mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-30 03:40:05 +08:00
Compare commits
1 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
 Daniel Agar
|
293e459b9e |
+2
-2
@@ -24,8 +24,8 @@
|
||||
branch = master
|
||||
[submodule "platforms/nuttx/NuttX/nuttx"]
|
||||
path = platforms/nuttx/NuttX/nuttx
|
||||
url = https://github.com/JacobCrabill/incubator-nuttx.git
|
||||
branch = dev-h7-socketcan
|
||||
url = https://github.com/PX4/NuttX.git
|
||||
branch = px4_firmware_nuttx-10.1.0+
|
||||
[submodule "platforms/nuttx/NuttX/apps"]
|
||||
path = platforms/nuttx/NuttX/apps
|
||||
url = https://github.com/PX4/NuttX-apps.git
|
||||
|
||||
@@ -1,245 +0,0 @@
|
||||
#
|
||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||
#
|
||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||
# CONFIG_MMCSD_SPI is not set
|
||||
# CONFIG_NET_CAN_CANFD is not set
|
||||
# CONFIG_NET_ETHERNET is not set
|
||||
# CONFIG_NET_IPv4 is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_DF is not set
|
||||
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||
# CONFIG_NSH_DISABLE_EXIT is not set
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_REBOOT is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_SHUTDOWN is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorange/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32h7"
|
||||
CONFIG_ARCH_CHIP_STM32H743ZI=y
|
||||
CONFIG_ARCH_CHIP_STM32H7=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=512
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_BASEPRI_WAR=y
|
||||
CONFIG_ARMV7M_DCACHE=y
|
||||
CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=79954
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CANUTILS_CANDUMP=y
|
||||
CONFIG_CANUTILS_CANSEND=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x1016
|
||||
CONFIG_CDCACM_PRODUCTSTR="CubeOrange"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x2DAE
|
||||
CONFIG_CDCACM_VENDORSTR="CubePilot"
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_EXAMPLES_CALIB_UDELAY=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
CONFIG_FAT_LCNAMES=y
|
||||
CONFIG_FAT_LFN=y
|
||||
CONFIG_FAT_LFN_ALIAS_HASH=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_FS_BINFS=y
|
||||
CONFIG_FS_CROMFS=y
|
||||
CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_FS_PROCFS_REGISTER=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
CONFIG_GRAN_INTR=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_I2C=y
|
||||
CONFIG_I2C_RESET=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
CONFIG_MMCSD_SDIO=y
|
||||
CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
|
||||
CONFIG_MM_REGIONS=4
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_PROGMEM=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NET=y
|
||||
CONFIG_NETDEV_CAN_BITRATE_IOCTL=y
|
||||
CONFIG_NETDEV_IFINDEX=y
|
||||
CONFIG_NETDEV_PHY_IOCTL=y
|
||||
CONFIG_NET_CAN=y
|
||||
CONFIG_NET_CAN_RAW_TX_DEADLINE=y
|
||||
CONFIG_NET_CAN_SOCK_OPTS=y
|
||||
CONFIG_NET_TIMESTAMP=y
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
CONFIG_NSH_DISABLE_TELNETD=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
CONFIG_NSH_QUOTE=y
|
||||
CONFIG_NSH_ROMFSETC=y
|
||||
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||
CONFIG_NSH_STRERROR=y
|
||||
CONFIG_NSH_VARS=y
|
||||
CONFIG_OTG_ID_GPIO_DISABLE=y
|
||||
CONFIG_PIPES=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_READLINE_CMD_HISTORY=y
|
||||
CONFIG_READLINE_TABCOMPLETION=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SDMMC1_SDIO_PULLUP=y
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
CONFIG_SIG_SIGUSR1_ACTION=y
|
||||
CONFIG_SIG_SIGUSR2_ACTION=y
|
||||
CONFIG_SIG_SIGWORK=4
|
||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_START_DAY=30
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_STDIO_BUFFER_SIZE=256
|
||||
CONFIG_STM32H7_ADC1=y
|
||||
CONFIG_STM32H7_ADC3=y
|
||||
CONFIG_STM32H7_BBSRAM=y
|
||||
CONFIG_STM32H7_BBSRAM_FILES=5
|
||||
CONFIG_STM32H7_BKPSRAM=y
|
||||
CONFIG_STM32H7_DMA1=y
|
||||
CONFIG_STM32H7_DMA2=y
|
||||
CONFIG_STM32H7_DMACAPABLE=y
|
||||
CONFIG_STM32H7_FDCAN1=y
|
||||
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32H7_I2C1=y
|
||||
CONFIG_STM32H7_I2C2=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
|
||||
CONFIG_STM32H7_OTGFS=y
|
||||
CONFIG_STM32H7_PROGMEM=y
|
||||
CONFIG_STM32H7_RTC=y
|
||||
CONFIG_STM32H7_RTC_HSECLOCK=y
|
||||
CONFIG_STM32H7_RTC_MAGIC_REG=1
|
||||
CONFIG_STM32H7_SAVE_CRASHDUMP=y
|
||||
CONFIG_STM32H7_SDMMC1=y
|
||||
CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
|
||||
CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
|
||||
CONFIG_STM32H7_SPI1=y
|
||||
CONFIG_STM32H7_SPI1_DMA=y
|
||||
CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
|
||||
CONFIG_STM32H7_SPI2=y
|
||||
CONFIG_STM32H7_SPI4=y
|
||||
CONFIG_STM32H7_SPI4_DMA=y
|
||||
CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
|
||||
CONFIG_STM32H7_SPI_DMA=y
|
||||
CONFIG_STM32H7_TIM1=y
|
||||
CONFIG_STM32H7_TIM3=y
|
||||
CONFIG_STM32H7_TIM4=y
|
||||
CONFIG_STM32H7_UART4=y
|
||||
CONFIG_STM32H7_UART7=y
|
||||
CONFIG_STM32H7_UART8=y
|
||||
CONFIG_STM32H7_USART2=y
|
||||
CONFIG_STM32H7_USART3=y
|
||||
CONFIG_STM32H7_USART6=y
|
||||
CONFIG_STM32H7_USART_BREAKS=y
|
||||
CONFIG_STM32H7_USART_INVERT=y
|
||||
CONFIG_STM32H7_USART_SINGLEWIRE=y
|
||||
CONFIG_STM32H7_USART_SWAP=y
|
||||
CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_TTY_SIGINT=y
|
||||
CONFIG_TTY_SIGTSTP=y
|
||||
CONFIG_UART4_BAUD=57600
|
||||
CONFIG_UART4_RXBUFSIZE=600
|
||||
CONFIG_UART4_TXBUFSIZE=1500
|
||||
CONFIG_UART7_BAUD=57600
|
||||
CONFIG_UART7_RXBUFSIZE=600
|
||||
CONFIG_UART7_SERIAL_CONSOLE=y
|
||||
CONFIG_UART7_TXBUFSIZE=1500
|
||||
CONFIG_UART8_BAUD=57600
|
||||
CONFIG_UART8_RXBUFSIZE=600
|
||||
CONFIG_UART8_TXBUFSIZE=1500
|
||||
CONFIG_USART2_BAUD=57600
|
||||
CONFIG_USART2_IFLOWCONTROL=y
|
||||
CONFIG_USART2_OFLOWCONTROL=y
|
||||
CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_TXBUFSIZE=1500
|
||||
CONFIG_USART3_BAUD=57600
|
||||
CONFIG_USART3_IFLOWCONTROL=y
|
||||
CONFIG_USART3_OFLOWCONTROL=y
|
||||
CONFIG_USART3_RXBUFSIZE=600
|
||||
CONFIG_USART3_TXBUFSIZE=3000
|
||||
CONFIG_USART6_BAUD=57600
|
||||
CONFIG_USART6_RXBUFSIZE=600
|
||||
CONFIG_USART6_TXBUFSIZE=1500
|
||||
CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_USERMAIN_STACKSIZE=2944
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
CONFIG_WATCHDOG=y
|
||||
@@ -1,22 +0,0 @@
|
||||
CONFIG_DRIVERS_ADC_ADS1115=n
|
||||
CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
|
||||
CONFIG_DRIVERS_IRLOCK=n
|
||||
CONFIG_DRIVERS_PCA9685=n
|
||||
CONFIG_DRIVERS_PCA9685_PWM_OUT=n
|
||||
CONFIG_DRIVERS_RPM=n
|
||||
CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
|
||||
CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
|
||||
CONFIG_MODULES_ROVER_POS_CONTROL=n
|
||||
CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
|
||||
CONFIG_DRIVERS_UAVCAN_V1=y
|
||||
CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
|
||||
CONFIG_UAVCAN_V1_ESC_CONTROLLER=y
|
||||
CONFIG_UAVCAN_V1_ESC_SUBSCRIBER=y
|
||||
CONFIG_UAVCAN_V1_GNSS_PUBLISHER=y
|
||||
CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_0=y
|
||||
CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_1=y
|
||||
CONFIG_UAVCAN_V1_READINESS_PUBLISHER=y
|
||||
CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
|
||||
CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER=y
|
||||
CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y
|
||||
@@ -1,249 +0,0 @@
|
||||
#
|
||||
# This file is autogenerated: PLEASE DO NOT EDIT IT.
|
||||
#
|
||||
# You can use "make menuconfig" to make any modifications to the installed .config file.
|
||||
# You can then do "make savedefconfig" to generate a new defconfig file that includes your
|
||||
# modifications.
|
||||
#
|
||||
# CONFIG_DISABLE_ENVIRON is not set
|
||||
# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
|
||||
# CONFIG_MMCSD_HAVE_CARDDETECT is not set
|
||||
# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
|
||||
# CONFIG_MMCSD_MMCSUPPORT is not set
|
||||
# CONFIG_MMCSD_SPI is not set
|
||||
# CONFIG_NET_CAN_CANFD is not set
|
||||
# CONFIG_NET_ETHERNET is not set
|
||||
# CONFIG_NET_IPv4 is not set
|
||||
# CONFIG_NSH_DISABLEBG is not set
|
||||
# CONFIG_NSH_DISABLESCRIPT is not set
|
||||
# CONFIG_NSH_DISABLE_DF is not set
|
||||
# CONFIG_NSH_DISABLE_EXEC is not set
|
||||
# CONFIG_NSH_DISABLE_EXIT is not set
|
||||
# CONFIG_NSH_DISABLE_GET is not set
|
||||
# CONFIG_NSH_DISABLE_ITEF is not set
|
||||
# CONFIG_NSH_DISABLE_LOOPS is not set
|
||||
# CONFIG_NSH_DISABLE_MKFATFS is not set
|
||||
# CONFIG_NSH_DISABLE_SEMICOLON is not set
|
||||
# CONFIG_NSH_DISABLE_TIME is not set
|
||||
CONFIG_ARCH="arm"
|
||||
CONFIG_ARCH_BOARD_CUSTOM=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/ctrl-zero-h7-oem/nuttx-config"
|
||||
CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
|
||||
CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
|
||||
CONFIG_ARCH_CHIP="stm32h7"
|
||||
CONFIG_ARCH_CHIP_STM32H743II=y
|
||||
CONFIG_ARCH_CHIP_STM32H7=y
|
||||
CONFIG_ARCH_INTERRUPTSTACK=512
|
||||
CONFIG_ARCH_STACKDUMP=y
|
||||
CONFIG_ARMV7M_BASEPRI_WAR=y
|
||||
CONFIG_ARMV7M_DCACHE=y
|
||||
CONFIG_ARMV7M_DTCM=y
|
||||
CONFIG_ARMV7M_ICACHE=y
|
||||
CONFIG_ARMV7M_MEMCPY=y
|
||||
CONFIG_ARMV7M_USEBASEPRI=y
|
||||
CONFIG_ARM_MPU_EARLY_RESET=y
|
||||
CONFIG_BOARDCTL_RESET=y
|
||||
CONFIG_BOARD_CRASHDUMP=y
|
||||
CONFIG_BOARD_LOOPSPERMSEC=95150
|
||||
CONFIG_BOARD_RESET_ON_ASSERT=2
|
||||
CONFIG_BUILTIN=y
|
||||
CONFIG_C99_BOOL8=y
|
||||
CONFIG_CDCACM=y
|
||||
CONFIG_CDCACM_IFLOWCONTROL=y
|
||||
CONFIG_CDCACM_PRODUCTID=0x1024
|
||||
CONFIG_CDCACM_PRODUCTSTR="mRoControlZeroH7 OEM"
|
||||
CONFIG_CDCACM_RXBUFSIZE=600
|
||||
CONFIG_CDCACM_TXBUFSIZE=12000
|
||||
CONFIG_CDCACM_VENDORID=0x26ac
|
||||
CONFIG_CDCACM_VENDORSTR="mRo"
|
||||
CONFIG_CLOCK_MONOTONIC=y
|
||||
CONFIG_DEBUG_FULLOPT=y
|
||||
CONFIG_DEBUG_HARDFAULT_ALERT=y
|
||||
CONFIG_DEBUG_MEMFAULT=y
|
||||
CONFIG_DEBUG_SYMBOLS=y
|
||||
CONFIG_DEFAULT_SMALL=y
|
||||
CONFIG_DEV_FIFO_SIZE=0
|
||||
CONFIG_DEV_PIPE_MAXSIZE=1024
|
||||
CONFIG_DEV_PIPE_SIZE=70
|
||||
CONFIG_DISABLE_MQUEUE=y
|
||||
CONFIG_EXPERIMENTAL=y
|
||||
CONFIG_FAT_DMAMEMORY=y
|
||||
CONFIG_FAT_LCNAMES=y
|
||||
CONFIG_FAT_LFN=y
|
||||
CONFIG_FAT_LFN_ALIAS_HASH=y
|
||||
CONFIG_FDCLONE_STDIO=y
|
||||
CONFIG_FS_BINFS=y
|
||||
CONFIG_FS_CROMFS=y
|
||||
CONFIG_FS_FAT=y
|
||||
CONFIG_FS_FATTIME=y
|
||||
CONFIG_FS_PROCFS=y
|
||||
CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
|
||||
CONFIG_FS_PROCFS_MAX_TASKS=64
|
||||
CONFIG_FS_PROCFS_REGISTER=y
|
||||
CONFIG_FS_ROMFS=y
|
||||
CONFIG_GRAN=y
|
||||
CONFIG_GRAN_INTR=y
|
||||
CONFIG_HAVE_CXX=y
|
||||
CONFIG_HAVE_CXXINITIALIZE=y
|
||||
CONFIG_I2C=y
|
||||
CONFIG_I2C_RESET=y
|
||||
CONFIG_IDLETHREAD_STACKSIZE=750
|
||||
CONFIG_LIBC_FLOATINGPOINT=y
|
||||
CONFIG_LIBC_LONG_LONG=y
|
||||
CONFIG_LIBC_STRERROR=y
|
||||
CONFIG_MEMSET_64BIT=y
|
||||
CONFIG_MEMSET_OPTSPEED=y
|
||||
CONFIG_MMCSD=y
|
||||
CONFIG_MMCSD_SDIO=y
|
||||
CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
|
||||
CONFIG_MM_REGIONS=4
|
||||
CONFIG_MTD=y
|
||||
CONFIG_MTD_BYTE_WRITE=y
|
||||
CONFIG_MTD_PARTITION=y
|
||||
CONFIG_MTD_PROGMEM=y
|
||||
CONFIG_MTD_RAMTRON=y
|
||||
CONFIG_NAME_MAX=40
|
||||
CONFIG_NET=y
|
||||
CONFIG_NETDEV_CAN_BITRATE_IOCTL=y
|
||||
CONFIG_NETDEV_IFINDEX=y
|
||||
CONFIG_NETDEV_PHY_IOCTL=y
|
||||
CONFIG_NET_CAN=y
|
||||
CONFIG_NET_CAN_RAW_TX_DEADLINE=y
|
||||
CONFIG_NET_CAN_SOCK_OPTS=y
|
||||
CONFIG_NET_TIMESTAMP=y
|
||||
CONFIG_NSH_ARCHINIT=y
|
||||
CONFIG_NSH_ARGCAT=y
|
||||
CONFIG_NSH_BUILTIN_APPS=y
|
||||
CONFIG_NSH_CMDPARMS=y
|
||||
CONFIG_NSH_CROMFSETC=y
|
||||
CONFIG_NSH_DISABLE_IFCONFIG=y
|
||||
CONFIG_NSH_DISABLE_IFUPDOWN=y
|
||||
CONFIG_NSH_DISABLE_TELNETD=y
|
||||
CONFIG_NSH_LINELEN=128
|
||||
CONFIG_NSH_MAXARGUMENTS=15
|
||||
CONFIG_NSH_NESTDEPTH=8
|
||||
CONFIG_NSH_QUOTE=y
|
||||
CONFIG_NSH_ROMFSETC=y
|
||||
CONFIG_NSH_ROMFSSECTSIZE=128
|
||||
CONFIG_NSH_STRERROR=y
|
||||
CONFIG_NSH_VARS=y
|
||||
CONFIG_OTG_ID_GPIO_DISABLE=y
|
||||
CONFIG_PIPES=y
|
||||
CONFIG_PREALLOC_TIMERS=50
|
||||
CONFIG_PRIORITY_INHERITANCE=y
|
||||
CONFIG_PTHREAD_MUTEX_ROBUST=y
|
||||
CONFIG_PTHREAD_STACK_MIN=512
|
||||
CONFIG_RAMTRON_SETSPEED=y
|
||||
CONFIG_RAM_SIZE=245760
|
||||
CONFIG_RAM_START=0x20010000
|
||||
CONFIG_RAW_BINARY=y
|
||||
CONFIG_READLINE_CMD_HISTORY=y
|
||||
CONFIG_READLINE_TABCOMPLETION=y
|
||||
CONFIG_RTC_DATETIME=y
|
||||
CONFIG_SCHED_ATEXIT=y
|
||||
CONFIG_SCHED_HPWORK=y
|
||||
CONFIG_SCHED_HPWORKPRIORITY=249
|
||||
CONFIG_SCHED_HPWORKSTACKSIZE=1280
|
||||
CONFIG_SCHED_INSTRUMENTATION=y
|
||||
CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
|
||||
CONFIG_SCHED_LPWORK=y
|
||||
CONFIG_SCHED_LPWORKPRIORITY=50
|
||||
CONFIG_SCHED_LPWORKSTACKSIZE=1632
|
||||
CONFIG_SCHED_WAITPID=y
|
||||
CONFIG_SDCLONE_DISABLE=y
|
||||
CONFIG_SDMMC1_SDIO_PULLUP=y
|
||||
CONFIG_SEM_NNESTPRIO=8
|
||||
CONFIG_SEM_PREALLOCHOLDERS=0
|
||||
CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
|
||||
CONFIG_SERIAL_TERMIOS=y
|
||||
CONFIG_SIG_DEFAULT=y
|
||||
CONFIG_SIG_SIGALRM_ACTION=y
|
||||
CONFIG_SIG_SIGUSR1_ACTION=y
|
||||
CONFIG_SIG_SIGUSR2_ACTION=y
|
||||
CONFIG_SIG_SIGWORK=4
|
||||
CONFIG_STACK_COLORATION=y
|
||||
CONFIG_START_DAY=30
|
||||
CONFIG_START_MONTH=11
|
||||
CONFIG_STDIO_BUFFER_SIZE=256
|
||||
CONFIG_STM32H7_ADC1=y
|
||||
CONFIG_STM32H7_ADC3=y
|
||||
CONFIG_STM32H7_BBSRAM=y
|
||||
CONFIG_STM32H7_BBSRAM_FILES=5
|
||||
CONFIG_STM32H7_BDMA=y
|
||||
CONFIG_STM32H7_BKPSRAM=y
|
||||
CONFIG_STM32H7_DMA1=y
|
||||
CONFIG_STM32H7_DMA2=y
|
||||
CONFIG_STM32H7_DMACAPABLE=y
|
||||
CONFIG_STM32H7_FDCAN1=y
|
||||
CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
|
||||
CONFIG_STM32H7_I2C1=y
|
||||
CONFIG_STM32H7_I2C3=y
|
||||
CONFIG_STM32H7_I2C4=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO=y
|
||||
CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
|
||||
CONFIG_STM32H7_OTGFS=y
|
||||
CONFIG_STM32H7_PROGMEM=y
|
||||
CONFIG_STM32H7_RTC=y
|
||||
CONFIG_STM32H7_RTC_HSECLOCK=y
|
||||
CONFIG_STM32H7_RTC_MAGIC_REG=1
|
||||
CONFIG_STM32H7_SAVE_CRASHDUMP=y
|
||||
CONFIG_STM32H7_SDMMC1=y
|
||||
CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
|
||||
CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
|
||||
CONFIG_STM32H7_SPI1=y
|
||||
CONFIG_STM32H7_SPI1_DMA=y
|
||||
CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
|
||||
CONFIG_STM32H7_SPI2=y
|
||||
CONFIG_STM32H7_SPI5=y
|
||||
CONFIG_STM32H7_SPI5_DMA=y
|
||||
CONFIG_STM32H7_SPI5_DMA_BUFFER=1024
|
||||
CONFIG_STM32H7_SPI_DMA=y
|
||||
CONFIG_STM32H7_TIM1=y
|
||||
CONFIG_STM32H7_TIM2=y
|
||||
CONFIG_STM32H7_TIM3=y
|
||||
CONFIG_STM32H7_TIM4=y
|
||||
CONFIG_STM32H7_TIM8=y
|
||||
CONFIG_STM32H7_UART4=y
|
||||
CONFIG_STM32H7_UART7=y
|
||||
CONFIG_STM32H7_UART8=y
|
||||
CONFIG_STM32H7_USART2=y
|
||||
CONFIG_STM32H7_USART3=y
|
||||
CONFIG_STM32H7_USART6=y
|
||||
CONFIG_STM32H7_USART_BREAKS=y
|
||||
CONFIG_STM32H7_USART_INVERT=y
|
||||
CONFIG_STM32H7_USART_SINGLEWIRE=y
|
||||
CONFIG_STM32H7_USART_SWAP=y
|
||||
CONFIG_SYSTEM_CDCACM=y
|
||||
CONFIG_SYSTEM_NSH=y
|
||||
CONFIG_TASK_NAME_SIZE=24
|
||||
CONFIG_TTY_SIGINT=y
|
||||
CONFIG_TTY_SIGTSTP=y
|
||||
CONFIG_UART4_BAUD=57600
|
||||
CONFIG_UART4_RXBUFSIZE=600
|
||||
CONFIG_UART4_TXBUFSIZE=1500
|
||||
CONFIG_UART7_BAUD=57600
|
||||
CONFIG_UART7_RXBUFSIZE=600
|
||||
CONFIG_UART7_TXBUFSIZE=1500
|
||||
CONFIG_UART8_BAUD=57600
|
||||
CONFIG_UART8_RXBUFSIZE=600
|
||||
CONFIG_UART8_SERIAL_CONSOLE=y
|
||||
CONFIG_UART8_TXBUFSIZE=1500
|
||||
CONFIG_USART2_BAUD=57600
|
||||
CONFIG_USART2_IFLOWCONTROL=y
|
||||
CONFIG_USART2_OFLOWCONTROL=y
|
||||
CONFIG_USART2_RXBUFSIZE=600
|
||||
CONFIG_USART2_TXBUFSIZE=1500
|
||||
CONFIG_USART3_BAUD=57600
|
||||
CONFIG_USART3_IFLOWCONTROL=y
|
||||
CONFIG_USART3_OFLOWCONTROL=y
|
||||
CONFIG_USART3_RXBUFSIZE=600
|
||||
CONFIG_USART3_TXBUFSIZE=3000
|
||||
CONFIG_USART6_BAUD=57600
|
||||
CONFIG_USART6_RXBUFSIZE=600
|
||||
CONFIG_USART6_TXBUFSIZE=1500
|
||||
CONFIG_USBDEV=y
|
||||
CONFIG_USBDEV_BUSPOWERED=y
|
||||
CONFIG_USBDEV_MAXPOWER=500
|
||||
CONFIG_USEC_PER_TICK=1000
|
||||
CONFIG_USERMAIN_STACKSIZE=2944
|
||||
CONFIG_USER_ENTRYPOINT="nsh_main"
|
||||
@@ -1,13 +0,0 @@
|
||||
CONFIG_DRIVERS_UAVCAN=n
|
||||
CONFIG_DRIVERS_UAVCAN_V1=y
|
||||
CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
|
||||
CONFIG_UAVCAN_V1_CLIENT=y
|
||||
CONFIG_UAVCAN_V1_ESC_CONTROLLER=y
|
||||
CONFIG_UAVCAN_V1_ESC_SUBSCRIBER=y
|
||||
CONFIG_UAVCAN_V1_GNSS_PUBLISHER=y
|
||||
CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_0=y
|
||||
CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_1=y
|
||||
CONFIG_UAVCAN_V1_READINESS_PUBLISHER=y
|
||||
CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
|
||||
CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER=y
|
||||
CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y
|
||||
Submodule platforms/nuttx/NuttX/nuttx updated: 41ac2dec5a...c5c7d2b4f2
@@ -48,7 +48,7 @@ BMI055_Accelerometer::BMI055_Accelerometer(const I2CSPIDriverConfig &config) :
|
||||
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_accel: DRDY missed");
|
||||
}
|
||||
|
||||
ConfigureSampleRate(_px4_accel.get_max_rate_hz());
|
||||
ConfigureSampleRate(RATE);
|
||||
}
|
||||
|
||||
BMI055_Accelerometer::~BMI055_Accelerometer()
|
||||
|
||||
@@ -48,7 +48,7 @@ BMI088_Accelerometer::BMI088_Accelerometer(const I2CSPIDriverConfig &config) :
|
||||
_drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME"_accel: DRDY missed");
|
||||
}
|
||||
|
||||
ConfigureSampleRate(_px4_accel.get_max_rate_hz());
|
||||
ConfigureSampleRate(RATE);
|
||||
}
|
||||
|
||||
BMI088_Accelerometer::~BMI088_Accelerometer()
|
||||
|
||||
@@ -112,7 +112,6 @@ px4_add_module(
|
||||
INCLUDES
|
||||
${LIBCANARD_DIR}/libcanard/
|
||||
${CMAKE_CURRENT_BINARY_DIR}/dsdlc_generated
|
||||
${CMAKE_CURRENT_SOURCE_DIR}/Publishers
|
||||
SRCS
|
||||
PublicationManager.cpp
|
||||
PublicationManager.hpp
|
||||
@@ -125,7 +124,6 @@ px4_add_module(
|
||||
Publishers/uORB/uorb_publisher.cpp
|
||||
Subscribers/uORB/uorb_subscriber.cpp
|
||||
${SRCS}
|
||||
Publishers/Publisher.cpp
|
||||
o1heap/o1heap.c
|
||||
o1heap/o1heap.h
|
||||
${LIBCANARD_DIR}/libcanard/canard.c
|
||||
|
||||
@@ -56,11 +56,8 @@ int CanardSocketCAN::init()
|
||||
struct ifreq ifr;
|
||||
|
||||
//FIXME HOTFIX to make this code compile
|
||||
#ifdef CONFIG_NET_CAN_CANFD
|
||||
bool can_fd = 1;
|
||||
#else
|
||||
bool can_fd = 0;
|
||||
#endif
|
||||
|
||||
_can_fd = can_fd;
|
||||
|
||||
/* open socket */
|
||||
|
||||
@@ -45,9 +45,7 @@
|
||||
#include <reg/drone/physics/kinematics/geodetic/Point_0_1.h>
|
||||
#include <reg/drone/service/gnss/DilutionOfPrecision_0_1.h>
|
||||
|
||||
class UavcanNode;
|
||||
|
||||
#include "Publisher.hpp"
|
||||
#include "../Publisher.hpp"
|
||||
|
||||
class UavcanGnssPublisher : public UavcanPublisher
|
||||
{
|
||||
@@ -126,8 +124,6 @@ public:
|
||||
// set the data ready in the buffer and chop if needed
|
||||
++_transfer_id_2; // The transfer-ID shall be incremented after every transmission on this subject.
|
||||
result = canardTxPush(&_canard_instance, &transfer2);
|
||||
|
||||
transmit();
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
@@ -95,8 +95,6 @@ public:
|
||||
// set the data ready in the buffer and chop if needed
|
||||
++_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject.
|
||||
result = canardTxPush(&_canard_instance, &transfer);
|
||||
|
||||
transmit();
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
@@ -1,49 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2021 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file Publisher.cpp
|
||||
*
|
||||
* Defines basic functionality of UAVCAN v1 publisher class
|
||||
*
|
||||
* @author Jacob Crabill <jacob@flyvoly.com>
|
||||
*/
|
||||
|
||||
#include "Publisher.hpp"
|
||||
|
||||
#include "../Uavcan.hpp"
|
||||
|
||||
void UavcanPublisher::transmit()
|
||||
{
|
||||
UavcanNode::do_transmit();
|
||||
}
|
||||
@@ -142,6 +142,4 @@ protected:
|
||||
CanardTransferID _transfer_id {0};
|
||||
|
||||
UavcanPublisher *_next_pub {nullptr};
|
||||
|
||||
void transmit();
|
||||
};
|
||||
|
||||
@@ -81,7 +81,6 @@ public:
|
||||
// set the data ready in the buffer and chop if needed
|
||||
++_transfer_id; // The transfer-ID shall be incremented after every transmission on this subject.
|
||||
canardTxPush(&_canard_instance, &transfer);
|
||||
transmit();
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
@@ -140,8 +140,6 @@ public:
|
||||
|
||||
static UavcanNode *instance() { return _instance; }
|
||||
|
||||
static void do_transmit() { if (_instance) _instance->transmit(); };
|
||||
|
||||
/* The bit rate that can be passed back to the bootloader */
|
||||
int32_t active_bitrate{0};
|
||||
|
||||
|
||||
@@ -35,7 +35,6 @@
|
||||
#include "PX4Accelerometer.hpp"
|
||||
|
||||
#include <lib/drivers/device/Device.hpp>
|
||||
#include <lib/parameters/param.h>
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
@@ -72,8 +71,6 @@ PX4Accelerometer::PX4Accelerometer(uint32_t device_id, enum Rotation rotation) :
|
||||
{
|
||||
// advertise immediately to keep instance numbering in sync
|
||||
_sensor_pub.advertise();
|
||||
|
||||
param_get(param_find("IMU_GYRO_RATEMAX"), &_imu_gyro_rate_max);
|
||||
}
|
||||
|
||||
PX4Accelerometer::~PX4Accelerometer()
|
||||
|
||||
@@ -48,8 +48,6 @@ public:
|
||||
|
||||
uint32_t get_device_id() const { return _device_id; }
|
||||
|
||||
int32_t get_max_rate_hz() const { return math::constrain(_imu_gyro_rate_max, static_cast<int32_t>(100), static_cast<int32_t>(4000)); }
|
||||
|
||||
void set_device_id(uint32_t device_id) { _device_id = device_id; }
|
||||
void set_device_type(uint8_t devtype);
|
||||
void set_error_count(uint32_t error_count) { _error_count = error_count; }
|
||||
@@ -73,8 +71,6 @@ private:
|
||||
uint32_t _device_id{0};
|
||||
const enum Rotation _rotation;
|
||||
|
||||
int32_t _imu_gyro_rate_max{0}; // match gyro max rate
|
||||
|
||||
float _range{16 * CONSTANTS_ONE_G};
|
||||
float _scale{1.f};
|
||||
float _temperature{NAN};
|
||||
|
||||
@@ -207,6 +207,16 @@ bool Accelerometer::ParametersLoad()
|
||||
_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
|
||||
}
|
||||
|
||||
// CAL_ACCx_TEMP
|
||||
float cal_temp = GetCalibrationParamFloat(SensorString(), "TEMP", _calibration_index);
|
||||
|
||||
if (cal_temp > TEMPERATURE_INVALID) {
|
||||
set_temperature(cal_temp);
|
||||
|
||||
} else {
|
||||
set_temperature(NAN);
|
||||
}
|
||||
|
||||
// CAL_ACCx_OFF{X,Y,Z}
|
||||
set_offset(GetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index));
|
||||
|
||||
@@ -233,6 +243,7 @@ void Accelerometer::Reset()
|
||||
_scale = Vector3f{1.f, 1.f, 1.f};
|
||||
|
||||
_thermal_offset.zero();
|
||||
_temperature = NAN;
|
||||
|
||||
_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
|
||||
|
||||
@@ -274,6 +285,13 @@ bool Accelerometer::ParametersSave(int desired_calibration_index, bool force)
|
||||
success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1); // internal
|
||||
}
|
||||
|
||||
if (PX4_ISFINITE(_temperature)) {
|
||||
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, _temperature);
|
||||
|
||||
} else {
|
||||
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, TEMPERATURE_INVALID);
|
||||
}
|
||||
|
||||
return success;
|
||||
}
|
||||
|
||||
@@ -284,18 +302,20 @@ void Accelerometer::PrintStatus()
|
||||
{
|
||||
if (external()) {
|
||||
PX4_INFO_RAW("%s %" PRIu32
|
||||
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], Ext ROT: %d\n",
|
||||
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d\n",
|
||||
SensorString(), device_id(), enabled(),
|
||||
(double)_offset(0), (double)_offset(1), (double)_offset(2),
|
||||
(double)_scale(0), (double)_scale(1), (double)_scale(2),
|
||||
(double)_temperature,
|
||||
rotation_enum());
|
||||
|
||||
} else {
|
||||
PX4_INFO_RAW("%s %" PRIu32
|
||||
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], Internal\n",
|
||||
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Internal\n",
|
||||
SensorString(), device_id(), enabled(),
|
||||
(double)_offset(0), (double)_offset(1), (double)_offset(2),
|
||||
(double)_scale(0), (double)_scale(1), (double)_scale(2));
|
||||
(double)_scale(0), (double)_scale(1), (double)_scale(2),
|
||||
(double)_temperature);
|
||||
}
|
||||
|
||||
if (_thermal_offset.norm() > 0.f) {
|
||||
|
||||
@@ -64,6 +64,7 @@ public:
|
||||
bool set_offset(const matrix::Vector3f &offset);
|
||||
bool set_scale(const matrix::Vector3f &scale);
|
||||
void set_rotation(Rotation rotation);
|
||||
void set_temperature(float temperature) { _temperature = temperature; };
|
||||
|
||||
bool calibrated() const { return (_device_id != 0) && (_calibration_index >= 0); }
|
||||
uint8_t calibration_count() const { return _calibration_count; }
|
||||
@@ -99,6 +100,8 @@ public:
|
||||
void SensorCorrectionsUpdate(bool force = false);
|
||||
|
||||
private:
|
||||
static constexpr float TEMPERATURE_INVALID = -1000.f;
|
||||
|
||||
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
|
||||
|
||||
Rotation _rotation_enum{ROTATION_NONE};
|
||||
@@ -107,6 +110,7 @@ private:
|
||||
matrix::Vector3f _offset;
|
||||
matrix::Vector3f _scale;
|
||||
matrix::Vector3f _thermal_offset;
|
||||
float _temperature{NAN};
|
||||
|
||||
int8_t _calibration_index{-1};
|
||||
uint32_t _device_id{0};
|
||||
|
||||
@@ -192,6 +192,16 @@ bool Gyroscope::ParametersLoad()
|
||||
_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
|
||||
}
|
||||
|
||||
// CAL_GYROx_TEMP
|
||||
float cal_temp = GetCalibrationParamFloat(SensorString(), "TEMP", _calibration_index);
|
||||
|
||||
if (cal_temp > TEMPERATURE_INVALID) {
|
||||
set_temperature(cal_temp);
|
||||
|
||||
} else {
|
||||
set_temperature(NAN);
|
||||
}
|
||||
|
||||
// CAL_GYROx_OFF{X,Y,Z}
|
||||
set_offset(GetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index));
|
||||
|
||||
@@ -214,6 +224,7 @@ void Gyroscope::Reset()
|
||||
_offset.zero();
|
||||
|
||||
_thermal_offset.zero();
|
||||
_temperature = NAN;
|
||||
|
||||
_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
|
||||
|
||||
@@ -254,6 +265,13 @@ bool Gyroscope::ParametersSave(int desired_calibration_index, bool force)
|
||||
success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1); // internal
|
||||
}
|
||||
|
||||
if (PX4_ISFINITE(_temperature)) {
|
||||
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, _temperature);
|
||||
|
||||
} else {
|
||||
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, TEMPERATURE_INVALID);
|
||||
}
|
||||
|
||||
return success;
|
||||
}
|
||||
|
||||
@@ -264,15 +282,17 @@ void Gyroscope::PrintStatus()
|
||||
{
|
||||
if (external()) {
|
||||
PX4_INFO_RAW("%s %" PRIu32
|
||||
" EN: %d, offset: [%05.3f %05.3f %05.3f], Ext ROT: %d\n",
|
||||
" EN: %d, offset: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d\n",
|
||||
SensorString(), device_id(), enabled(),
|
||||
(double)_offset(0), (double)_offset(1), (double)_offset(2),
|
||||
(double)_temperature,
|
||||
rotation_enum());
|
||||
|
||||
} else {
|
||||
PX4_INFO_RAW("%s %" PRIu32 " EN: %d, offset: [%05.3f %05.3f %05.3f], Internal\n",
|
||||
PX4_INFO_RAW("%s %" PRIu32 " EN: %d, offset: [%05.3f %05.3f %05.3f], %.1f degC, Internal\n",
|
||||
SensorString(), device_id(), enabled(),
|
||||
(double)_offset(0), (double)_offset(1), (double)_offset(2));
|
||||
(double)_offset(0), (double)_offset(1), (double)_offset(2),
|
||||
(double)_temperature);
|
||||
}
|
||||
|
||||
if (_thermal_offset.norm() > 0.f) {
|
||||
|
||||
@@ -63,6 +63,7 @@ public:
|
||||
void set_device_id(uint32_t device_id);
|
||||
bool set_offset(const matrix::Vector3f &offset);
|
||||
void set_rotation(Rotation rotation);
|
||||
void set_temperature(float temperature) { _temperature = temperature; };
|
||||
|
||||
bool calibrated() const { return (_device_id != 0) && (_calibration_index >= 0); }
|
||||
uint8_t calibration_count() const { return _calibration_count; }
|
||||
@@ -103,6 +104,8 @@ public:
|
||||
void SensorCorrectionsUpdate(bool force = false);
|
||||
|
||||
private:
|
||||
static constexpr float TEMPERATURE_INVALID = -1000.f;
|
||||
|
||||
uORB::Subscription _sensor_correction_sub{ORB_ID(sensor_correction)};
|
||||
|
||||
Rotation _rotation_enum{ROTATION_NONE};
|
||||
@@ -110,6 +113,7 @@ private:
|
||||
matrix::Dcmf _rotation;
|
||||
matrix::Vector3f _offset;
|
||||
matrix::Vector3f _thermal_offset;
|
||||
float _temperature{NAN};
|
||||
|
||||
int8_t _calibration_index{-1};
|
||||
uint32_t _device_id{0};
|
||||
|
||||
@@ -192,6 +192,16 @@ bool Magnetometer::ParametersLoad()
|
||||
_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
|
||||
}
|
||||
|
||||
// CAL_MAGx_TEMP
|
||||
float cal_temp = GetCalibrationParamFloat(SensorString(), "TEMP", _calibration_index);
|
||||
|
||||
if (cal_temp > TEMPERATURE_INVALID) {
|
||||
set_temperature(cal_temp);
|
||||
|
||||
} else {
|
||||
set_temperature(NAN);
|
||||
}
|
||||
|
||||
// CAL_MAGx_OFF{X,Y,Z}
|
||||
set_offset(GetCalibrationParamsVector3f(SensorString(), "OFF", _calibration_index));
|
||||
|
||||
@@ -226,6 +236,8 @@ void Magnetometer::Reset()
|
||||
_power_compensation.zero();
|
||||
_power = 0.f;
|
||||
|
||||
_temperature = NAN;
|
||||
|
||||
_priority = _external ? DEFAULT_EXTERNAL_PRIORITY : DEFAULT_PRIORITY;
|
||||
|
||||
_calibration_index = -1;
|
||||
@@ -273,6 +285,13 @@ bool Magnetometer::ParametersSave(int desired_calibration_index, bool force)
|
||||
success &= SetCalibrationParam(SensorString(), "ROT", _calibration_index, -1); // internal
|
||||
}
|
||||
|
||||
if (PX4_ISFINITE(_temperature)) {
|
||||
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, _temperature);
|
||||
|
||||
} else {
|
||||
success &= SetCalibrationParam(SensorString(), "TEMP", _calibration_index, TEMPERATURE_INVALID);
|
||||
}
|
||||
|
||||
return success;
|
||||
}
|
||||
|
||||
@@ -283,18 +302,20 @@ void Magnetometer::PrintStatus()
|
||||
{
|
||||
if (external()) {
|
||||
PX4_INFO_RAW("%s %" PRIu32
|
||||
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], Ext ROT: %d\n",
|
||||
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Ext ROT: %d\n",
|
||||
SensorString(), device_id(), enabled(),
|
||||
(double)_offset(0), (double)_offset(1), (double)_offset(2),
|
||||
(double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2),
|
||||
(double)_temperature,
|
||||
rotation_enum());
|
||||
|
||||
} else {
|
||||
PX4_INFO_RAW("%s %" PRIu32
|
||||
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], Internal\n",
|
||||
" EN: %d, offset: [%05.3f %05.3f %05.3f], scale: [%05.3f %05.3f %05.3f], %.1f degC, Internal\n",
|
||||
SensorString(), device_id(), enabled(),
|
||||
(double)_offset(0), (double)_offset(1), (double)_offset(2),
|
||||
(double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2));
|
||||
(double)_scale(0, 0), (double)_scale(1, 1), (double)_scale(2, 2),
|
||||
(double)_temperature);
|
||||
}
|
||||
|
||||
#if defined(DEBUG_BUILD)
|
||||
|
||||
@@ -66,6 +66,7 @@ public:
|
||||
bool set_scale(const matrix::Vector3f &scale);
|
||||
bool set_offdiagonal(const matrix::Vector3f &offdiagonal);
|
||||
void set_rotation(Rotation rotation);
|
||||
void set_temperature(float temperature) { _temperature = temperature; };
|
||||
|
||||
bool calibrated() const { return (_device_id != 0) && (_calibration_index >= 0); }
|
||||
uint8_t calibration_count() const { return _calibration_count; }
|
||||
@@ -101,6 +102,8 @@ public:
|
||||
void UpdatePower(float power) { _power = power; }
|
||||
|
||||
private:
|
||||
static constexpr float TEMPERATURE_INVALID = -1000.f;
|
||||
|
||||
Rotation _rotation_enum{ROTATION_NONE};
|
||||
|
||||
matrix::Dcmf _rotation;
|
||||
@@ -108,6 +111,7 @@ private:
|
||||
matrix::Matrix3f _scale;
|
||||
matrix::Vector3f _power_compensation;
|
||||
float _power{0.f};
|
||||
float _temperature{NAN};
|
||||
|
||||
int8_t _calibration_index{-1};
|
||||
uint32_t _device_id{0};
|
||||
|
||||
@@ -149,6 +149,21 @@ int32_t GetCalibrationParamInt32(const char *sensor_type, const char *cal_type,
|
||||
return value;
|
||||
}
|
||||
|
||||
float GetCalibrationParamFloat(const char *sensor_type, const char *cal_type, uint8_t instance)
|
||||
{
|
||||
// eg CAL_MAGn_TEMP
|
||||
char str[20] {};
|
||||
sprintf(str, "CAL_%s%" PRIu8 "_%s", sensor_type, instance, cal_type);
|
||||
|
||||
float value = NAN;
|
||||
|
||||
if (param_get(param_find(str), &value) != 0) {
|
||||
PX4_ERR("failed to get %s", str);
|
||||
}
|
||||
|
||||
return value;
|
||||
}
|
||||
|
||||
Vector3f GetCalibrationParamsVector3f(const char *sensor_type, const char *cal_type, uint8_t instance)
|
||||
{
|
||||
Vector3f values{0.f, 0.f, 0.f};
|
||||
|
||||
@@ -71,6 +71,7 @@ int8_t FindAvailableCalibrationIndex(const char *sensor_type, uint32_t device_id
|
||||
* @return int32_t The calibration value.
|
||||
*/
|
||||
int32_t GetCalibrationParamInt32(const char *sensor_type, const char *cal_type, uint8_t instance);
|
||||
float GetCalibrationParamFloat(const char *sensor_type, const char *cal_type, uint8_t instance);
|
||||
|
||||
/**
|
||||
* @brief Set a single calibration paramter.
|
||||
|
||||
@@ -47,7 +47,6 @@ px4_add_library(PreFlightCheck
|
||||
checks/ekf2Check.cpp
|
||||
checks/failureDetectorCheck.cpp
|
||||
checks/manualControlCheck.cpp
|
||||
checks/modeCheck.cpp
|
||||
checks/cpuResourceCheck.cpp
|
||||
checks/sdcardCheck.cpp
|
||||
checks/parachuteCheck.cpp
|
||||
|
||||
@@ -271,7 +271,6 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu
|
||||
}
|
||||
|
||||
failed = failed || !manualControlCheck(mavlink_log_pub, report_failures);
|
||||
failed = failed || !modeCheck(mavlink_log_pub, report_failures, status);
|
||||
failed = failed || !cpuResourceCheck(mavlink_log_pub, report_failures);
|
||||
failed = failed || !parachuteCheck(mavlink_log_pub, report_failures, status_flags);
|
||||
|
||||
|
||||
@@ -119,7 +119,6 @@ private:
|
||||
const bool prearm);
|
||||
|
||||
static bool manualControlCheck(orb_advert_t *mavlink_log_pub, const bool report_fail);
|
||||
static bool modeCheck(orb_advert_t *mavlink_log_pub, const bool report_fail, const vehicle_status_s &status);
|
||||
static bool airframeCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_s &status);
|
||||
static bool cpuResourceCheck(orb_advert_t *mavlink_log_pub, const bool report_fail);
|
||||
static bool sdcardCheck(orb_advert_t *mavlink_log_pub, bool &sd_card_detected_once, const bool report_fail);
|
||||
|
||||
@@ -1,69 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2022 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include "../PreFlightCheck.hpp"
|
||||
|
||||
#include <systemlib/mavlink_log.h>
|
||||
|
||||
using namespace time_literals;
|
||||
|
||||
bool PreFlightCheck::modeCheck(orb_advert_t *mavlink_log_pub, const bool report_fail,
|
||||
const vehicle_status_s &vehicle_status)
|
||||
{
|
||||
bool success = true;
|
||||
|
||||
switch (vehicle_status.nav_state) {
|
||||
case vehicle_status_s::NAVIGATION_STATE_MANUAL:
|
||||
case vehicle_status_s::NAVIGATION_STATE_ALTCTL:
|
||||
case vehicle_status_s::NAVIGATION_STATE_POSCTL:
|
||||
case vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION:
|
||||
case vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER:
|
||||
case vehicle_status_s::NAVIGATION_STATE_ACRO:
|
||||
case vehicle_status_s::NAVIGATION_STATE_OFFBOARD:
|
||||
case vehicle_status_s::NAVIGATION_STATE_STAB:
|
||||
case vehicle_status_s::NAVIGATION_STATE_AUTO_TAKEOFF:
|
||||
case vehicle_status_s::NAVIGATION_STATE_AUTO_VTOL_TAKEOFF:
|
||||
break;
|
||||
|
||||
default:
|
||||
success = false;
|
||||
|
||||
if (report_fail) {
|
||||
mavlink_log_critical(mavlink_log_pub, "Mode not suitable for takeoff");
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
return success;
|
||||
}
|
||||
@@ -157,13 +157,15 @@ struct accel_worker_data_s {
|
||||
orb_advert_t *mavlink_log_pub{nullptr};
|
||||
unsigned done_count{0};
|
||||
float accel_ref[MAX_ACCEL_SENS][detect_orientation_side_count][3] {};
|
||||
float accel_temperature_ref[MAX_ACCEL_SENS] {NAN, NAN, NAN, NAN};
|
||||
};
|
||||
|
||||
// Read specified number of accelerometer samples, calculate average and dispersion.
|
||||
static calibrate_return read_accelerometer_avg(float (&accel_avg)[MAX_ACCEL_SENS][detect_orientation_side_count][3],
|
||||
unsigned orient, unsigned samples_num)
|
||||
float (&accel_temperature_avg)[MAX_ACCEL_SENS], unsigned orient, unsigned samples_num)
|
||||
{
|
||||
Vector3f accel_sum[MAX_ACCEL_SENS] {};
|
||||
float temperature_sum[MAX_ACCEL_SENS] {NAN, NAN, NAN, NAN};
|
||||
unsigned counts[MAX_ACCEL_SENS] {};
|
||||
|
||||
unsigned errcount = 0;
|
||||
@@ -215,6 +217,14 @@ static calibrate_return read_accelerometer_avg(float (&accel_avg)[MAX_ACCEL_SENS
|
||||
accel_sum[accel_index] += Vector3f{arp.x, arp.y, arp.z} - offset;
|
||||
|
||||
counts[accel_index]++;
|
||||
|
||||
if (!PX4_ISFINITE(temperature_sum[accel_index])) {
|
||||
// set first valid value
|
||||
temperature_sum[accel_index] = (arp.temperature * counts[accel_index]);
|
||||
|
||||
} else {
|
||||
temperature_sum[accel_index] += arp.temperature;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -238,6 +248,8 @@ static calibrate_return read_accelerometer_avg(float (&accel_avg)[MAX_ACCEL_SENS
|
||||
for (unsigned s = 0; s < MAX_ACCEL_SENS; s++) {
|
||||
const Vector3f avg{accel_sum[s] / counts[s]};
|
||||
avg.copyTo(accel_avg[s][orient]);
|
||||
|
||||
accel_temperature_avg[s] = temperature_sum[s] / counts[s];
|
||||
}
|
||||
|
||||
return calibrate_return_ok;
|
||||
@@ -251,7 +263,7 @@ static calibrate_return accel_calibration_worker(detect_orientation_return orien
|
||||
calibration_log_info(worker_data->mavlink_log_pub, "[cal] Hold still, measuring %s side",
|
||||
detect_orientation_str(orientation));
|
||||
|
||||
read_accelerometer_avg(worker_data->accel_ref, orientation, samples_num);
|
||||
read_accelerometer_avg(worker_data->accel_ref, worker_data->accel_temperature_ref, orientation, samples_num);
|
||||
|
||||
// check accel
|
||||
for (unsigned accel_index = 0; accel_index < MAX_ACCEL_SENS; accel_index++) {
|
||||
@@ -402,6 +414,8 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
|
||||
const Matrix3f accel_T_rotated{board_rotation_t *accel_T * board_rotation};
|
||||
calibrations[i].set_scale(accel_T_rotated.diag());
|
||||
|
||||
calibrations[i].set_temperature(worker_data.accel_temperature_ref[i]);
|
||||
|
||||
#if defined(DEBUD_BUILD)
|
||||
PX4_INFO("accel %d: offset", i);
|
||||
offset.print();
|
||||
@@ -476,6 +490,7 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
|
||||
for (unsigned accel_index = 0; accel_index < MAX_ACCEL_SENS; accel_index++) {
|
||||
sensor_accel_s arp{};
|
||||
Vector3f accel_sum{};
|
||||
float temperature_sum{NAN};
|
||||
unsigned count = 0;
|
||||
|
||||
while (accel_subs[accel_index].update(&arp)) {
|
||||
@@ -511,11 +526,21 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
|
||||
|
||||
if (diff.norm() < 1.f) {
|
||||
accel_sum += Vector3f{arp.x, arp.y, arp.z} - offset;
|
||||
|
||||
count++;
|
||||
|
||||
if (!PX4_ISFINITE(temperature_sum)) {
|
||||
// set first valid value
|
||||
temperature_sum = (arp.temperature * count);
|
||||
|
||||
} else {
|
||||
temperature_sum += arp.temperature;
|
||||
}
|
||||
}
|
||||
|
||||
} else {
|
||||
accel_sum = accel;
|
||||
temperature_sum = arp.temperature;
|
||||
count = 1;
|
||||
}
|
||||
}
|
||||
@@ -525,6 +550,7 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
|
||||
|
||||
bool calibrated = false;
|
||||
const Vector3f accel_avg = accel_sum / count;
|
||||
const float temperature_avg = temperature_sum / count;
|
||||
|
||||
Vector3f offset{0.f, 0.f, 0.f};
|
||||
|
||||
@@ -567,6 +593,7 @@ int do_accel_calibration_quick(orb_advert_t *mavlink_log_pub)
|
||||
|
||||
} else {
|
||||
calibration.set_offset(offset);
|
||||
calibration.set_temperature(temperature_avg);
|
||||
|
||||
if (calibration.ParametersSave(accel_index)) {
|
||||
calibration.PrintStatus();
|
||||
|
||||
@@ -71,6 +71,7 @@ struct gyro_worker_data_t {
|
||||
calibration::Gyroscope calibrations[MAX_GYROS] {};
|
||||
|
||||
Vector3f offset[MAX_GYROS] {};
|
||||
float temperature[MAX_GYROS] {NAN, NAN, NAN, NAN};
|
||||
|
||||
math::MedianFilter<float, 9> filter[3] {};
|
||||
};
|
||||
@@ -118,6 +119,14 @@ static calibrate_return gyro_calibration_worker(gyro_worker_data_t &worker_data)
|
||||
|
||||
calibration_counter[gyro_index]++;
|
||||
|
||||
if (!PX4_ISFINITE(worker_data.temperature[gyro_index])) {
|
||||
// set first valid value
|
||||
worker_data.temperature[gyro_index] = gyro_report.temperature * calibration_counter[gyro_index];
|
||||
|
||||
} else {
|
||||
worker_data.temperature[gyro_index] += gyro_report.temperature;
|
||||
}
|
||||
|
||||
if (gyro_index == 0) {
|
||||
worker_data.filter[0].insert(gyro_report.x - thermal_offset(0));
|
||||
worker_data.filter[1].insert(gyro_report.y - thermal_offset(1));
|
||||
@@ -160,6 +169,7 @@ static calibrate_return gyro_calibration_worker(gyro_worker_data_t &worker_data)
|
||||
}
|
||||
|
||||
worker_data.offset[s] /= calibration_counter[s];
|
||||
worker_data.temperature[s] /= calibration_counter[s];
|
||||
}
|
||||
|
||||
return calibrate_return_ok;
|
||||
@@ -259,6 +269,8 @@ int do_gyro_calibration(orb_advert_t *mavlink_log_pub)
|
||||
|
||||
if (calibration.device_id() != 0) {
|
||||
calibration.set_offset(worker_data.offset[uorb_index]);
|
||||
calibration.set_temperature(worker_data.temperature[uorb_index]);
|
||||
|
||||
calibration.PrintStatus();
|
||||
|
||||
if (calibration.ParametersSave(uorb_index, true)) {
|
||||
|
||||
@@ -94,6 +94,8 @@ struct mag_worker_data_t {
|
||||
float *y[MAX_MAGS];
|
||||
float *z[MAX_MAGS];
|
||||
|
||||
float temperature[MAX_MAGS] {NAN, NAN, NAN, NAN};
|
||||
|
||||
calibration::Magnetometer calibration[MAX_MAGS] {};
|
||||
};
|
||||
|
||||
@@ -340,6 +342,7 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
|
||||
if (mag_sub[0].updatedBlocking(1000_ms)) {
|
||||
bool rejected = false;
|
||||
Vector3f new_samples[MAX_MAGS] {};
|
||||
float new_temperature[MAX_MAGS] {NAN, NAN, NAN, NAN};
|
||||
|
||||
for (uint8_t cur_mag = 0; cur_mag < MAX_MAGS; cur_mag++) {
|
||||
if (worker_data->calibration[cur_mag].device_id() != 0) {
|
||||
@@ -368,6 +371,7 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
|
||||
|
||||
if (!reject) {
|
||||
new_samples[cur_mag] = Vector3f{mag.x, mag.y, mag.z};
|
||||
new_temperature[cur_mag] = mag.temperature;
|
||||
updated = true;
|
||||
break;
|
||||
}
|
||||
@@ -388,6 +392,14 @@ static calibrate_return mag_calibration_worker(detect_orientation_return orienta
|
||||
worker_data->y[cur_mag][worker_data->calibration_counter_total[cur_mag]] = new_samples[cur_mag](1);
|
||||
worker_data->z[cur_mag][worker_data->calibration_counter_total[cur_mag]] = new_samples[cur_mag](2);
|
||||
|
||||
if (!PX4_ISFINITE(worker_data->temperature[cur_mag])) {
|
||||
// set first valid value
|
||||
worker_data->temperature[cur_mag] = new_temperature[cur_mag];
|
||||
|
||||
} else {
|
||||
worker_data->temperature[cur_mag] = 0.5f * (worker_data->temperature[cur_mag] + new_temperature[cur_mag]);
|
||||
}
|
||||
|
||||
worker_data->calibration_counter_total[cur_mag]++;
|
||||
}
|
||||
}
|
||||
@@ -900,6 +912,8 @@ calibrate_return mag_calibrate_all(orb_advert_t *mavlink_log_pub, int32_t cal_ma
|
||||
current_cal.set_offdiagonal(offdiag[cur_mag]);
|
||||
}
|
||||
|
||||
current_cal.set_temperature(worker_data.temperature[cur_mag]);
|
||||
|
||||
current_cal.PrintStatus();
|
||||
|
||||
if (current_cal.ParametersSave(cur_mag, true)) {
|
||||
@@ -1005,6 +1019,7 @@ int do_mag_calibration_quick(orb_advert_t *mavlink_log_pub, float heading_radian
|
||||
// use any existing scale and store the offset to the expected earth field
|
||||
const Vector3f offset = Vector3f{mag.x, mag.y, mag.z} - (cal.scale().I() * cal.rotation().transpose() * expected_field);
|
||||
cal.set_offset(offset);
|
||||
cal.set_temperature(mag.temperature);
|
||||
|
||||
// save new calibration
|
||||
if (cal.ParametersSave(cur_mag)) {
|
||||
|
||||
@@ -69,7 +69,6 @@ px4_add_module(
|
||||
EKF/terrain_estimator.cpp
|
||||
EKF/utils.cpp
|
||||
EKF/vel_pos_fusion.cpp
|
||||
EKF/zero_velocity_update.cpp
|
||||
|
||||
EKF2.cpp
|
||||
EKF2.hpp
|
||||
|
||||
@@ -56,7 +56,6 @@ add_library(ecl_EKF
|
||||
terrain_estimator.cpp
|
||||
utils.cpp
|
||||
vel_pos_fusion.cpp
|
||||
zero_velocity_update.cpp
|
||||
)
|
||||
|
||||
add_dependencies(ecl_EKF prebuild_targets)
|
||||
|
||||
@@ -181,8 +181,6 @@ void Ekf::controlFusionModes()
|
||||
// Additional horizontal velocity data from an auxiliary sensor can be fused
|
||||
controlAuxVelFusion();
|
||||
|
||||
controlZeroVelocityUpdate();
|
||||
|
||||
// Fake position measurement for constraining drift when no other velocity or position measurements
|
||||
controlFakePosFusion();
|
||||
|
||||
@@ -478,7 +476,6 @@ void Ekf::controlOpticalFlowFusion()
|
||||
// If the heading is valid and use is not inhibited , start using optical flow aiding
|
||||
if (_control_status.flags.yaw_align || _params.mag_fusion_type == MAG_FUSE_TYPE_NONE) {
|
||||
// set the flag and reset the fusion timeout
|
||||
ECL_INFO("starting optical flow fusion");
|
||||
_control_status.flags.opt_flow = true;
|
||||
_time_last_of_fuse = _time_last_imu;
|
||||
|
||||
@@ -515,7 +512,7 @@ void Ekf::controlOpticalFlowFusion()
|
||||
}
|
||||
|
||||
} else if (_control_status.flags.opt_flow
|
||||
&& (_imu_sample_delayed.time_us > _flow_sample_delayed.time_us + (uint64_t)10e6)) {
|
||||
&& (_imu_sample_delayed.time_us > _flow_sample_delayed.time_us + (uint64_t)10e6)) {
|
||||
|
||||
stopFlowFusion();
|
||||
}
|
||||
|
||||
@@ -75,9 +75,6 @@ void Ekf::reset()
|
||||
_control_status.value = 0;
|
||||
_control_status_prev.value = 0;
|
||||
|
||||
_control_status.flags.in_air = true;
|
||||
_control_status_prev.flags.in_air = true;
|
||||
|
||||
_ang_rate_delayed_raw.zero();
|
||||
|
||||
_fault_status.value = 0;
|
||||
|
||||
@@ -61,11 +61,7 @@ public:
|
||||
|
||||
using SparseVector24f = matrix::SparseVectorf<24, Idxs...>;
|
||||
|
||||
Ekf()
|
||||
{
|
||||
reset();
|
||||
};
|
||||
|
||||
Ekf() = default;
|
||||
virtual ~Ekf() = default;
|
||||
|
||||
// initialise variables to sane values (also interface class)
|
||||
@@ -383,7 +379,6 @@ private:
|
||||
uint64_t _time_last_arsp_fuse{0}; ///< time the last fusion of airspeed measurements were performed (uSec)
|
||||
uint64_t _time_last_beta_fuse{0}; ///< time the last fusion of synthetic sideslip measurements were performed (uSec)
|
||||
uint64_t _time_last_fake_pos_fuse{0}; ///< last time we faked position measurements to constrain tilt errors during operation without external aiding (uSec)
|
||||
uint64_t _time_last_zero_velocity_fuse{0}; ///< last time of zero velocity update (uSec)
|
||||
uint64_t _time_last_gps_yaw_fuse{0}; ///< time the last fusion of GPS yaw measurements were performed (uSec)
|
||||
uint64_t _time_last_gps_yaw_data{0}; ///< time the last GPS yaw measurement was available (uSec)
|
||||
uint64_t _time_last_healthy_rng_data{0};
|
||||
@@ -875,8 +870,6 @@ private:
|
||||
// control fusion of fake position observations to constrain drift
|
||||
void controlFakePosFusion();
|
||||
|
||||
void controlZeroVelocityUpdate();
|
||||
|
||||
// control fusion of auxiliary velocity observations
|
||||
void controlAuxVelFusion();
|
||||
|
||||
|
||||
@@ -1011,21 +1011,12 @@ void Ekf::update_deadreckoning_status()
|
||||
_control_status.flags.inertial_dead_reckoning = !velPosAiding && !optFlowAiding && !airDataAiding;
|
||||
|
||||
if (!_control_status.flags.inertial_dead_reckoning) {
|
||||
if (_time_last_imu > _params.no_aid_timeout_max) {
|
||||
_time_last_aiding = _time_last_imu - _params.no_aid_timeout_max;
|
||||
}
|
||||
_time_last_aiding = _time_last_imu - _params.no_aid_timeout_max;
|
||||
}
|
||||
|
||||
// report if we have been deadreckoning for too long, initial state is deadreckoning until aiding is present
|
||||
bool deadreckon_time_exceeded = (_time_last_aiding == 0)
|
||||
_deadreckon_time_exceeded = (_time_last_aiding == 0)
|
||||
|| isTimedOut(_time_last_aiding, (uint64_t)_params.valid_timeout_max);
|
||||
|
||||
if (!_deadreckon_time_exceeded && deadreckon_time_exceeded) {
|
||||
// deadreckon time now exceeded
|
||||
ECL_WARN("dead reckon time exceeded");
|
||||
}
|
||||
|
||||
_deadreckon_time_exceeded = deadreckon_time_exceeded;
|
||||
}
|
||||
|
||||
// calculate the variances for the rotation vector equivalent
|
||||
@@ -1661,13 +1652,10 @@ void Ekf::stopAuxVelFusion()
|
||||
|
||||
void Ekf::stopFlowFusion()
|
||||
{
|
||||
if (_control_status.flags.opt_flow) {
|
||||
ECL_INFO("stopping optical flow fusion");
|
||||
_control_status.flags.opt_flow = false;
|
||||
_flow_innov.setZero();
|
||||
_flow_innov_var.setZero();
|
||||
_optflow_test_ratio = 0.0f;
|
||||
}
|
||||
_control_status.flags.opt_flow = false;
|
||||
_flow_innov.setZero();
|
||||
_flow_innov_var.setZero();
|
||||
_optflow_test_ratio = 0.0f;
|
||||
}
|
||||
|
||||
void Ekf::resetQuatStateYaw(float yaw, float yaw_variance, bool update_buffer)
|
||||
|
||||
@@ -258,7 +258,12 @@ public:
|
||||
|
||||
protected:
|
||||
|
||||
EstimatorInterface() = default;
|
||||
EstimatorInterface()
|
||||
{
|
||||
_control_status.flags.in_air = true;
|
||||
_control_status.flags.vehicle_at_rest = false;
|
||||
};
|
||||
|
||||
virtual ~EstimatorInterface();
|
||||
|
||||
virtual bool init(uint64_t timestamp) = 0;
|
||||
@@ -344,9 +349,9 @@ protected:
|
||||
|
||||
bool _deadreckon_time_exceeded{true}; // true if the horizontal nav solution has been deadreckoning for too long and is invalid
|
||||
|
||||
float _gps_horizontal_position_drift_rate_m_s{NAN}; // Horizontal position drift rate (m/s)
|
||||
float _gps_vertical_position_drift_rate_m_s{NAN}; // Vertical position drift rate (m/s)
|
||||
float _gps_filtered_horizontal_velocity_m_s{NAN}; // Filtered horizontal velocity (m/s)
|
||||
float _gps_horizontal_position_drift_rate_m_s{0}; // Horizontal position drift rate (m/s)
|
||||
float _gps_vertical_position_drift_rate_m_s{0}; // Vertical position drift rate (m/s)
|
||||
float _gps_filtered_horizontal_velocity_m_s{0}; // Filtered horizontal velocity (m/s)
|
||||
|
||||
uint64_t _time_last_on_ground_us{0}; ///< last time we were on the ground (uSec)
|
||||
uint64_t _time_last_in_air{0}; ///< last time we were in air (uSec)
|
||||
|
||||
@@ -1,67 +0,0 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2022 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file zero_velocity_update.cpp
|
||||
* Control function for ekf zero velocity update
|
||||
*/
|
||||
|
||||
#include "ekf.h"
|
||||
|
||||
void Ekf::controlZeroVelocityUpdate()
|
||||
{
|
||||
// Fuse zero velocity at a limited rate (every 200 milliseconds)
|
||||
const bool zero_velocity_update_data_ready = isTimedOut(_time_last_zero_velocity_fuse, (uint64_t)2e5);
|
||||
|
||||
if (zero_velocity_update_data_ready) {
|
||||
const bool continuing_conditions_passing = _control_status.flags.vehicle_at_rest
|
||||
&& _control_status_prev.flags.vehicle_at_rest;
|
||||
|
||||
if (continuing_conditions_passing) {
|
||||
Vector3f vel_obs{0, 0, 0};
|
||||
Vector3f innovation = _state.vel - vel_obs;
|
||||
|
||||
const float obs_var = sq(0.001f);
|
||||
Vector3f innov_var{
|
||||
P(4, 4) + obs_var,
|
||||
P(5, 5) + obs_var,
|
||||
P(6, 6) + obs_var};
|
||||
|
||||
fuseVelPosHeight(innovation(0), innov_var(0), 0);
|
||||
fuseVelPosHeight(innovation(1), innov_var(1), 1);
|
||||
fuseVelPosHeight(innovation(2), innov_var(2), 2);
|
||||
|
||||
_time_last_zero_velocity_fuse = _time_last_imu;
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -1,96 +1,96 @@
|
||||
Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
|
||||
10000,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
||||
90000,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
||||
190000,1,-0.0105,-0.0107,-0.0167,-0.000387,-0.000237,-0.00902,-2.26e-05,-1e-05,-0.000287,0,0,0,0,0,0,0.192,0.00189,0.404,0,0,0,0,0,1.5e-06,0.00251,0.00251,0.00338,25,25,0.563,100,100,0.8,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
290000,1,-0.0106,-0.011,-0.0167,0.0006,0.000288,-0.0229,-2.94e-05,-3.64e-05,-0.00185,0,0,0,0,0,0,0.192,0.00189,0.404,0,0,0,0,0,1.21e-06,0.00256,0.00256,0.00222,25,25,0.562,101,101,0.337,1e-06,1e-06,9.97e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
390000,1,-0.0106,-0.0113,-0.0167,0.00209,0.000238,-0.0375,6.41e-05,2.46e-05,-0.00489,-1.63e-13,-6.23e-13,-3.16e-15,3.41e-12,-8.91e-13,-9.32e-14,0.192,0.00189,0.404,0,0,0,0,0,1.1e-06,0.00267,0.00267,0.00169,24.8,24.8,0.557,0.29,0.29,0.209,1e-06,1e-06,9.88e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
490000,1,-0.0107,-0.0117,-0.0167,0.00463,-0.000559,-0.0529,0.000405,-6.63e-06,-0.00941,-1.63e-13,-6.23e-13,-3.16e-15,3.41e-12,-8.91e-13,-9.32e-14,0.192,0.00189,0.404,0,0,0,0,0,1.08e-06,0.00282,0.00282,0.00141,24.9,24.9,0.544,0.739,0.739,0.159,1e-06,1e-06,9.73e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
590000,1,-0.0107,-0.012,-0.0167,0.00418,7.23e-05,-0.0661,0.000239,-5.36e-06,-0.0153,-2.19e-11,-5.29e-09,-4.94e-11,1.28e-08,-5.1e-11,-2.89e-10,0.192,0.00189,0.404,0,0,0,0,0,1.11e-06,0.00302,0.00302,0.00125,7.8,7.8,0.527,0.267,0.267,0.141,1e-06,1e-06,9.49e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
690000,1,-0.0108,-0.0123,-0.0167,0.00685,-0.000979,-0.0813,0.000761,-7.95e-05,-0.0227,-2.19e-11,-5.29e-09,-4.94e-11,1.28e-08,-5.1e-11,-2.89e-10,0.192,0.00189,0.404,0,0,0,0,0,1.17e-06,0.00328,0.00328,0.00116,7.87,7.87,0.497,0.556,0.556,0.13,1e-06,1e-06,9.16e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
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@@ -100,7 +100,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -112,10 +112,10 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -137,10 +137,10 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -152,54 +152,54 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
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18390000,0.706,5.26e-05,-0.0124,0.708,0.013,4.79e-05,0.00551,0.00299,-0.00128,-365,-1.34e-05,-6.05e-05,5.08e-06,-2.88e-05,5.99e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000139,0.000123,0.000123,0.000133,0.0309,0.0309,0.014,0.0447,0.0447,0.0454,5.3e-10,5.3e-10,8.36e-10,3.14e-06,3.14e-06,8.27e-08,0,0,0,0,0,0,0,0
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19090000,0.706,5.85e-05,-0.0122,0.708,0.0142,0.0023,0.00391,0.0075,-0.000376,-365,-1.37e-05,-6.05e-05,5.79e-06,-2.87e-05,6.45e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000137,0.000117,0.000117,0.000131,0.0317,0.0317,0.0123,0.0501,0.0501,0.0442,3.96e-10,3.97e-10,7.17e-10,3.11e-06,3.11e-06,6.37e-08,0,0,0,0,0,0,0,0
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19090000,0.706,5.85e-05,-0.0122,0.708,0.0142,0.0023,0.0039,0.0075,-0.000376,-365,-1.37e-05,-6.05e-05,5.79e-06,-2.87e-05,6.45e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000137,0.000117,0.000117,0.000131,0.0317,0.0317,0.0123,0.0501,0.0501,0.0442,3.96e-10,3.97e-10,7.17e-10,3.11e-06,3.11e-06,6.37e-08,0,0,0,0,0,0,0,0
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19190000,0.707,5.98e-05,-0.0121,0.708,0.0142,0.00228,0.00399,0.00837,-0.000352,-365,-1.37e-05,-6.05e-05,5.94e-06,-2.9e-05,6.42e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000137,0.000113,0.000113,0.000131,0.0281,0.0281,0.0119,0.0442,0.0442,0.0435,3.61e-10,3.61e-10,7.01e-10,3.1e-06,3.1e-06,6.09e-08,0,0,0,0,0,0,0,0
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19290000,0.707,8.29e-05,-0.0121,0.708,0.0146,0.00154,0.00673,0.00977,-0.000143,-365,-1.37e-05,-6.05e-05,5.73e-06,-2.9e-05,6.42e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000136,0.000115,0.000115,0.000131,0.0309,0.0309,0.0117,0.0499,0.0499,0.0433,3.61e-10,3.61e-10,6.85e-10,3.1e-06,3.1e-06,5.91e-08,0,0,0,0,0,0,0,0
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19390000,0.707,9.16e-05,-0.012,0.708,0.0121,0.000594,0.0106,0.00783,-0.000181,-365,-1.39e-05,-6.06e-05,5.88e-06,-2.92e-05,6.71e-05,-0.00131,0.209,0.00206,0.432,0,0,0,0,0,0.000136,0.000111,0.000111,0.000131,0.0275,0.0275,0.0115,0.0441,0.0441,0.0431,3.29e-10,3.29e-10,6.72e-10,3.09e-06,3.09e-06,5.69e-08,0,0,0,0,0,0,0,0
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||||
19490000,0.707,0.000115,-0.012,0.707,0.0112,-0.000105,0.00696,0.00898,-0.00016,-365,-1.39e-05,-6.06e-05,6.18e-06,-2.92e-05,6.71e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000136,0.000112,0.000112,0.00013,0.0301,0.0301,0.0113,0.0498,0.0498,0.043,3.29e-10,3.29e-10,6.57e-10,3.09e-06,3.09e-06,5.53e-08,0,0,0,0,0,0,0,0
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19590000,0.707,0.000161,-0.0119,0.707,0.00927,-0.00115,0.00631,0.00725,-0.000203,-365,-1.4e-05,-6.06e-05,6.55e-06,-2.92e-05,6.95e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000135,0.000109,0.000109,0.00013,0.0268,0.0268,0.011,0.044,0.044,0.0423,3e-10,3e-10,6.43e-10,3.08e-06,3.08e-06,5.31e-08,0,0,0,0,0,0,0,0
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19690000,0.707,0.000161,-0.012,0.707,0.00962,-0.00333,0.00785,0.0082,-0.000432,-365,-1.4e-05,-6.06e-05,6.32e-06,-2.92e-05,6.95e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000135,0.00011,0.00011,0.00013,0.0294,0.0294,0.0109,0.0495,0.0495,0.0422,3e-10,3e-10,6.29e-10,3.08e-06,3.08e-06,5.16e-08,0,0,0,0,0,0,0,0
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19790000,0.707,0.000225,-0.0119,0.707,0.00733,-0.00418,0.00835,0.00664,-0.000349,-365,-1.41e-05,-6.05e-05,6.33e-06,-2.87e-05,7.14e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000135,0.000108,0.000107,0.000129,0.0261,0.0261,0.0106,0.0438,0.0438,0.042,2.74e-10,2.74e-10,6.17e-10,3.07e-06,3.07e-06,5e-08,0,0,0,0,0,0,0,0
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||||
19290000,0.707,8.29e-05,-0.0121,0.708,0.0146,0.00154,0.00672,0.00977,-0.000143,-365,-1.37e-05,-6.05e-05,5.73e-06,-2.9e-05,6.42e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000136,0.000115,0.000115,0.000131,0.0309,0.0309,0.0117,0.0499,0.0499,0.0433,3.61e-10,3.61e-10,6.85e-10,3.1e-06,3.1e-06,5.91e-08,0,0,0,0,0,0,0,0
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||||
19390000,0.707,9.16e-05,-0.012,0.708,0.0121,0.000594,0.0105,0.00783,-0.000181,-365,-1.39e-05,-6.06e-05,5.88e-06,-2.92e-05,6.71e-05,-0.00131,0.209,0.00206,0.432,0,0,0,0,0,0.000136,0.000111,0.000111,0.000131,0.0275,0.0275,0.0115,0.0441,0.0441,0.0431,3.29e-10,3.29e-10,6.72e-10,3.09e-06,3.09e-06,5.69e-08,0,0,0,0,0,0,0,0
|
||||
19490000,0.707,0.000115,-0.012,0.707,0.0112,-0.000105,0.00695,0.00898,-0.00016,-365,-1.39e-05,-6.06e-05,6.18e-06,-2.92e-05,6.71e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000136,0.000112,0.000112,0.00013,0.0301,0.0301,0.0113,0.0498,0.0498,0.043,3.29e-10,3.29e-10,6.57e-10,3.09e-06,3.09e-06,5.53e-08,0,0,0,0,0,0,0,0
|
||||
19590000,0.707,0.000161,-0.0119,0.707,0.00927,-0.00115,0.0063,0.00725,-0.000203,-365,-1.4e-05,-6.06e-05,6.55e-06,-2.92e-05,6.95e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000135,0.000109,0.000109,0.00013,0.0268,0.0268,0.011,0.044,0.044,0.0423,3e-10,3e-10,6.43e-10,3.08e-06,3.08e-06,5.31e-08,0,0,0,0,0,0,0,0
|
||||
19690000,0.707,0.000161,-0.012,0.707,0.00962,-0.00333,0.00784,0.0082,-0.000432,-365,-1.4e-05,-6.06e-05,6.32e-06,-2.92e-05,6.95e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000135,0.00011,0.00011,0.00013,0.0294,0.0294,0.0109,0.0495,0.0495,0.0422,3e-10,3e-10,6.29e-10,3.08e-06,3.08e-06,5.16e-08,0,0,0,0,0,0,0,0
|
||||
19790000,0.707,0.000225,-0.0119,0.707,0.00733,-0.00418,0.00834,0.00664,-0.000349,-365,-1.41e-05,-6.05e-05,6.33e-06,-2.87e-05,7.14e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000135,0.000108,0.000107,0.000129,0.0261,0.0261,0.0106,0.0438,0.0438,0.042,2.74e-10,2.74e-10,6.17e-10,3.07e-06,3.07e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
19890000,0.707,0.000173,-0.0119,0.707,0.00608,-0.00445,0.00953,0.00731,-0.000796,-365,-1.41e-05,-6.05e-05,6.75e-06,-2.87e-05,7.14e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000135,0.000108,0.000108,0.000129,0.0286,0.0286,0.0105,0.0493,0.0493,0.0419,2.74e-10,2.74e-10,6.04e-10,3.07e-06,3.07e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
19990000,0.707,0.000156,-0.0119,0.707,0.00366,-0.00516,0.0123,0.00595,-0.000669,-365,-1.42e-05,-6.05e-05,7.3e-06,-2.81e-05,7.27e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000134,0.000106,0.000106,0.000129,0.0255,0.0255,0.0102,0.0437,0.0437,0.0412,2.51e-10,2.51e-10,5.91e-10,3.07e-06,3.07e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
19990000,0.707,0.000156,-0.0119,0.707,0.00366,-0.00517,0.0123,0.00595,-0.000669,-365,-1.42e-05,-6.05e-05,7.3e-06,-2.81e-05,7.27e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000134,0.000106,0.000106,0.000129,0.0255,0.0255,0.0102,0.0437,0.0437,0.0412,2.51e-10,2.51e-10,5.91e-10,3.07e-06,3.07e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
20090000,0.707,0.00015,-0.0119,0.707,0.00342,-0.00711,0.0126,0.00631,-0.00127,-365,-1.42e-05,-6.05e-05,7.76e-06,-2.81e-05,7.27e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000134,0.000107,0.000107,0.000129,0.0279,0.0279,0.0102,0.0491,0.0491,0.0415,2.51e-10,2.51e-10,5.8e-10,3.07e-06,3.07e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
20190000,0.707,0.000251,-0.0118,0.707,0.00112,-0.0078,0.0149,0.00405,-0.001,-365,-1.43e-05,-6.05e-05,7.96e-06,-2.7e-05,7.48e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000134,0.000104,0.000104,0.000128,0.0248,0.0248,0.00991,0.0435,0.0435,0.0409,2.3e-10,2.31e-10,5.68e-10,3.06e-06,3.06e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
20290000,0.707,0.000211,-0.0118,0.707,-3.03e-05,-0.00938,0.0129,0.0041,-0.00185,-365,-1.43e-05,-6.05e-05,8.08e-06,-2.71e-05,7.48e-05,-0.0013,0.209,0.00206,0.432,0,0,0,0,0,0.000133,0.000105,0.000105,0.000128,0.0271,0.0271,0.00982,0.0489,0.0489,0.0408,2.31e-10,2.31e-10,5.56e-10,3.06e-06,3.06e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
@@ -217,7 +217,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
21490000,0.708,0.000462,-0.012,0.706,-0.00555,-0.018,0.0143,0.00213,-0.00509,-365,-1.42e-05,-5.99e-05,8.31e-06,-1.66e-05,7.34e-05,-0.00129,0.209,0.00206,0.432,0,0,0,0,0,0.00013,9.74e-05,9.74e-05,0.000125,0.0233,0.0233,0.00846,0.0475,0.0475,0.0384,1.44e-10,1.44e-10,4.41e-10,3.04e-06,3.04e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
21590000,0.708,0.000484,-0.012,0.706,-0.00605,-0.0153,0.0141,0.00177,-0.00311,-365,-1.42e-05,-5.97e-05,8.2e-06,-1.39e-05,7.3e-05,-0.00129,0.209,0.00206,0.432,0,0,0,0,0,0.00013,9.6e-05,9.59e-05,0.000125,0.021,0.021,0.00831,0.0424,0.0423,0.0379,1.34e-10,1.34e-10,4.33e-10,3.03e-06,3.03e-06,5e-08,0,0,0,0,0,0,0,0
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@@ -228,11 +228,11 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
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||||
@@ -246,7 +246,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
@@ -255,7 +255,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
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||||
@@ -267,7 +267,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
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@@ -278,17 +278,17 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -365,7 +365,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -379,7 +379,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@@ -1,351 +1,351 @@
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||||
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|
||||
34190000,0.983,-0.00654,-0.0116,0.185,-0.0113,-0.0194,-0.116,0.071,-0.0121,-0.47,-1.41e-05,-5.63e-05,1.38e-06,-6.04e-05,-0.000114,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.63e-06,3.73e-05,3.73e-05,4.36e-05,0.0484,0.0484,0.00579,0.0432,0.0432,0.0328,2.59e-11,2.59e-11,8.88e-11,2.47e-06,2.46e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34290000,0.983,-0.0064,-0.0117,0.185,-0.0117,-0.0185,-0.116,0.0699,-0.0141,-0.482,-1.41e-05,-5.63e-05,1.39e-06,-6.04e-05,-0.000114,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.63e-06,3.74e-05,3.74e-05,4.34e-05,0.0553,0.0553,0.00583,0.05,0.05,0.0326,2.6e-11,2.6e-11,8.8e-11,2.47e-06,2.46e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34390000,0.983,-0.00631,-0.0117,0.185,-0.0125,-0.00912,-0.112,0.0717,-0.00942,-0.491,-1.41e-05,-5.63e-05,1.38e-06,-7.58e-05,-0.000127,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.62e-06,3.39e-05,3.39e-05,4.33e-05,0.0477,0.0477,0.00585,0.044,0.044,0.0325,2.6e-11,2.6e-11,8.74e-11,2.36e-06,2.35e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34490000,0.983,-0.00638,-0.0116,0.185,-0.0152,-0.00808,-0.112,0.0703,-0.0103,-0.503,-1.41e-05,-5.63e-05,1.4e-06,-7.58e-05,-0.000127,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.62e-06,3.4e-05,3.4e-05,4.32e-05,0.054,0.054,0.00591,0.051,0.051,0.0324,2.61e-11,2.61e-11,8.66e-11,2.36e-06,2.35e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34590000,0.983,-0.00633,-0.0114,0.185,-0.0115,-0.00444,0.683,0.0723,-0.00817,-0.48,-1.41e-05,-5.63e-05,1.38e-06,-8.86e-05,-0.000128,-0.00107,0.204,0.00202,0.435,0,0,0,0,0,1.61e-06,3.15e-05,3.15e-05,4.3e-05,0.0444,0.0444,0.00592,0.0446,0.0446,0.0321,2.62e-11,2.62e-11,8.58e-11,2.25e-06,2.25e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34690000,0.983,-0.00632,-0.0112,0.185,-0.0114,-0.00283,1.67,0.0712,-0.00854,-0.362,-1.41e-05,-5.63e-05,1.36e-06,-8.86e-05,-0.000128,-0.00107,0.204,0.00202,0.435,0,0,0,0,0,1.61e-06,3.15e-05,3.15e-05,4.29e-05,0.0479,0.0479,0.00602,0.0514,0.0514,0.0322,2.63e-11,2.63e-11,8.52e-11,2.25e-06,2.25e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34790000,0.983,-0.0063,-0.011,0.185,-0.0107,0.00118,2.64,0.0722,-0.00631,-0.184,-1.41e-05,-5.63e-05,1.34e-06,-7.42e-05,-0.000144,-0.00104,0.204,0.00202,0.435,0,0,0,0,0,1.6e-06,3.01e-05,3.01e-05,4.28e-05,0.0403,0.0403,0.00604,0.045,0.045,0.0319,2.63e-11,2.63e-11,8.45e-11,2.13e-06,2.12e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34890000,0.983,-0.00628,-0.0107,0.185,-0.0111,0.00308,3.63,0.0711,-0.00596,0.107,-1.41e-05,-5.63e-05,1.32e-06,-7.05e-05,-0.000146,-0.00104,0.204,0.00202,0.435,0,0,0,0,0,1.6e-06,3.02e-05,3.02e-05,4.26e-05,0.044,0.044,0.00614,0.0514,0.0514,0.0318,2.64e-11,2.64e-11,8.38e-11,2.13e-06,2.12e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
|
||||
|
@@ -153,11 +153,8 @@ void SensorSimulator::runMicroseconds(uint32_t duration)
|
||||
updateSensors();
|
||||
|
||||
if (update_imu) {
|
||||
if (_imu.moving()) {
|
||||
_ekf->set_vehicle_at_rest(false);
|
||||
}
|
||||
|
||||
// Update at IMU rate
|
||||
_ekf->set_vehicle_at_rest(!_imu.moving());
|
||||
_ekf->update();
|
||||
}
|
||||
}
|
||||
@@ -197,10 +194,7 @@ void SensorSimulator::runReplayMicroseconds(uint32_t duration)
|
||||
updateSensors();
|
||||
|
||||
if (update_imu) {
|
||||
if (_imu.moving()) {
|
||||
_ekf->set_vehicle_at_rest(false);
|
||||
}
|
||||
|
||||
_ekf->set_vehicle_at_rest(!_imu.moving());
|
||||
_ekf->update();
|
||||
}
|
||||
}
|
||||
@@ -324,10 +318,7 @@ void SensorSimulator::runTrajectoryMicroseconds(uint32_t duration)
|
||||
updateSensors();
|
||||
|
||||
if (update_imu) {
|
||||
if (_imu.moving()) {
|
||||
_ekf->set_vehicle_at_rest(false);
|
||||
}
|
||||
|
||||
_ekf->set_vehicle_at_rest(!_imu.moving());
|
||||
_ekf->update();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -60,12 +60,7 @@ public:
|
||||
// Setup the Ekf with synthetic measurements
|
||||
void SetUp() override
|
||||
{
|
||||
// run briefly to init, then manually set in air and at rest (default for a real vehicle)
|
||||
_ekf->init(0);
|
||||
_sensor_simulator.runSeconds(0.1);
|
||||
_ekf->set_in_air_status(false);
|
||||
_ekf->set_vehicle_at_rest(true);
|
||||
|
||||
_sensor_simulator.simulateOrientation(_quat_sim);
|
||||
_sensor_simulator.runSeconds(7);
|
||||
}
|
||||
@@ -86,7 +81,6 @@ TEST_F(EkfAirspeedTest, testWindVelocityEstimation)
|
||||
_sensor_simulator.startExternalVision();
|
||||
|
||||
_ekf->set_in_air_status(true);
|
||||
_ekf->set_vehicle_at_rest(false);
|
||||
_ekf->set_is_fixed_wing(true);
|
||||
_sensor_simulator.startAirspeedSensor();
|
||||
_sensor_simulator._airspeed.setData(airspeed_body(0), airspeed_body(0));
|
||||
@@ -104,10 +98,7 @@ TEST_F(EkfAirspeedTest, testWindVelocityEstimation)
|
||||
EXPECT_TRUE(matrix::isEqual(vel, simulated_velocity_earth));
|
||||
const Vector3f vel_wind_expected = simulated_velocity_earth - R_to_earth_sim * (Vector3f(airspeed_body(0),
|
||||
airspeed_body(1), 0.0f));
|
||||
|
||||
EXPECT_NEAR(vel_wind_earth(0), vel_wind_expected(0), 1e-3f);
|
||||
EXPECT_NEAR(vel_wind_earth(1), vel_wind_expected(1), 1e-3f);
|
||||
|
||||
EXPECT_TRUE(matrix::isEqual(vel_wind_earth, Vector2f(vel_wind_expected.slice<2, 1>(0, 0))));
|
||||
EXPECT_NEAR(height_before_pressure_correction, 0.0f, 1e-5f);
|
||||
|
||||
// Apply height correction
|
||||
@@ -119,7 +110,6 @@ TEST_F(EkfAirspeedTest, testWindVelocityEstimation)
|
||||
float expected_height_difference = 0.5f * static_pressure_coef_xp * airspeed_body(0) * airspeed_body(
|
||||
0) / CONSTANTS_ONE_G;
|
||||
|
||||
_ekf->set_vehicle_at_rest(false);
|
||||
_sensor_simulator.runSeconds(20);
|
||||
|
||||
const float height_after_pressure_correction = _ekf->getPosition()(2);
|
||||
|
||||
@@ -53,12 +53,7 @@ public:
|
||||
// Setup the Ekf with synthetic measurements
|
||||
void SetUp() override
|
||||
{
|
||||
// run briefly to init, then manually set in air and at rest (default for a real vehicle)
|
||||
_ekf->init(0);
|
||||
_sensor_simulator.runSeconds(0.1);
|
||||
_ekf->set_in_air_status(false);
|
||||
_ekf->set_vehicle_at_rest(true);
|
||||
|
||||
_sensor_simulator.runSeconds(_init_duration_s);
|
||||
}
|
||||
|
||||
|
||||
@@ -61,11 +61,7 @@ public:
|
||||
// Setup the Ekf with synthetic measurements
|
||||
void SetUp() override
|
||||
{
|
||||
// run briefly to init, then manually set in air and at rest (default for a real vehicle)
|
||||
_ekf->init(0);
|
||||
_sensor_simulator.runSeconds(0.1);
|
||||
_ekf->set_in_air_status(false);
|
||||
_ekf->set_vehicle_at_rest(true);
|
||||
}
|
||||
|
||||
// Use this method to clean up any memory, network etc. after each test
|
||||
@@ -121,7 +117,6 @@ TEST_F(EkfExternalVisionTest, visionVelocityReset)
|
||||
_ekf_wrapper.enableExternalVisionVelocityFusion();
|
||||
_sensor_simulator.startExternalVision();
|
||||
// Note: test duration needs to allow time for tilt alignment to complete
|
||||
_ekf->set_vehicle_at_rest(false);
|
||||
_sensor_simulator.runMicroseconds(2e5);
|
||||
|
||||
// THEN: a reset to Vision velocity should be done
|
||||
@@ -155,7 +150,6 @@ TEST_F(EkfExternalVisionTest, visionVelocityResetWithAlignment)
|
||||
_sensor_simulator._vio.setVelocity(simulated_velocity_in_vision_frame);
|
||||
_ekf_wrapper.enableExternalVisionVelocityFusion();
|
||||
_sensor_simulator.startExternalVision();
|
||||
_ekf->set_vehicle_at_rest(false);
|
||||
_sensor_simulator.runMicroseconds(2e5);
|
||||
|
||||
// THEN: a reset to Vision velocity should be done
|
||||
@@ -267,8 +261,6 @@ TEST_F(EkfExternalVisionTest, velocityFrameBody)
|
||||
_sensor_simulator.simulateOrientation(quat_sim);
|
||||
_sensor_simulator.runSeconds(_tilt_align_time);
|
||||
|
||||
_ekf->set_vehicle_at_rest(false);
|
||||
|
||||
// Without any measurement x and y velocity variance are close
|
||||
const Vector3f velVar_init = _ekf->getVelocityVariance();
|
||||
EXPECT_NEAR(velVar_init(0), velVar_init(1), 0.0001);
|
||||
@@ -322,7 +314,6 @@ TEST_F(EkfExternalVisionTest, velocityFrameLocal)
|
||||
_sensor_simulator._vio.setVelocity(vel_earth);
|
||||
_ekf_wrapper.enableExternalVisionVelocityFusion();
|
||||
_sensor_simulator.startExternalVision();
|
||||
_ekf->set_vehicle_at_rest(false);
|
||||
_sensor_simulator.runSeconds(4);
|
||||
|
||||
// THEN: Independently on drones heading, velocity variance
|
||||
@@ -342,8 +333,6 @@ TEST_F(EkfExternalVisionTest, positionFrameLocal)
|
||||
_sensor_simulator.simulateOrientation(quat_sim);
|
||||
_sensor_simulator.runSeconds(_tilt_align_time);
|
||||
|
||||
_ekf->set_vehicle_at_rest(false);
|
||||
|
||||
// WHEN: using EV yaw fusion and rotate EV is set
|
||||
Quatf vision_to_ekf(Eulerf(0.0f, 0.0f, 0.f));
|
||||
_sensor_simulator._vio.setOrientation(vision_to_ekf.inversed());
|
||||
@@ -368,8 +357,7 @@ TEST_F(EkfExternalVisionTest, positionFrameLocal)
|
||||
// WHEN: the measurement in EV FRD frame changes
|
||||
pos_earth = Vector3f(0.3f, 0.0f, 0.0f);
|
||||
_sensor_simulator._vio.setPosition(pos_earth);
|
||||
|
||||
_sensor_simulator.runSeconds(12);
|
||||
_sensor_simulator.runSeconds(8);
|
||||
|
||||
// THEN: the position should converge to the EV position
|
||||
// Note that the estimate is now in the EV frame because it is
|
||||
|
||||
@@ -64,12 +64,7 @@ public:
|
||||
const float max_ground_distance = 50.f;
|
||||
_ekf->set_optical_flow_limits(max_flow_rate, min_ground_distance, max_ground_distance);
|
||||
|
||||
// run briefly to init, then manually set in air and at rest (default for a real vehicle)
|
||||
_ekf->init(0);
|
||||
_sensor_simulator.runSeconds(0.1);
|
||||
_ekf->set_in_air_status(false);
|
||||
_ekf->set_vehicle_at_rest(true);
|
||||
|
||||
_sensor_simulator.runSeconds(7);
|
||||
}
|
||||
|
||||
@@ -116,7 +111,6 @@ TEST_F(EkfFlowTest, resetToFlowVelocityInAir)
|
||||
_sensor_simulator._trajectory[2].setCurrentPosition(-simulated_distance_to_ground);
|
||||
startRangeFinderFusion(simulated_distance_to_ground);
|
||||
_ekf->set_in_air_status(true);
|
||||
_ekf->set_vehicle_at_rest(false);
|
||||
|
||||
_sensor_simulator.runSeconds(5.f);
|
||||
|
||||
@@ -188,9 +182,7 @@ TEST_F(EkfFlowTest, inAirConvergence)
|
||||
const float simulated_distance_to_ground = 5.f;
|
||||
_sensor_simulator._trajectory[2].setCurrentPosition(-simulated_distance_to_ground);
|
||||
startRangeFinderFusion(simulated_distance_to_ground);
|
||||
|
||||
_ekf->set_in_air_status(true);
|
||||
_ekf->set_vehicle_at_rest(false);
|
||||
|
||||
_sensor_simulator.runSeconds(5.f);
|
||||
|
||||
@@ -232,9 +224,7 @@ TEST_F(EkfFlowTest, yawMotionCorrectionWithAutopilotGyroData)
|
||||
const float simulated_distance_to_ground = 5.f;
|
||||
startRangeFinderFusion(simulated_distance_to_ground);
|
||||
startZeroFlowFusion();
|
||||
|
||||
_ekf->set_in_air_status(true);
|
||||
_ekf->set_vehicle_at_rest(false);
|
||||
|
||||
_sensor_simulator.runSeconds(5.f);
|
||||
|
||||
@@ -269,9 +259,7 @@ TEST_F(EkfFlowTest, yawMotionCorrectionWithFlowGyroData)
|
||||
const float simulated_distance_to_ground = 5.f;
|
||||
startRangeFinderFusion(simulated_distance_to_ground);
|
||||
startZeroFlowFusion();
|
||||
|
||||
_ekf->set_in_air_status(true);
|
||||
_ekf->set_vehicle_at_rest(false);
|
||||
|
||||
_sensor_simulator.runSeconds(5.f);
|
||||
|
||||
|
||||
@@ -59,12 +59,7 @@ public:
|
||||
// Setup the Ekf with synthetic measurements
|
||||
void SetUp() override
|
||||
{
|
||||
// run briefly to init, then manually set in air and at rest (default for a real vehicle)
|
||||
_ekf->init(0);
|
||||
_sensor_simulator.runSeconds(0.1);
|
||||
_ekf->set_in_air_status(false);
|
||||
_ekf->set_vehicle_at_rest(true);
|
||||
|
||||
_sensor_simulator.runSeconds(7);
|
||||
}
|
||||
|
||||
@@ -209,8 +204,6 @@ TEST_F(EkfFusionLogicTest, fallbackFromGpsToFlow)
|
||||
TEST_F(EkfFusionLogicTest, doFlowFusion)
|
||||
{
|
||||
// GIVEN: a tilt and heading aligned filter
|
||||
EXPECT_TRUE(_ekf->attitude_valid());
|
||||
|
||||
// WHEN: sending flow data without having the flow fusion enabled
|
||||
// flow measurement fusion should not be intended.
|
||||
const float max_flow_rate = 5.f;
|
||||
@@ -218,9 +211,6 @@ TEST_F(EkfFusionLogicTest, doFlowFusion)
|
||||
const float max_ground_distance = 50.f;
|
||||
_ekf->set_optical_flow_limits(max_flow_rate, min_ground_distance, max_ground_distance);
|
||||
_sensor_simulator.startFlow();
|
||||
_sensor_simulator.startRangeFinder();
|
||||
_ekf->set_vehicle_at_rest(false);
|
||||
_ekf->set_in_air_status(true);
|
||||
_sensor_simulator.runSeconds(4);
|
||||
|
||||
// THEN: EKF should not intend to fuse flow measurements
|
||||
@@ -383,8 +373,6 @@ TEST_F(EkfFusionLogicTest, doBaroHeightFusionTimeout)
|
||||
reset_logging_checker.capturePreResetState();
|
||||
|
||||
_sensor_simulator._baro.setData(100.f);
|
||||
_ekf->set_vehicle_at_rest(false);
|
||||
_ekf->set_in_air_status(true);
|
||||
_sensor_simulator.runSeconds(6);
|
||||
|
||||
reset_logging_checker.capturePostResetState();
|
||||
@@ -402,7 +390,7 @@ TEST_F(EkfFusionLogicTest, doBaroHeightFusionTimeout)
|
||||
|
||||
// AND: the baro data jumps by a lot
|
||||
_sensor_simulator._baro.setData(800.f);
|
||||
_sensor_simulator.runSeconds(20);
|
||||
_sensor_simulator.runSeconds(6);
|
||||
reset_logging_checker.capturePostResetState();
|
||||
|
||||
// THEN: EKF should fallback to GPS height
|
||||
|
||||
@@ -58,12 +58,7 @@ public:
|
||||
// Setup the Ekf with synthetic measurements
|
||||
void SetUp() override
|
||||
{
|
||||
// run briefly to init, then manually set in air and at rest (default for a real vehicle)
|
||||
_ekf->init(0);
|
||||
_sensor_simulator.runSeconds(0.1);
|
||||
_ekf->set_in_air_status(false);
|
||||
_ekf->set_vehicle_at_rest(true);
|
||||
|
||||
_sensor_simulator.runSeconds(2);
|
||||
_ekf_wrapper.enableGpsFusion();
|
||||
_sensor_simulator.startGps();
|
||||
@@ -109,16 +104,11 @@ TEST_F(EkfGpsTest, resetToGpsVelocity)
|
||||
const uint64_t dt_us = 1e5;
|
||||
_sensor_simulator._gps.stepHorizontalPositionByMeters(Vector2f(simulated_velocity) * dt_us * 1e-6);
|
||||
_sensor_simulator._gps.stepHeightByMeters(simulated_velocity(2) * dt_us * 1e-6f);
|
||||
|
||||
_ekf->set_in_air_status(true);
|
||||
_ekf->set_vehicle_at_rest(false);
|
||||
_sensor_simulator.runMicroseconds(dt_us);
|
||||
|
||||
// THEN: a reset to GPS velocity should be done
|
||||
const Vector3f estimated_velocity = _ekf->getVelocity();
|
||||
EXPECT_NEAR(estimated_velocity(0), simulated_velocity(0), 1e-3f);
|
||||
EXPECT_NEAR(estimated_velocity(1), simulated_velocity(1), 1e-3f);
|
||||
EXPECT_NEAR(estimated_velocity(2), simulated_velocity(2), 1e-3f);
|
||||
EXPECT_TRUE(isEqual(estimated_velocity, simulated_velocity, 1e-2f));
|
||||
|
||||
// AND: the reset in velocity should be saved correctly
|
||||
reset_logging_checker.capturePostResetState();
|
||||
|
||||
@@ -61,12 +61,7 @@ public:
|
||||
// Setup the Ekf with synthetic measurements
|
||||
void SetUp() override
|
||||
{
|
||||
// run briefly to init, then manually set in air and at rest (default for a real vehicle)
|
||||
_ekf->init(0);
|
||||
_sensor_simulator.runSeconds(0.1);
|
||||
_ekf->set_in_air_status(false);
|
||||
_ekf->set_vehicle_at_rest(true);
|
||||
|
||||
_sensor_simulator.runSeconds(_init_duration_s);
|
||||
_sensor_simulator._gps.setYaw(NAN);
|
||||
_sensor_simulator.runSeconds(2);
|
||||
|
||||
@@ -111,7 +111,7 @@ public:
|
||||
EXPECT_TRUE(pos_var(1) > pos_variance_limit) << "pos_var(1)" << pos_var(1);
|
||||
EXPECT_TRUE(pos_var(2) > pos_variance_limit) << "pos_var(2)" << pos_var(2);
|
||||
|
||||
const float vel_variance_limit = 0.0001f; // zero velocity update obs var when at rest
|
||||
const float vel_variance_limit = 0.16f;
|
||||
EXPECT_TRUE(vel_var(0) > vel_variance_limit) << "vel_var(0)" << vel_var(0);
|
||||
EXPECT_TRUE(vel_var(1) > vel_variance_limit) << "vel_var(1)" << vel_var(1);
|
||||
EXPECT_TRUE(vel_var(2) > vel_variance_limit) << "vel_var(2)" << vel_var(2);
|
||||
|
||||
@@ -57,12 +57,7 @@ public:
|
||||
// Setup the Ekf with synthetic measurements
|
||||
void SetUp() override
|
||||
{
|
||||
// run briefly to init, then manually set in air and at rest (default for a real vehicle)
|
||||
_ekf->init(0);
|
||||
_sensor_simulator.runSeconds(0.1);
|
||||
_ekf->set_in_air_status(false);
|
||||
_ekf->set_vehicle_at_rest(true);
|
||||
|
||||
_sensor_simulator.runSeconds(2);
|
||||
}
|
||||
|
||||
@@ -74,11 +69,7 @@ public:
|
||||
void runFlowAndRngScenario(const float rng_height, const float flow_height)
|
||||
{
|
||||
_sensor_simulator.startGps();
|
||||
|
||||
_ekf->set_min_required_gps_health_time(1e6);
|
||||
_ekf->set_in_air_status(false);
|
||||
_ekf->set_vehicle_at_rest(true);
|
||||
|
||||
_ekf_wrapper.enableGpsFusion();
|
||||
_ekf_wrapper.setBaroHeight();
|
||||
_sensor_simulator.runSeconds(2); // Run to pass the GPS checks
|
||||
@@ -109,9 +100,7 @@ public:
|
||||
_sensor_simulator.startFlow();
|
||||
|
||||
_ekf->set_in_air_status(true);
|
||||
_ekf->set_vehicle_at_rest(false);
|
||||
|
||||
_sensor_simulator.runSeconds(10);
|
||||
_sensor_simulator.runSeconds(7);
|
||||
}
|
||||
};
|
||||
|
||||
@@ -125,11 +114,11 @@ TEST_F(EkfTerrainTest, setFlowAndRangeTerrainFusion)
|
||||
EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainRngFusion());
|
||||
EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainFlowFusion());
|
||||
const float estimated_distance_to_ground = _ekf->getTerrainVertPos();
|
||||
EXPECT_NEAR(estimated_distance_to_ground, simulated_distance_to_ground, 0.01);
|
||||
EXPECT_NEAR(estimated_distance_to_ground, simulated_distance_to_ground, 1e-4);
|
||||
|
||||
// WHEN: rng fusion is disabled
|
||||
_ekf_wrapper.disableTerrainRngFusion();
|
||||
_sensor_simulator.runSeconds(5.1);
|
||||
_sensor_simulator.runSeconds(5.);
|
||||
|
||||
// THEN: rng fusion should be disabled and flow fusion should take over
|
||||
EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainRngFusion());
|
||||
|
||||
@@ -58,12 +58,7 @@ public:
|
||||
// Setup the Ekf with mag aiding disabled
|
||||
void SetUp() override
|
||||
{
|
||||
// run briefly to init, then manually set in air and at rest (default for a real vehicle)
|
||||
_ekf->init(0);
|
||||
_sensor_simulator.runSeconds(0.1);
|
||||
_ekf->set_in_air_status(false);
|
||||
_ekf->set_vehicle_at_rest(true);
|
||||
|
||||
_ekf_wrapper.setMagFuseTypeNone();
|
||||
_sensor_simulator.runSeconds(2);
|
||||
_ekf_wrapper.enableGpsFusion();
|
||||
|
||||
@@ -246,6 +246,7 @@ void GyroCalibration::Run()
|
||||
const Vector3f old_offset{_gyro_calibration[gyro].offset()};
|
||||
|
||||
if (_gyro_calibration[gyro].set_offset(_gyro_mean[gyro].mean())) {
|
||||
_gyro_calibration[gyro].set_temperature(_temperature[gyro]);
|
||||
|
||||
calibration_updated = true;
|
||||
|
||||
|
||||
@@ -62,7 +62,7 @@ void LoggedTopics::add_default_topics()
|
||||
add_topic("cpuload");
|
||||
add_optional_topic("esc_status", 250);
|
||||
add_topic("failure_detector_status", 100);
|
||||
add_optional_topic("follow_target", 500);
|
||||
add_topic("follow_target", 500);
|
||||
add_optional_topic("generator_status");
|
||||
add_optional_topic("gps_dump");
|
||||
add_optional_topic("heater_status");
|
||||
@@ -70,8 +70,6 @@ void LoggedTopics::add_default_topics()
|
||||
add_topic("hover_thrust_estimate", 100);
|
||||
add_topic("input_rc", 500);
|
||||
add_optional_topic("internal_combustion_engine_status", 10);
|
||||
add_optional_topic("irlock_report", 1000);
|
||||
add_optional_topic("landing_target_pose", 1000);
|
||||
add_optional_topic("magnetometer_bias_estimate", 200);
|
||||
add_topic("manual_control_setpoint", 200);
|
||||
add_topic("manual_control_switches");
|
||||
|
||||
@@ -765,12 +765,12 @@ void Mavlink::send_finish()
|
||||
|
||||
else if (get_protocol() == Protocol::UDP) {
|
||||
|
||||
# if defined(CONFIG_NET_UDP)
|
||||
# if defined(CONFIG_NET)
|
||||
|
||||
if (_src_addr_initialized) {
|
||||
# endif // CONFIG_NET
|
||||
ret = sendto(_socket_fd, _buf, _buf_fill, 0, (struct sockaddr *)&_src_addr, sizeof(_src_addr));
|
||||
# if defined(CONFIG_NET_UDP)
|
||||
# if defined(CONFIG_NET)
|
||||
}
|
||||
|
||||
# endif // CONFIG_NET
|
||||
@@ -1849,7 +1849,7 @@ Mavlink::task_main(int argc, char *argv[])
|
||||
bool err_flag = false;
|
||||
int myoptind = 1;
|
||||
const char *myoptarg = nullptr;
|
||||
#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX)
|
||||
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
|
||||
int temp_int_arg;
|
||||
#endif
|
||||
|
||||
@@ -3270,7 +3270,7 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS1", "<file:dev>", "Select Serial Device", true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('b', 57600, 9600, 3000000, "Baudrate (can also be p:<param_name>)", true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('r', 0, 10, 10000000, "Maximum sending data rate in B/s (if 0, use baudrate / 20)", true);
|
||||
#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX)
|
||||
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
|
||||
PRINT_MODULE_USAGE_PARAM_FLAG('p', "Enable Broadcast", true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('u', 14556, 0, 65536, "Select UDP Network Port (local)", true);
|
||||
PRINT_MODULE_USAGE_PARAM_INT('o', 14550, 0, 65536, "Select UDP Network Port (remote)", true);
|
||||
@@ -3291,7 +3291,7 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("stop-all", "Stop all instances");
|
||||
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop a running instance");
|
||||
#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX)
|
||||
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
|
||||
PRINT_MODULE_USAGE_PARAM_INT('u', -1, 0, 65536, "Select Mavlink instance via local Network Port", true);
|
||||
#endif
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "Select Mavlink instance via Serial Device", true);
|
||||
@@ -3301,7 +3301,7 @@ $ mavlink stream -u 14556 -s HIGHRES_IMU -r 50
|
||||
PRINT_MODULE_USAGE_ARG("streams", "Print all enabled streams", true);
|
||||
|
||||
PRINT_MODULE_USAGE_COMMAND_DESCR("stream", "Configure the sending rate of a stream for a running instance");
|
||||
#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX)
|
||||
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
|
||||
PRINT_MODULE_USAGE_PARAM_INT('u', -1, 0, 65536, "Select Mavlink instance via local Network Port", true);
|
||||
#endif
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, "<file:dev>", "Select Mavlink instance via Serial Device", true);
|
||||
|
||||
@@ -53,7 +53,7 @@
|
||||
#include <sys/socket.h>
|
||||
#endif
|
||||
|
||||
#if defined(CONFIG_NET_UDP) || !defined(__PX4_NUTTX)
|
||||
#if defined(CONFIG_NET) || !defined(__PX4_NUTTX)
|
||||
#include <net/if.h>
|
||||
#include <netinet/in.h>
|
||||
#endif
|
||||
@@ -90,7 +90,7 @@
|
||||
|
||||
#define HASH_PARAM "_HASH_CHECK"
|
||||
|
||||
#if defined(CONFIG_NET_UDP) || defined(__PX4_POSIX)
|
||||
#if defined(CONFIG_NET) || defined(__PX4_POSIX)
|
||||
# define MAVLINK_UDP
|
||||
# define DEFAULT_REMOTE_PORT_UDP 14550 ///< GCS port per MAVLink spec
|
||||
#endif // CONFIG_NET || __PX4_POSIX
|
||||
|
||||
@@ -3091,7 +3091,7 @@ MavlinkReceiver::run()
|
||||
#if defined(__PX4_POSIX)
|
||||
/* 1500 is the Wifi MTU, so we make sure to fit a full packet */
|
||||
uint8_t buf[1600 * 5];
|
||||
#elif defined(CONFIG_NET_UDP)
|
||||
#elif defined(CONFIG_NET)
|
||||
/* 1500 is the Wifi MTU, so we make sure to fit a full packet */
|
||||
uint8_t buf[1000];
|
||||
#else
|
||||
|
||||
@@ -159,6 +159,18 @@ parameters:
|
||||
num_instances: *max_num_sensor_instances
|
||||
instance_start: 0
|
||||
|
||||
CAL_ACC${i}_TEMP:
|
||||
description:
|
||||
short: Accelerometer ${i} calibration temperature
|
||||
long: Temperature during last calibration.
|
||||
category: System
|
||||
type: float
|
||||
default: -1000.
|
||||
unit: celcius
|
||||
volatile: true
|
||||
num_instances: *max_num_sensor_instances
|
||||
instance_start: 0
|
||||
|
||||
# Gyroscope calibration
|
||||
CAL_GYRO${i}_ID:
|
||||
description:
|
||||
@@ -276,6 +288,18 @@ parameters:
|
||||
num_instances: *max_num_sensor_instances
|
||||
instance_start: 0
|
||||
|
||||
CAL_GYRO${i}_TEMP:
|
||||
description:
|
||||
short: Gyroscope ${i} calibration temperature
|
||||
long: Temperature during last calibration.
|
||||
category: System
|
||||
type: float
|
||||
default: -1000.
|
||||
unit: celcius
|
||||
volatile: true
|
||||
num_instances: *max_num_sensor_instances
|
||||
instance_start: 0
|
||||
|
||||
# Magnetometer calibration
|
||||
CAL_MAG${i}_ID:
|
||||
description:
|
||||
@@ -506,3 +530,15 @@ parameters:
|
||||
volatile: true
|
||||
num_instances: *max_num_sensor_instances
|
||||
instance_start: 0
|
||||
|
||||
CAL_MAG${i}_TEMP:
|
||||
description:
|
||||
short: Magnetometer ${i} calibration temperature
|
||||
long: Temperature during last calibration.
|
||||
category: System
|
||||
type: float
|
||||
default: -1000.
|
||||
unit: celcius
|
||||
volatile: true
|
||||
num_instances: *max_num_sensor_instances
|
||||
instance_start: 0
|
||||
|
||||
@@ -147,7 +147,7 @@ bool VehicleIMU::ParametersUpdate(bool force)
|
||||
|
||||
// constrain IMU integration time 1-20 milliseconds (50-1000 Hz)
|
||||
int32_t imu_integration_rate_hz = constrain(_param_imu_integ_rate.get(),
|
||||
(int32_t)50, math::min(_param_imu_gyro_ratemax.get(), (int32_t) 1000));
|
||||
(int32_t)50, math::max(_param_imu_gyro_ratemax.get(), (int32_t) 1000));
|
||||
|
||||
if (imu_integration_rate_hz != _param_imu_integ_rate.get()) {
|
||||
PX4_WARN("IMU_INTEG_RATE updated %" PRId32 " -> %" PRIu32, _param_imu_integ_rate.get(), imu_integration_rate_hz);
|
||||
|
||||
@@ -194,6 +194,7 @@ void VehicleMagnetometer::UpdateMagBiasEstimate()
|
||||
const Vector3f offset = _calibration[mag_index].BiasCorrectedSensorOffset(_calibration_estimator_bias[mag_index]);
|
||||
|
||||
if (_calibration[mag_index].set_offset(offset)) {
|
||||
_calibration[mag_index].set_temperature(_last_data[mag_index].temperature);
|
||||
|
||||
// save parameters with preferred calibration slot to current sensor index
|
||||
_calibration[mag_index].ParametersSave(mag_index);
|
||||
@@ -252,6 +253,7 @@ void VehicleMagnetometer::UpdateMagCalibration()
|
||||
_calibration_estimator_bias[mag_index];
|
||||
|
||||
_mag_cal[i].variance = bias_variance;
|
||||
_mag_cal[i].temperature = _last_data[mag_index].temperature;
|
||||
|
||||
_in_flight_mag_cal_available = true;
|
||||
break;
|
||||
@@ -296,6 +298,8 @@ void VehicleMagnetometer::UpdateMagCalibration()
|
||||
(double)mag_cal_offset(0), (double)mag_cal_offset(1), (double)mag_cal_offset(2),
|
||||
(double)_mag_cal[i].offset(0), (double)_mag_cal[i].offset(1), (double)_mag_cal[i].offset(2));
|
||||
|
||||
_calibration[mag_index].set_temperature(_last_data[mag_index].temperature);
|
||||
|
||||
_calibration[mag_index].ParametersSave();
|
||||
|
||||
calibration_param_save_needed = true;
|
||||
|
||||
@@ -119,6 +119,7 @@ private:
|
||||
uint32_t device_id{0};
|
||||
matrix::Vector3f offset{};
|
||||
matrix::Vector3f variance{};
|
||||
float temperature{NAN};
|
||||
} _mag_cal[ORB_MULTI_MAX_INSTANCES] {};
|
||||
|
||||
uORB::SubscriptionCallbackWorkItem _sensor_sub[MAX_SENSOR_COUNT] {
|
||||
|
||||
Reference in New Issue
Block a user