- rotates accel & gyro FIFO data before publication both to simplify downstream usage (including log review) and fix other issues
- to best handle int16_t data rotations are now either performed with swaps if possible, otherwise promoted to float, rotated using the full rotation matrix, then rounded back to int16_t
- fix sensors/vehicle_angular_velocity filter reset both with proper rotation and new calibration uncorrect helper
- in FIFO case filtering is done before calibration is applied, but we need to handle a possible reset from a completely different sensor (vehicle body angular velocity -> sensor frame uncorrected data)
PX4 uses banks of 8 outputs as a logical structure. Boards that have
more outputs than 8 get multiple instances. This is an arbitrary choice
that helps with overall structure and enables the mixing of different
device classes (like FMU, IO or UAVCAN).
Send battery status (ghst_telemetry). Apply factors to show correct values of volts, amps and mAh. Change ghost protocol code to follow more MISRA C++ guidelines.
* msg: Add estinator information and warning events message (estimator_event_flags)
* ekf2: publish information and warning events
* logger: log estimator_event_flags
* update ecl submodule to latest
Co-authored-by: Daniel Agar <daniel@agar.ca>
- publish wind estimate only from EKF, and wind speeds from airspeed selector to new separate topic (airspeed_wind)
- rename message wind_estimate to wind
- publish wind from currently used ekf instance (ekf2selector)
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
batt_smbus for BQ40Z80 transfers up to 34 bytes (32 byte block + 2 byte
address), but this was overflowing and failing the PEC check.
So increase the buffer size
Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com>
- ecl in PX4/Firmware (a5a1d4caa0d04cb79ba29e98ba0af04e20c53de9): d4258cc66d
- ecl current upstream: 310f415175
- Changes: d4258cc66d...310f415175
310f415 2021-02-16 Daniel Agar - EKF add const state reset status access
0c5291d 2021-02-16 isidroas - Heading reset to magnetometer from GPS or EV (#969)
90% of all real-world vehicle configs default to this and it is something that users stumble over if they configure a new system. There are valid cases where this would not be desired - for these it can be still switched off.
- store parameter type and if volatile separately (saves kilobytes of flash)
- use Bitset for tracking active and changed parameters
- use atomic for autosave_enabled flag
- compile at ${MAX_CUSTOM_OPT_LEVEL} (-O2 on non flash constrained boards)
- ecl in PX4/Firmware (2292cf3ed4f8c4391131870936881331bc870260): 602e65146c
- ecl current upstream: ffab483504
- Changes: 602e65146c...ffab483504
ffab483 2021-02-11 Loic Dubois - Waiting for the filter to be initialized to set global origin
