0db706011a
ekf2: move FlowSample update to UpdateFlowSample()
2020-11-11 20:17:52 -05:00
8ee197acad
ekf2: move vehicle_odometry_aligned publication to PublishOdometryAligned()
2020-11-11 20:17:52 -05:00
b29f3c7ce5
ekf2: move ExtVisionSample update to UpdateExtVisionSample()
2020-11-11 20:17:52 -05:00
0f56793116
ekf2: move BaroSample update to UpdateBaroSample()
2020-11-11 20:17:52 -05:00
6b30f01daf
ekf2: move AuxVelSample update to UpdateAuxVelSample()
2020-11-11 20:17:52 -05:00
651e292d42
ekf2: move AirspeedSample update to UpdateAirspeedSample()
2020-11-11 20:17:52 -05:00
f4f3ba47a2
ekf2: move mag calibration to UpdateMagCalibration()
2020-11-11 20:17:52 -05:00
96178a6fb0
ekf2: publish yaw estimator status last
2020-11-11 20:17:52 -05:00
05de61ff15
ekf2: move estimator innovations publication to method
2020-11-11 20:17:52 -05:00
387186c11d
ekf2: move estimator innovation test ratios publication to method
2020-11-11 20:17:52 -05:00
3b9965ff8d
ekf2: move estimator innovation variances publication to method
2020-11-11 20:17:52 -05:00
94415a45fa
ekf2: move estimator status publication to method
2020-11-11 20:17:52 -05:00
03388f4656
ekf2: move estimator states publication to method
2020-11-11 20:17:52 -05:00
98334d1325
ekf2: move local position publication to method
2020-11-11 20:17:52 -05:00
c09a5e0d9f
ekf2: move global position publication to method
2020-11-11 20:17:52 -05:00
8616345346
ekf2: move estimator_sensor_bias publication to method
...
- only publish if there's a change in bias
- publish current estimated mag bias, including saved mag bias
2020-11-11 20:17:52 -05:00
e397cbf8bb
ekf2: move ekf_gps_drift publication to method
2020-11-11 20:17:52 -05:00
0d657c74bf
ekf2: rename publish helpers mixed case (google style guide)
2020-11-11 20:17:52 -05:00
5dd14dfd54
FW Position Control: re-add wrongly removed airspeed_poll()
...
Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-11-11 19:20:03 -05:00
ff801fbc08
FlightTasks: remove FlightTaskManualPositionSmooth
...
alias first smooth position control version from 2017.
RIP it served well.
2020-11-11 21:16:18 +01:00
e6338d8a2f
MulticopterPositionControl: default cases with unsupported POS_MODE
2020-11-11 21:16:18 +01:00
0b8f092d2b
Add acceleration stick mapping for position mode
2020-11-11 21:16:18 +01:00
7ba73b46ca
uORB: tests decrease stack
...
- save a bit of memory for running on older boards
2020-11-10 23:44:02 -05:00
8b96ff57d7
arm auth: split COM_ARM_AUTH in 3 parameters
...
new params are:
- COM_ARM_AUTH_ID
- COM_ARM_AUTH_MET
- COM_ARM_AUTH_TO
2020-11-10 09:03:59 +01:00
6579544fca
arm_auth: use ack reception timestamp to compute authorization timeout
2020-11-10 09:03:59 +01:00
e89c21155a
arm_auth: check authorization timestamp to skip old commands
2020-11-10 09:03:59 +01:00
142452f80c
replay: print parameter changes and error on mismatch
2020-11-04 11:47:01 -05:00
99833eb001
FW Position Control: remove duplicated position_sp_triplet update
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-11-03 15:47:57 +01:00
ba5ef28f23
uORB_tests: add uORB::SubscriptionMultiArray tests
2020-11-03 09:10:54 -05:00
67a0e1993a
FW Position controller: add option to swap throttle and pitch stick
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Signed-off-by: Silvan Fuhrer <silvan@auterion.com >
2020-11-02 22:49:05 +01:00
817285ec64
commander: gyro calibration use MedianFilter
2020-11-02 12:58:46 -05:00
4578b8cdcc
Update submodule ecl to latest Mon Nov 2 09:57:32 EST 2020
...
- ecl in PX4/Firmware (f87b19f31b9918f73d336d10e68d39c659037582): https://github/commit/48a8992caf7a95e09a5e17235133894c072b96bd
- ecl current upstream: https://github/commit/a21092804a784d012939f96cc633e7da5f5e8cde
- Changes: https://github/compare/48a8992caf7a95e09a5e17235133894c072b96bd...a21092804a784d012939f96cc633e7da5f5e8cde
a210928
2020-11-02 12:44:14 -05:00
d83da4ded4
fix SubscriptionMultiArray: end() iterator needs to point past the end
...
And ensure not to dereference.
2020-11-02 09:00:04 +01:00
a1ef4d1469
ekf2: only advertise immediately in multi-EKF mode
2020-11-01 15:48:35 -05:00
ecb462f325
ekf2: EKF2.cpp using matrix Eulerf, Quatf, Vector3f
2020-10-29 10:22:57 -04:00
d1af095c0b
ekf2: don't store vehicle_status_s
2020-10-29 10:22:57 -04:00
d27573b797
ekf2: don't store vehicle_land_detected_s
2020-10-29 10:22:57 -04:00
7757aeda94
ekf2: don't store sensor_selection_s copy
2020-10-29 10:22:57 -04:00
db5235b074
ekf2: avoid storing message copies
2020-10-29 10:22:57 -04:00
3f9f2c6fdf
ekf2: multi ekf supports up to 4 IMUs
2020-10-28 20:50:58 -04:00
2c874f1cd9
ekf2 selector fix SITL lockstep
...
- ekf2 selector don't register lockstep until first attitude publication
- sensors module register lockstep component
- enable multi-EKF2 in SITL
2020-10-28 09:42:41 -04:00
82988b1912
airframes: added BlueROV2 (heavy configuration) airframe ( #16004 )
2020-10-28 11:07:31 +01:00
69986affbf
commander: calibration restore sleep after CAL_QGC_DONE_MSG/CAL_QGC_FAILED_MSG
2020-10-27 18:54:16 -04:00
171bd6d784
positionControl: add check on sign before sqrtf
2020-10-27 18:52:23 -04:00
05f1efd1a4
load_mon: get mem_usage by reading /proc/meminfo on Linux
2020-10-27 18:49:25 -04:00
91da194bd7
sensors/vehicle_gps_position: only register callbacks once topic published
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- this avoids creating unnecessary uORB device nodes for GPS instances that might never exist
2020-10-27 18:40:57 -04:00
df2f26ebdf
rename vehicle_visual_odometry_aligned -> estimator_visual_odometry_aligned
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- saves a small amount of work for the ekf2 selector in multi-EKF mode (visual_odometry_aligned now ignored)
- helps to distinguish the origin/purpose from vehicle_odometry and vehicle_visual_odometry
2020-10-27 12:33:39 -04:00
050c9dcd3d
HTE: fix variance prediction ( #16016 )
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In the predition step, the process variance was erroneously
multiplied by dt instead of dt^2. The default values are adjusted
accordingly to keep the same tuning for the default loop rate of 50Hz
2020-10-27 16:56:32 +01:00
0f411d6820
Multi-EKF support (ekf2)
...
- ekf2 can now run in multi-instance mode (currently up to 9 instances)
- in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
- new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
- sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
- existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
- ekf2 single instance mode is still fully supported and the default
Co-authored-by: Paul Riseborough <gncsolns@gmail.com >
2020-10-27 10:56:11 -04:00
d5245a22d3
logger: limit default estimator_optical_flow_vel logging
2020-10-26 14:10:25 -04:00
Daniel Agar