- ecl in PX4/Firmware (dcfe226638): https://github.com/PX4/ecl/commit/f005e0ea8f33d10dd014a0700e712426540bb58a
- ecl current upstream: https://github.com/PX4/ecl/commit/9b4b24ee71902c6a4289170e8fb1ca3306c1d9c4
- Changes: https://github.com/PX4/ecl/compare/f005e0ea8f33d10dd014a0700e712426540bb58a...9b4b24ee71902c6a4289170e8fb1ca3306c1d9c49b4b24e 2019-10-17 RomanBapst - removed unused definition
0e3a0b8 2019-10-15 RomanBapst - range_finder_checks: parametrised signal quality hysteresis duration
16d1e15 2019-10-15 RomanBapst - addressed review comments
6bc6f26 2019-10-14 RomanBapst - range_finder_checks: set range height to valid if signal quality is non-zero
6299d81 2019-10-14 RomanBapst - ekf_helper: use latest validated range sample to reset height
00f49e6 2019-10-14 RomanBapst - cleanup checks of range finder data
4d37065 2019-08-22 Paul Riseborough - EKF: Make use of inverse rotation function consistent with name
36de2b3 2019-08-22 Paul Riseborough - EKF: Use matrix library for quaternion to rotation matrix conversion
1a4ab06 2019-10-22 bresch - rate controller: add override specifiers whenever needed
29f71ff 2019-10-21 bresch - ekf: Add override specifier for all functions that override virtual functions of the estimator interface class
50167bf 2019-10-16 bresch - estimator interface: add deprecated functions for backward compatibility
b38458c 2019-10-10 bresch - Terrain estimator: formatting and remove redundant comments
0aef0ed 2019-10-10 bresch - terrain_estimator: remove dead code. Since the terrain estimator is constantly reset on ground, it is not necessary anymore to fuse fake measurements on ground if the range measurements are bad.
370e04e 2019-10-03 bresch - terrain_est: Continuously reset terrain height on ground using known clearance. This is the best estimate as we should not rely on a distance sensor while on the ground. This also helps when the drone is carried over as it avoids starting with a crazy downward distance for optical flow scaling.
e09e3e1 2019-10-14 bresch - control: rename _range_aid_enabled to _is_range_aid_suitable rename rangeAidConditionsMet to checkRangeAidSuitability
fac69d0 2019-10-14 bresch - control: refactor rangeAidConditionsMet function
eae6e8f 2019-08-06 Paul Riseborough - EKF: Fix on ground yaw drift when using EKF2_MAG_TYPE = 4
4e946d5 2019-09-04 RomanBapst - implemented synthesized magnetometer Z measurement - calculate a theoretical value based on the knowledge of the direction and strength of the magnetic field vector and X/Y sensor measurements - needs knowledge about location on earth to work
The constrainAbs function was not prioritizing the minimum value
that produces the autocontinue behaviour. This caused zig-zag
paths when the waypoints were almost -but not exactly- aligned.
dt could drive the alpha filter crazy because of the small dt
approximation during the computation of the coefficient.
- Remove unused bitmask packing of the innovation checks
* Enable velocity control for rover
* Address comments
* Use pid for speed control
* Calculate steering commands correctly
* Use local velocity estimates to avoid global position dependency
And fix some IO bugs:
- PX4IO_P_STATUS_FLAGS_RAW_PWM was never cleared. This meant that after a
'pwm test' command, normal mixing was not possible anymore.
Fixed by remembering when we are in test mode and not sending
PX4IO_PAGE_CONTROLS during that time. PX4IO_P_STATUS_FLAGS_RAW_PWM is
cleared when PX4IO_PAGE_CONTROLS are received.
- when entering test mode w/o specifying all channels, the other channels
were not set at all, which means they could still be set to values from
a previous test call.
This is fixed by setting all channels to disarmed when entering/leaving
test mode.
* ekf2: Add FirstOrderLpf and InnovationLpf classes for innovation lowpass filtering
* ekf2: use InnovLpf filter class in preflight checks
* ekf2: move selection of yaw test limit for pre-flight check in function
* ekf2: Move pre-flight checks into separate function
* ekf2: use static constexpr insetead of inline for sq (square) function
* ekf2: Split pre-flight checks in separate functions
Also use the same check for all the innovations:
innov_lpf < test and innov < 2xtest
* ekf2: Add optical flow pre-flight check
* ekf2: Combine FirstOrderLpf and InnovationLpf in single class
* ekf2: check vel_pos_innov when ev_pos is active as well
* ekf2: transform InnovationLpf into a header only library and pass the
spike limit during the update call to avoid storing it here
* ekf2: Static and const cleanup
- set spike_lim constants as static constexpr, set innovation
- set checker helper functions as static
- rename the mix of heading and yaw as heading to avoid confusion
* ekf2: use ternary operator in selectHeadingTestLimit instead of if-else
* ekf2: store intermediate redults in const bool flags. Those will be used for logging
* ekf2: set variable const whenever possible
* ekf2: create PreFlightChecker class that handle all the innovation
pre-flight checks.
Add simple unit testing
Use bitmask instead of general flag to have more granularity
* PreFlightChecker: use setter for the innovations to check instead of sending booleans in the update function
This makes it more scalable as more checks will be added
* ekf: Use booleans instead of bitmask for ekf preflt checks
Rename "down" to "vert"
Some of these perf counters were useful during initial development, but realistically aren't needed anymore, some are redundant when we can now see the average interval from `work_queue status` and some of them simply aren't worth the cost at higher rates.
Silvan Fuhrer