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40,635 Commits 852 Branches 161 Tags
d5839e2dd52ca81e7d15051212f17b7eacce39be
Commit Graph
1043 Commits
Author SHA1 Message Date
Daniel Agarandalexklimaj d5839e2dd5 optical flow sensor pipeline overhaul 
- all sources of optical flow publish sensor_optical_flow
 - sensor_optical_flow is aggregated by the sensors module, aligned with integrated gyro, and published as vehicle_optical_flow

Co-authored-by: alexklimaj <alex@arkelectron.com>
 2022-06-20 20:56:56 -04:00
alexklimaj 4cc3e78558 Add mag bias estimator to CAN GPS units with IMUs 
- run `sensors` hub to process sensor_mag and publish vehicle_magnetometer
 - update uavcannode to use vehicle_magnetometer
 2022-06-19 15:46:36 -04:00
Daniel Agar c7cec4252c sensors: add CONFIG_SENSORS_VEHICLE_AIRSPEED for airspeed/differential pressure 
- disable CONFIG_SENSORS_VEHICLE_AIRSPEED on boards only used for multicopter
 2022-06-17 19:31:45 -04:00
Daniel Agar c46fa01195 sensors: add kconfig mechanism to optionally exclude sensor types 2022-06-17 19:31:45 -04:00
Daniel Agar ce70b6f4ac sensors/vehicle_angular_velocity: add IMU_GYRO_RATEMAX constraints 2022-06-07 15:45:47 -04:00
Daniel Agar 01f0992f49 sensors/vehicle_imu: don't bother checking IMU_GYRO_RATEMAX 2022-06-07 15:45:47 -04:00
Serhat Aksun bc220ddb82 sensors/vehicle_magnetometer: fix multi_mode check 
Signed-off-by: Serhat Aksun <serhat.aksun@maxwell-innovations.com>
 2022-05-23 10:09:41 -04:00
mcsauder 6b0788ff46 Standardize variable naming and formatting across vehicle attitude controller files. 2022-05-21 12:22:18 -04:00
mcsauder e8da98fd14 Add gyro clipping to mirror accel clipping monitoring instances. 2022-05-18 21:16:05 -04:00
Daniel Agar f390f52058 drivers/differential_pressure: remove lib/drivers/airspeed dependency and cleanup 
- split ms4525_airspeed into separate ms4515 and ms4525 drivers
 2022-04-26 08:39:19 -04:00
Daniel Agar d1d15a6f6d differential pressure remove filters from drivers and average in sensors/airspeed 2022-04-26 08:39:19 -04:00
Daniel Agar 258f558fea apply differential pressure calibration (SENS_DPRES_OFF) centrally 
- remove drv_airspeed.h and ioctls
 2022-04-26 08:39:19 -04:00
Daniel Agar b4158c1b48 sensors/vehicle_imu: Integrator use 1 microsecond for minimum DT 
- this is a more realistic minimum for the system
 2022-04-13 10:36:45 -04:00
Daniel Agar d2f1349d1a sensors/vehicle_imu: replace coning metric with actual integrator coning correction (averaged) 
- this saves a relatively expensive higih rate cross product and gives
better visibility into what's actually happening internally
 2022-04-13 10:36:45 -04:00
Daniel Agar bb2ea574aa ekf2: properly reset IMU biases on calibration change (non-multi-EKF) 
- this was working in the multi-EKF case using vehicle_imu, but missing
in sensor_combined
 2022-04-11 12:23:55 -04:00
Daniel Agar 0595efbd9b sensors/vehicle_magnetometer: publish sensors_status_mag and other minor updates to stay in sync with air data 2022-03-26 16:08:41 -04:00
Daniel Agar 0c31f63896 sensors: add baro calibration and cleanup 
- sensor_baro.msg use SI (pressure in Pascals)
 - update all barometer drivers to publish directly and remove PX4Barometer helper
 - introduce baro cal (offset) mainly as a mechanism to adjust
relative priority
 - commander: add simple baro cal that sets baro offsets to align with
GPS altitude (if available)
 - create new sensors_status.msg to generalize sensor reporting
 2022-03-26 16:08:41 -04:00
Daniel Agar 6135bb384b cleanup module callback registration failed errors 2022-03-23 20:44:50 -04:00
Daniel Agar f4c3084c26 init adjustments to ensure used topics are advertised early (primarily for logging) 
- multi-EKF create each instance as soon as IMU & mag are advertised (before device id populated)
 2022-03-23 16:51:16 -04:00
Daniel Agar 475bd42ab8 sensors: add 2nd static notch and migrate existing parameters 
- new static notch filter configured via IMU_GYRO_NF1_FRQ and IMU_GYRO_NF1_BW
 - existing notch parameters IMU_GYRO_NF_FREQ and IMU_GYRO_NF_BW become
IMU_GYRO_NF0_FRQ and IMU_GYRO_NF0_BW
 2022-03-19 14:38:04 -04:00
Daniel Agar 3d54d25867 sensor calibration delete temperature (CAL_ACCx_TEMP, CAL_GYROx_TEMP, CAL_MAGx_TEMP) 
- this was an experiment to casually monitor sensor offsets relative to temperature, but now that all calibration offsets can be adjusted post-flight the stored temperature can be misleading
 - deleting to save a little bit of flash (and storing the temperature wasn't useful)
 2022-03-12 11:38:49 -05:00
wangwwno1 aa64789792 sensors/vehicle_imu: Fix Integration Rate greater than Gyro Rate (#19318) 2022-03-12 11:29:23 -05:00
Jukka Laitinen 9449ed6e66 Add support for protected build in drivers, systemcmds and modules Kconfig 
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-02-18 07:58:58 +01:00
Daniel Agar 97a75fc388 sensors: skip selection and failover checks during parameter update cycles 2022-02-10 09:31:23 -05:00
Daniel Agar 86f81680fb sensors: check uORB::SubscriptionData validity before use 2022-02-08 13:19:01 -05:00
Daniel Agar f9d87fd97a sensors/vehicle_angular_velocity: improve error handling (especially during initial selection) 2022-02-07 12:47:02 -05:00
Daniel Agar 138ff7a316 sensors: ensure that best accel/gyro is in bounds 2022-02-02 17:14:46 -05:00
Daniel Agar 07c273fc31 sensors/vehicle_angular_velocity: print full sensor_selection if device id not found 2022-02-02 17:14:46 -05:00
Daniel Agar ae3070bbf1 ekf2: make filter update period configurable 
- introduces new parameter EKF2_PREDICT_US to configure the filter
update period in microseconds
 - actual filter update period will be an integer multiple of IMU
 2022-01-26 10:57:09 -05:00
Daniel Agar 5ded1aedcb sensors/vehicle_angular_velocity: add IMU_GYRO_DNF_HMC to configure number of ESC RPM notch filter harmonics 2022-01-24 09:23:03 -05:00
Daniel Agar 7cb8ed3a1f sensors/vehicle_gps_position: don't work with 64 time with 32 bit floats 2022-01-21 09:18:49 -05:00
Daniel Agar 36605bfff6 sensors: lower SENS_MAG_RATE default 
- reduce estimator 3D mag fusion cpu load (-3% on Pixhawk4)
 2022-01-19 08:51:57 -05:00
Daniel Agar dd6b7fa98f sensors: switch status PX4_INFO -> PX4_INFO_RAW 2022-01-18 15:00:18 -05:00
Daniel Agar b1d2a0cc4e sensors: simplify timestamp data validator handling 2022-01-18 14:57:18 -05:00
Daniel Agar 548b7d5ece sensors/vehicle_imu: on calibration change don't resume in flight calibration learning immediately 2022-01-18 11:22:41 -05:00
Daniel Agar bb1177d504 sensor_calibration: refactor and centralize calibration slot logic 
- 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
 2022-01-12 16:16:26 -05:00
Daniel Agar 2eec7842ae sensors/vehicle_imu: fix SENS_IMU_AUTOCAL saving logic 
- on cycles that don't check for updated calibraton (estimated bias) we
check if there's anything valid to save (when disarmed)
 2022-01-11 11:47:02 -05:00
Daniel Agar cc1fee525a lib/sensor_calibration: handle calibration slot change on parameter update 2022-01-10 17:16:50 -05:00
Daniel Agar ab547bb982 sensors/vehicle_angular_velocity: RPM notch don't fully disable if first harmonic frequency drops below minimum frequency 
- keep higher frequency harmonics enabled per ESC
 - cleanup timestamp handling (timeouts, etc)
 2022-01-10 14:51:29 -05:00
Daniel Agar b58922a5d7 sensors/vehicle_angular_velocity: notch filters automatically reset on sufficient parameter change 2022-01-10 14:51:29 -05:00
Daniel Agar 7d632254be NotchFilter push initialization/reset into filter 
- this simplifies the reset by allowing a notch filter to reset as
needed
 - improves cascade initialization, on reset each filter will reset
properly from the previous
 2022-01-10 14:51:29 -05:00
Daniel Agar d9e7315420 sensors: automatically set initial accel/gyro calibration if stable bias available 2022-01-10 10:46:37 -05:00
Daniel Agar e731fcdbc0 sensors (accel/gyro/mag) determine if external with device id 2022-01-10 10:31:07 -05:00
Daniel Agar 6c97700eaa move sensor calibration parameters to yaml 2022-01-07 19:00:41 -05:00
Daniel Agar c17a9e8003 sensors/vehicle_imu: refactor SensorCalibrationUpdate() to separate accel/gyro cal saving 2022-01-07 09:40:51 -05:00
Daniel Agar aec97e0020 sensors: minor IMU bias saving updates 
- 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
 2022-01-07 09:40:51 -05:00
Daniel Agar 30ccfdb2ed sensors/vehicle_magnetomeer: fix copyright year 2022-01-06 20:27:56 -05:00
Daniel Agar 170849c8f8 ekf2: expand accel bias stability criteria 2022-01-04 13:57:49 -05:00
Daniel Agar 47fcdb1fdb sensors/vehicle_angular_velocity: replace ESC/FFT elapsed perf counters with single cycle perf counter 
- non-trivial perf counters (elapsed & interval) are relatively expensive
 - if ESC and FFT notch filtering are enabled this reduces 6 updates (2 per axis) to 1
 2021-12-21 14:21:10 -05:00
Daniel Agar 2190f66096 sensors/vehicle_magnetometer: add SENS_MAG_AUTOCAL to enable initial auto cal 2021-12-01 20:24:56 -05:00