- split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated)
- publish sensor_gyro at full rate and remove sensor_gyro_control
- limit sensor status publications to 10 Hz
- remove unused accel/gyro raw ADC fields
- add device IDs to sensor_bias and sensor_correction
- vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections
and remove the px4_ prefix, except for px4_config.h.
command to update includes:
for k in app.h atomic.h cli.h console_buffer.h defines.h getopt.h i2c.h init.h log.h micro_hal.h module.h module_params.h param.h param_macros.h posix.h sem.h sem.hpp shmem.h shutdown.h tasks.h time.h workqueue.h; do for i in $(grep -rl 'include <px4_'$k src platforms boards); do sed -i 's/#include <px4_'$k'/#include <px4_platform_common\/'$k/ $i; done; done
for in $(grep -rl 'include <px4_config.h' src platforms boards); do sed -i 's/#include <px4_config.h/#include <px4_platform_common\/px4_config.h'/ $i; done
Transitional headers for submodules are added (px4_{defines,log,time}.h)
* 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.
* ekf2: update to latest ecl version
Includes compatibility changes for renamed variables.
* ekf2: Add write of odometry velocity data
Co-Authored-By: kritz <kritz@ethz.ch>
* ekf2: Modify parameters to enable control of vision velocity fusion
* ekf2: Update to latest ecl with timestamp messages
* ekf2: Move handling of invalid range finder data inside ecl library
The ecl library EKF is able to use vehicle motion and in-air status to better determine when the default on-ground range finder reading can be used.
The description for the EKF2_MIN_RNG parameter has been updated to make its use clearer.
This new airspeed module does:
-runns an airspeed validator for every airspeed sensor present, which checks measurement validity and estimates an airspeed scale
-selects another airspeed sensor if for the current one a failure is detected
-estimates airspeed with groundspeed-windspeed if no valid airspeed sensor is present
-outputs airspeed_validated topic
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
- when either terrain data was temporarily not valid (flying at high
distance to the ground) or the vehicle was not close to the ground
(_param_ekf2_gnd_max_hgt) the ekf switched to using the land detector
ground effect flag.
Signed-off-by: Roman <bapstroman@gmail.com>
