Daniel Agar
5f0a539633
gps_blending: fix blending init to best instance
...
- output GPS publication defaults to best input instance
- blended states are explicitly cleared and then populated with
weighted blend
2022-10-05 10:26:48 -04:00
alexklimaj
768565ed6f
Enable GPS Blending by default
2022-07-14 10:20:59 -04:00
Daniel Agar
15223009d2
combine sensor_gps + vehicle_gps_position msgs (keeping separate topics)
2022-07-07 10:24:11 -04:00
Daniel Agar
f4c3084c26
init adjustments to ensure used topics are advertised early (primarily for logging)
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- 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
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
dd6b7fa98f
sensors: switch status PX4_INFO -> PX4_INFO_RAW
2022-01-18 15:00:18 -05:00
Daniel Agar
2cf66a5d8f
ekf2: move EKF out of ecl
2021-07-15 10:38:24 -04:00
Daniel Agar
883624d915
lib/geo: move from ecl
2021-07-15 10:38:24 -04:00
Jukka Laitinen
fa9fdce6e6
sensors/vehicle_gps_position: Fix raw_dt and present_dt calculation in gps_blending
...
If the GPS data is passed from companion computer, there may be inaccuracies
with timesync. This may cause time deltas to overflow.
Make the time delta calculation using floats directly, wich results in negative
numbers in case there are such inaccuracies.
Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae >
2021-05-02 13:59:50 -04:00
bazooka joe
8834741be8
gps blending make test to work without templated gps_blending class
2021-02-06 12:59:04 +01:00
bazooka joe
8087fac3fc
gps_blending add protection against accessing non-exist array item
2021-02-06 12:59:04 +01:00
bazooka joe
a0d500b30a
changing gps_blending to be non-template class
...
because there is no multiple instance types on singular machine
2021-02-06 12:59:04 +01:00
bresch
cdd6df4e27
VehicleGPSPosition: remove unused "using"
2021-01-30 11:32:47 +01:00
bresch
6abbbdeb4b
gps blend: add parameter to select the primary instance
2021-01-30 11:32:47 +01:00
bresch
889602ed5e
gps blend: always pass through GpsBlending class for selection
2021-01-30 11:32:47 +01:00
bresch
b4051b62a3
gps blend: add failover logic and unit test
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also remove dependency to hrt library
2021-01-30 11:32:47 +01:00
bresch
9bff7a1c41
gps blend: add selector unit tests
2021-01-30 11:32:47 +01:00
bresch
1dbf4957df
vehicle gps pos: remove useless gps_updated array
2021-01-30 11:32:47 +01:00
bresch
b60bfb920c
gps blend: add initial working test
2021-01-30 11:32:47 +01:00
bresch
1cde5074ea
gps blend: move definition to header file
2021-01-30 11:32:47 +01:00
bresch
1333664a14
gps blend: move blending logic to class
2021-01-30 11:32:47 +01:00
Claudio Micheli
c2a68debd9
add jamming_state to gps sensor module
...
Signed-off-by: Claudio Micheli <claudio@auterion.com >
2021-01-30 11:26:42 +01:00
Daniel Agar
a0d8d5ac74
sensors/vehicle_gps_position: untangle and remove unnecessary state
2021-01-13 20:17:49 -05:00
Daniel Agar
967d35a6b6
rate limit most parameter_update subscriptions
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- parameter updates can be quite expensive because they trigger nearly all modules to reload all of their parameters immediately
- limit modules from updating faster than once per second
2021-01-10 21:09:15 -05:00
Daniel Agar
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
a24488328f
Move GPS blending from ekf2 to sensors module
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- new sensors work item that subscribes to N x sensor_gps and publishes vehicle_gps_position
- blending is now configurable with SENS_GPS_MASK and SENS_GPS_TAU
Co-authored-by: Jacob Crabill <jacob@volans-i.com >
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com >
2020-09-25 23:28:31 -04:00
Daniel Agar