignored and VehicleIMU initially runs with every new sensor_accel/sensor_gyro publication
- schedule on interval multiple of sensor_gyro publications without increasing the configured integration rate
- IMU_INTEG_RATE add enums to guide appropriate selection
- add average calculation bounds to prevent incorrect calculation and force monitoring again if there are consecutive gaps in data
- remove all remaining IOCTLs for accel and gyro and handle all calibration entirely in sensors module with parameters
- sensor_accel and sensor_gyro are now always raw sensor data
- calibration procedures no longer need to first clear existing values before starting
- temperature calibration (TC) remove all scale (SCL) parameters
- gyro and baro scale are completely unused
- regular accel calibration scale can be used (CAL_ACC*_xSCALE) instead of TC scale
- IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu
- sensors: voted_sensors_update now consumes vehicle_imu
- delete sensor_accel_integrated, sensor_gyro_integrated
- merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status
- sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
Daniel Agar