sensors/vehicle_angular_velocity: use 3 coefficient backward finite difference for angular acceleration (on FIFO data)

boards/px4/fmu-v2/nuttx-config/nsh/defconfig

@@ -82,7 +82,7 @@ CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=n
+CONFIG_LIBC_STRERROR=y
 CONFIG_LIBC_STRERROR_SHORT=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y

mavlink/include/mavlink/v2.0

@@ -1 +1 @@
-Subproject commit 3a3aea8fe57c9f14d215b8769f9b77bca8b7c750
+Subproject commit 826b4ba68b83fa4e7a30636d2d97a9d6f1105122

platforms/nuttx/NuttX/nuttx

@@ -1 +1 @@
-Subproject commit adb88ade443523e1ae28c14a2d6410977f4e3dd8
+Subproject commit bf06434168d1b60474e90b277ff117975e250e6a

src/drivers/dshot/DShot.cpp

@@ -530,27 +530,11 @@ bool DShot::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS],
 
 	} else {
 		for (int i = 0; i < (int)num_outputs; i++) {
-
-			uint16_t output = outputs[i];
-
-			// DShot 3D splits the throttle ranges in two.
-			// This is in terms of DShot values, code below is in terms of actuator_output
-			// Direction 1) 48 is the slowest, 1047 is the fastest.
-			// Direction 2) 1049 is the slowest, 2047 is the fastest.
-			if (_param_dshot_3d_enable.get()) {
-				if (output >= _param_dshot_3d_dead_l.get() && output <= _param_dshot_3d_dead_h.get()) {
-					output = DSHOT_DISARM_VALUE;
-
-				} else if (output < 1000 && output > 0) { //Todo: allow actuator 0 or dshot 48 to be used
-					output = 999 - output;
-				}
-			}
-
-			if (output == DSHOT_DISARM_VALUE) {
+			if (outputs[i] == DSHOT_DISARM_VALUE) {
 				up_dshot_motor_command(i, DShot_cmd_motor_stop, i == requested_telemetry_index);
 
 			} else {
-				up_dshot_motor_data_set(i, math::min(output, static_cast<uint16_t>(DSHOT_MAX_THROTTLE)),
+				up_dshot_motor_data_set(i, math::min(outputs[i], static_cast<uint16_t>(DSHOT_MAX_THROTTLE)),
 							i == requested_telemetry_index);
 			}
 		}

src/drivers/dshot/DShot.h

@@ -231,9 +231,6 @@ private:
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::DSHOT_CONFIG>)   _param_dshot_config,
 		(ParamFloat<px4::params::DSHOT_MIN>)    _param_dshot_min,
-		(ParamBool<px4::params::DSHOT_3D_ENABLE>) _param_dshot_3d_enable,
-		(ParamInt<px4::params::DSHOT_3D_DEAD_H>) _param_dshot_3d_dead_h,
-		(ParamInt<px4::params::DSHOT_3D_DEAD_L>) _param_dshot_3d_dead_l,
 		(ParamInt<px4::params::MOT_POLE_COUNT>) _param_mot_pole_count
 	)
 };

src/drivers/dshot/module.yaml

@@ -14,7 +14,7 @@ parameters:
                 long: |
                     This enables/disables DShot. The different modes define different
                     speeds, for example DShot150 = 150kb/s. Not all ESCs support all modes.
-
+                    
                     Note: this enables DShot on the FMU outputs. For boards with an IO it is the
                     AUX outputs.
             type: enum
@@ -40,37 +40,6 @@ parameters:
             decimal: 2
             increment: 0.01
             default: 0.055
-        DSHOT_3D_ENABLE:
-            description:
-                short: Allows for 3d mode when using DShot and suitable mixer
-                long: |
-                    WARNING: ESC must be configured for 3D mode, and DSHOT_MIN set to 0.
-                    This splits the throttle ranges in two.
-                    Direction 1) 48 is the slowest, 1047 is the fastest.
-                    Direction 2) 1049 is the slowest, 2047 is the fastest.
-                    When mixer outputs 1000 or value inside DSHOT 3D deadband, DShot 0 is sent.
-            type: boolean
-            default: 0
-        DSHOT_3D_DEAD_H:
-            description:
-                short: DSHOT 3D deadband high
-                long: |
-                    When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin.
-                    This value is with respect to the mixer_module range (0-1999), not the DSHOT values.
-            type: int32
-            min: 1000
-            max: 1999
-            default: 1000
-        DSHOT_3D_DEAD_L:
-            description:
-                short: DSHOT 3D deadband low
-                long: |
-                    When the actuator_output is between DSHOT_3D_DEAD_L and DSHOT_3D_DEAD_H, motor will not spin.
-                    This value is with respect to the mixer_module range (0-1999), not the DSHOT values.
-            type: int32
-            min: 0
-            max: 1000
-            default: 1000
         MOT_POLE_COUNT: # only used by dshot so far, so keep it under the dshot group
             description:
                 short: Number of magnetic poles of the motors
@@ -82,3 +51,4 @@ parameters:
                     Typical motors for 5 inch props have 14 poles.
             type: int32
             default: 14
+

src/drivers/optical_flow/paw3902/PAW3902.cpp

@@ -84,6 +84,8 @@ int PAW3902::init()
 		return PX4_ERROR;
 	}
 
+	Reset();
+
 	// force to low light mode (1) initially
 	ChangeMode(Mode::LowLight, true);
 
@@ -148,6 +150,24 @@ bool PAW3902::DataReadyInterruptDisable()
 	return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0;
 }
 
+bool PAW3902::Reset()
+{
+	DataReadyInterruptDisable();
+
+	// Power on reset
+	RegisterWrite(Register::Power_Up_Reset, 0x5A);
+	usleep(1000);
+
+	// Read from registers 0x02, 0x03, 0x04, 0x05 and 0x06 one time regardless of the motion state
+	RegisterRead(Register::Motion);
+	RegisterRead(Register::Delta_X_L);
+	RegisterRead(Register::Delta_X_H);
+	RegisterRead(Register::Delta_Y_L);
+	RegisterRead(Register::Delta_Y_H);
+
+	return true;
+}
+
 void PAW3902::exit_and_cleanup()
 {
 	DataReadyInterruptDisable();
@@ -163,7 +183,6 @@ bool PAW3902::ChangeMode(Mode newMode, bool force)
 
 		// Issue a soft reset
 		RegisterWrite(Register::Power_Up_Reset, 0x5A);
-		px4_usleep(1000);
 
 		uint32_t interval_us = 0;
 
@@ -187,10 +206,6 @@ bool PAW3902::ChangeMode(Mode newMode, bool force)
 			break;
 		}
 
-		EnableLed();
-
-		_discard_reading = 3;
-
 		if (DataReadyInterruptConfigure()) {
 			// backup schedule as a watchdog timeout
 			ScheduleDelayed(500_ms);
@@ -199,6 +214,17 @@ bool PAW3902::ChangeMode(Mode newMode, bool force)
 			ScheduleOnInterval(interval_us);
 		}
 
+		// Discard the first three motion data.
+		for (int i = 0; i < 3; i++) {
+			RegisterRead(Register::Motion);
+			RegisterRead(Register::Delta_X_L);
+			RegisterRead(Register::Delta_X_H);
+			RegisterRead(Register::Delta_Y_L);
+			RegisterRead(Register::Delta_Y_H);
+		}
+
+		EnableLed();
+
 		_mode = newMode;
 	}
 
@@ -206,6 +232,11 @@ bool PAW3902::ChangeMode(Mode newMode, bool force)
 	_low_to_superlow_counter = 0;
 	_low_to_bright_counter = 0;
 	_superlow_to_low_counter = 0;
+	// Approximate Resolution = (Register Value + 1) * (50 / 8450) ≈ 0.6% of data point in Figure 19
+	// The maximum register value is 0xA8. The minimum register value is 0.
+	uint8_t resolution = RegisterRead(Register::Resolution);
+	PX4_DEBUG("Resolution: %X", resolution);
+	PX4_DEBUG("Resolution is approx: %.3f", (double)((resolution + 1.0f) * (50.0f / 8450.0f)));
 
 	return true;
 }
@@ -551,9 +582,9 @@ void PAW3902::ModeSuperLowLight()
 void PAW3902::EnableLed()
 {
 	// Enable LED_N controls
-	RegisterWrite(0x7F, 0x14);
-	RegisterWrite(0x6F, 0x1c);
-	RegisterWrite(0x7F, 0x00);
+	RegisterWriteVerified(0x7F, 0x14);
+	RegisterWriteVerified(0x6F, 0x1c);
+	RegisterWriteVerified(0x7F, 0x00);
 }
 
 uint8_t PAW3902::RegisterRead(uint8_t reg, int retries)
@@ -632,17 +663,11 @@ void PAW3902::RunImpl()
 	// update for next iteration
 	_previous_collect_timestamp = timestamp_sample;
 
-	if (_discard_reading > 0) {
-		_discard_reading--;
-		ResetAccumulatedData();
-		return;
-	}
-
 	// check SQUAL & Shutter values
 	// To suppress false motion reports, discard Delta X and Delta Y values if the SQUAL and Shutter values meet the condition
-	// Bright Mode,          SQUAL < 0x19, Shutter ≥ 0x1FF0
-	// Low Light Mode,       SQUAL < 0x46, Shutter ≥ 0x1FF0
-	// Super Low Light Mode, SQUAL < 0x55, Shutter ≥ 0x0BC0
+	// Bright Mode,			SQUAL < 0x19, Shutter ≥ 0x1FF0
+	// Low Light Mode,		SQUAL < 0x46, Shutter ≥ 0x1FF0
+	// Super Low Light Mode,	SQUAL < 0x55, Shutter ≥ 0x0BC0
 	const uint16_t shutter = (buf.data.Shutter_Upper << 8) | buf.data.Shutter_Lower;
 
 	bool data_valid = true;
@@ -652,6 +677,7 @@ void PAW3902::RunImpl()
 		if ((buf.data.SQUAL < 0x19) && (shutter >= 0x1FF0)) {
 			// false motion report, discarding
 			perf_count(_false_motion_perf);
+			ResetAccumulatedData();
 			data_valid = false;
 		}
 
@@ -673,6 +699,7 @@ void PAW3902::RunImpl()
 		if ((buf.data.SQUAL < 0x46) && (shutter >= 0x1FF0)) {
 			// false motion report, discarding
 			perf_count(_false_motion_perf);
+			ResetAccumulatedData();
 			data_valid = false;
 		}
 
@@ -705,14 +732,11 @@ void PAW3902::RunImpl()
 		if ((buf.data.SQUAL < 0x55) && (shutter >= 0x0BC0)) {
 			// false motion report, discarding
 			perf_count(_false_motion_perf);
+			ResetAccumulatedData();
 			data_valid = false;
 		}
 
-		if (shutter < 0x01F4) {
-			// should not operate with Shutter < 0x01F4 in Mode 2
-			ChangeMode(Mode::LowLight);
-
-		} else if (shutter < 0x03E8) {
+		if (shutter < 0x03E8) {
 			// SuperLowLight -> LowLight
 			_superlow_to_low_counter++;
 

src/drivers/optical_flow/paw3902/PAW3902.hpp

@@ -90,6 +90,8 @@ private:
 	void RegisterWrite(uint8_t reg, uint8_t data);
 	bool RegisterWriteVerified(uint8_t reg, uint8_t data, int retries = 5);
 
+	bool Reset();
+
 	void EnableLed();
 
 	void ModeBright();
@@ -122,8 +124,6 @@ private:
 
 	matrix::Dcmf	_rotation;
 
-	int             _discard_reading{3};
-
 	int		_flow_sum_x{0};
 	int		_flow_sum_y{0};
 

src/lib/ecl

@@ -1 +1 @@
-Subproject commit 29243ac5cbb5d27ac71744e88afcd786df6f748d
+Subproject commit a7b8afe420f438554ad90bcba0f1f4872325e75b

src/modules/commander/Arming/PreFlightCheck/checks/accelerometerCheck.cpp

@@ -65,12 +65,7 @@ bool PreFlightCheck::accelerometerCheck(orb_advert_t *mavlink_log_pub, vehicle_s
 
 		device_id = accel.get().device_id;
 
-		if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
-			calibration_valid = true;
-
-		} else {
-			calibration_valid = (calibration::FindCalibrationIndex("ACC", device_id) >= 0);
-		}
+		calibration_valid = (calibration::FindCalibrationIndex("ACC", device_id) >= 0);
 
 		if (!calibration_valid) {
 			if (report_fail) {

src/modules/commander/Arming/PreFlightCheck/checks/gyroCheck.cpp

@@ -64,12 +64,7 @@ bool PreFlightCheck::gyroCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &
 
 		device_id = gyro.get().device_id;
 
-		if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
-			calibration_valid = true;
-
-		} else {
-			calibration_valid = (calibration::FindCalibrationIndex("GYRO", device_id) >= 0);
-		}
+		calibration_valid = (calibration::FindCalibrationIndex("GYRO", device_id) >= 0);
 
 		if (!calibration_valid) {
 			if (report_fail) {

src/modules/commander/Arming/PreFlightCheck/checks/magnetometerCheck.cpp

@@ -66,12 +66,7 @@ bool PreFlightCheck::magnetometerCheck(orb_advert_t *mavlink_log_pub, vehicle_st
 
 		device_id = magnetometer.get().device_id;
 
-		if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
-			calibration_valid = true;
-
-		} else {
-			calibration_valid = (calibration::FindCalibrationIndex("MAG", device_id) >= 0);
-		}
+		calibration_valid = (calibration::FindCalibrationIndex("MAG", device_id) >= 0);
 
 		if (!calibration_valid) {
 			if (report_fail) {

src/modules/commander/Arming/PreFlightCheck/checks/powerCheck.cpp

@@ -63,11 +63,6 @@ bool PreFlightCheck::powerCheck(orb_advert_t *mavlink_log_pub, const vehicle_sta
 		return true;
 	}
 
-	if (status.hil_state == vehicle_status_s::HIL_STATE_ON) {
-		// Ignore power check in HITL.
-		return true;
-	}
-
 	uORB::SubscriptionData<system_power_s> system_power_sub{ORB_ID(system_power)};
 	system_power_sub.update();
 	const system_power_s &system_power = system_power_sub.get();

src/modules/commander/airspeed_calibration.cpp

@@ -199,7 +199,7 @@ int do_airspeed_calibration(orb_advert_t *mavlink_log_pub)
 	/* wait 500 ms to ensure parameter propagated through the system */
 	px4_usleep(500 * 1000);
 
-	calibration_log_critical(mavlink_log_pub, "[cal] Blow into front of pitot without touching");
+	calibration_log_critical(mavlink_log_pub, "[cal] Blow across front of pitot without touching");
 
 	calibration_counter = 0;
 

src/modules/ekf2/EKF2.cpp

@@ -1742,8 +1742,7 @@ int EKF2::task_spawn(int argc, char *argv[])
 
 		while ((multi_instances_allocated < multi_instances)
 		       && (vehicle_status_sub.get().arming_state != vehicle_status_s::ARMING_STATE_ARMED)
-		       && ((hrt_elapsed_time(&time_started) < 30_s)
-			   || (vehicle_status_sub.get().hil_state == vehicle_status_s::HIL_STATE_ON))) {
+		       && (hrt_elapsed_time(&time_started) < 30_s)) {
 
 			vehicle_status_sub.update();
 

src/modules/ekf2/EKF2Selector.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020 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
@@ -37,6 +37,7 @@ using namespace time_literals;
 using matrix::Quatf;
 using matrix::Vector2f;
 using math::constrain;
+using math::max;
 using math::radians;
 
 EKF2Selector::EKF2Selector() :
@@ -117,6 +118,12 @@ bool EKF2Selector::SelectInstance(uint8_t ekf_instance)
 			_instance[i].relative_test_ratio = 0;
 		}
 
+		// publish new data immediately with resets
+		PublishVehicleAttitude(true);
+		PublishVehicleLocalPosition(true);
+		PublishVehicleGlobalPosition(true);
+		PublishWindEstimate(true);
+
 		return true;
 	}
 
@@ -315,11 +322,6 @@ bool EKF2Selector::UpdateErrorScores()
 				if (error_delta > 0 || error_delta < -threshold) {
 					_instance[i].relative_test_ratio += error_delta;
 					_instance[i].relative_test_ratio = constrain(_instance[i].relative_test_ratio, -_rel_err_score_lim, _rel_err_score_lim);
-
-					if ((error_delta < -threshold) && (_instance[i].relative_test_ratio < 1.f)) {
-						// increase status publication rate if there's movement towards a potential instance change
-						_selector_status_publish = true;
-					}
 				}
 			}
 		}
@@ -328,152 +330,104 @@ bool EKF2Selector::UpdateErrorScores()
 	return (primary_updated || updated);
 }
 
-void EKF2Selector::PublishVehicleAttitude()
+void EKF2Selector::PublishVehicleAttitude(bool reset)
 {
-	// selected estimator_attitude -> vehicle_attitude
 	vehicle_attitude_s attitude;
 
-	if (_instance[_selected_instance].estimator_attitude_sub.update(&attitude)) {
-		bool instance_change = false;
+	if (_instance[_selected_instance].estimator_attitude_sub.copy(&attitude)) {
+		if (reset) {
+			// on reset compute deltas from last published data
+			++_quat_reset_counter;
 
-		if (_instance[_selected_instance].estimator_attitude_sub.get_instance() != _attitude_instance_prev) {
-			_attitude_instance_prev = _instance[_selected_instance].estimator_attitude_sub.get_instance();
-			instance_change = true;
-		}
+			_delta_q_reset = (Quatf(attitude.q) * Quatf(_attitude_last.q).inversed()).normalized();
 
-		if (_attitude_last.timestamp != 0) {
-			if (!instance_change && (attitude.quat_reset_counter == _attitude_last.quat_reset_counter + 1)) {
-				// propogate deltas from estimator data while maintaining the overall reset counts
-				++_quat_reset_counter;
-				_delta_q_reset = Quatf{attitude.delta_q_reset};
-
-			} else if (instance_change || (attitude.quat_reset_counter != _attitude_last.quat_reset_counter)) {
-				// on reset compute deltas from last published data
-				++_quat_reset_counter;
-				_delta_q_reset = (Quatf(attitude.q) * Quatf(_attitude_last.q).inversed()).normalized();
-			}
+			// ensure monotonically increasing timestamp_sample through reset
+			attitude.timestamp_sample = max(attitude.timestamp_sample, _attitude_last.timestamp_sample);
 
 		} else {
-			_quat_reset_counter = attitude.quat_reset_counter;
-			_delta_q_reset = Quatf{attitude.delta_q_reset};
+			// otherwise propogate deltas from estimator data while maintaining the overall reset counts
+			if (attitude.quat_reset_counter > _attitude_last.quat_reset_counter) {
+				++_quat_reset_counter;
+				_delta_q_reset = Quatf{attitude.delta_q_reset};
+			}
 		}
 
-		bool publish = true;
-
-		// ensure monotonically increasing timestamp_sample through reset, don't publish
-		//  estimator's attitude for system (vehicle_attitude) if it's stale
-		if ((attitude.timestamp_sample <= _attitude_last.timestamp_sample)
-		    || (attitude.timestamp_sample < _instance[_selected_instance].timestamp_sample_last)) {
-
-			publish = false;
-		}
-
-		// save last primary estimator_attitude as published with original resets
+		// save last primary estimator_attitude
 		_attitude_last = attitude;
 
-		if (publish) {
-			// republish with total reset count and current timestamp
-			attitude.quat_reset_counter = _quat_reset_counter;
-			_delta_q_reset.copyTo(attitude.delta_q_reset);
+		// republish with total reset count and current timestamp
+		attitude.quat_reset_counter = _quat_reset_counter;
+		_delta_q_reset.copyTo(attitude.delta_q_reset);
 
-			attitude.timestamp = hrt_absolute_time();
-			_vehicle_attitude_pub.publish(attitude);
-		}
+		attitude.timestamp = hrt_absolute_time();
+		_vehicle_attitude_pub.publish(attitude);
+
+		_instance[_selected_instance].timestamp_sample_last = attitude.timestamp_sample;
 	}
 }
 
-void EKF2Selector::PublishVehicleLocalPosition()
+void EKF2Selector::PublishVehicleLocalPosition(bool reset)
 {
-	// selected estimator_local_position -> vehicle_local_position
+	// vehicle_local_position
 	vehicle_local_position_s local_position;
 
-	if (_instance[_selected_instance].estimator_local_position_sub.update(&local_position)) {
-		bool instance_change = false;
+	if (_instance[_selected_instance].estimator_local_position_sub.copy(&local_position)) {
+		if (reset) {
+			// on reset compute deltas from last published data
+			++_xy_reset_counter;
+			++_z_reset_counter;
+			++_vxy_reset_counter;
+			++_vz_reset_counter;
+			++_heading_reset_counter;
 
-		if (_instance[_selected_instance].estimator_local_position_sub.get_instance() != _local_position_instance_prev) {
-			_local_position_instance_prev = _instance[_selected_instance].estimator_local_position_sub.get_instance();
-			instance_change = true;
-		}
+			_delta_xy_reset = Vector2f{local_position.x, local_position.y} - Vector2f{_local_position_last.x, _local_position_last.y};
+			_delta_z_reset = local_position.z - _local_position_last.z;
+			_delta_vxy_reset = Vector2f{local_position.vx, local_position.vy} - Vector2f{_local_position_last.vx, _local_position_last.vy};
+			_delta_vz_reset = local_position.vz - _local_position_last.vz;
+			_delta_heading_reset = matrix::wrap_2pi(local_position.heading - _local_position_last.heading);
+
+			// ensure monotonically increasing timestamp_sample through reset
+			local_position.timestamp_sample = max(local_position.timestamp_sample, _local_position_last.timestamp_sample);
+
+		} else {
+			// otherwise propogate deltas from estimator data while maintaining the overall reset counts
 
-		if (_local_position_last.timestamp != 0) {
 			// XY reset
-			if (!instance_change && (local_position.xy_reset_counter == _local_position_last.xy_reset_counter + 1)) {
+			if (local_position.xy_reset_counter > _local_position_last.xy_reset_counter) {
 				++_xy_reset_counter;
 				_delta_xy_reset = Vector2f{local_position.delta_xy};
-
-			} else if (instance_change || (local_position.xy_reset_counter != _local_position_last.xy_reset_counter)) {
-				++_xy_reset_counter;
-				_delta_xy_reset = Vector2f{local_position.x, local_position.y} - Vector2f{_local_position_last.x, _local_position_last.y};
 			}
 
 			// Z reset
-			if (!instance_change && (local_position.z_reset_counter == _local_position_last.z_reset_counter + 1)) {
+			if (local_position.z_reset_counter > _local_position_last.z_reset_counter) {
 				++_z_reset_counter;
 				_delta_z_reset = local_position.delta_z;
-
-			} else if (instance_change || (local_position.z_reset_counter != _local_position_last.z_reset_counter)) {
-				++_z_reset_counter;
-				_delta_z_reset = local_position.z - _local_position_last.z;
 			}
 
 			// VXY reset
-			if (!instance_change && (local_position.vxy_reset_counter == _local_position_last.vxy_reset_counter + 1)) {
+			if (local_position.vxy_reset_counter > _local_position_last.vxy_reset_counter) {
 				++_vxy_reset_counter;
 				_delta_vxy_reset = Vector2f{local_position.delta_vxy};
-
-			} else if (instance_change || (local_position.vxy_reset_counter != _local_position_last.vxy_reset_counter)) {
-				++_vxy_reset_counter;
-				_delta_vxy_reset = Vector2f{local_position.vx, local_position.vy} - Vector2f{_local_position_last.vx, _local_position_last.vy};
 			}
 
 			// VZ reset
-			if (!instance_change && (local_position.vz_reset_counter == _local_position_last.vz_reset_counter + 1)) {
+			if (local_position.vz_reset_counter > _local_position_last.vz_reset_counter) {
 				++_vz_reset_counter;
 				_delta_vz_reset = local_position.delta_vz;
-
-			} else if (instance_change || (local_position.vz_reset_counter != _local_position_last.vz_reset_counter)) {
-				++_vz_reset_counter;
-				_delta_vz_reset = local_position.vz - _local_position_last.vz;
 			}
 
 			// heading reset
-			if (!instance_change && (local_position.heading_reset_counter == _local_position_last.heading_reset_counter + 1)) {
+			if (local_position.heading_reset_counter > _local_position_last.heading_reset_counter) {
 				++_heading_reset_counter;
 				_delta_heading_reset = local_position.delta_heading;
-
-			} else if (instance_change || (local_position.heading_reset_counter != _local_position_last.heading_reset_counter)) {
-				++_heading_reset_counter;
-				_delta_heading_reset = matrix::wrap_pi(local_position.heading - _local_position_last.heading);
 			}
-
-		} else {
-			_xy_reset_counter = local_position.xy_reset_counter;
-			_z_reset_counter = local_position.z_reset_counter;
-			_vxy_reset_counter = local_position.vxy_reset_counter;
-			_vz_reset_counter = local_position.vz_reset_counter;
-			_heading_reset_counter = local_position.heading_reset_counter;
-
-			_delta_xy_reset = Vector2f{local_position.delta_xy};
-			_delta_z_reset = local_position.delta_z;
-			_delta_vxy_reset = Vector2f{local_position.delta_vxy};
-			_delta_vz_reset = local_position.delta_vz;
-			_delta_heading_reset = local_position.delta_heading;
 		}
 
-		bool publish = true;
-
-		// ensure monotonically increasing timestamp_sample through reset, don't publish
-		//  estimator's local position for system (vehicle_local_position) if it's stale
-		if ((local_position.timestamp_sample <= _local_position_last.timestamp_sample)
-		    || (local_position.timestamp_sample < _instance[_selected_instance].timestamp_sample_last)) {
-
-			publish = false;
-		}
-
-		// save last primary estimator_local_position as published with original resets
+		// save last primary estimator_local_position
 		_local_position_last = local_position;
 
-		if (publish) {
+		// publish estimator's local position for system (vehicle_local_position) unless it's stale
+		if (local_position.timestamp_sample >= _instance[_selected_instance].timestamp_sample_last) {
 			// republish with total reset count and current timestamp
 			local_position.xy_reset_counter = _xy_reset_counter;
 			local_position.z_reset_counter = _z_reset_counter;
@@ -493,92 +447,47 @@ void EKF2Selector::PublishVehicleLocalPosition()
 	}
 }
 
-void EKF2Selector::PublishVehicleOdometry()
+void EKF2Selector::PublishVehicleGlobalPosition(bool reset)
 {
-	// selected estimator_odometry -> vehicle_odometry
-	vehicle_odometry_s odometry;
-
-	if (_instance[_selected_instance].estimator_odometry_sub.update(&odometry)) {
-		bool publish = true;
-
-		// ensure monotonically increasing timestamp_sample through reset, don't publish
-		//  estimator's odometry for system (vehicle_odometry) if it's stale
-		if ((odometry.timestamp_sample <= _odometry_last.timestamp_sample)
-		    || (odometry.timestamp_sample < _instance[_selected_instance].timestamp_sample_last)) {
-
-			publish = false;
-		}
-
-		// save last primary estimator_odometry
-		_odometry_last = odometry;
-
-		if (publish) {
-			odometry.timestamp = hrt_absolute_time();
-			_vehicle_odometry_pub.publish(odometry);
-		}
-	}
-}
-
-void EKF2Selector::PublishVehicleGlobalPosition()
-{
-	// selected estimator_global_position -> vehicle_global_position
 	vehicle_global_position_s global_position;
 
-	if (_instance[_selected_instance].estimator_global_position_sub.update(&global_position)) {
-		bool instance_change = false;
+	if (_instance[_selected_instance].estimator_global_position_sub.copy(&global_position)) {
+		if (reset) {
+			// on reset compute deltas from last published data
+			++_lat_lon_reset_counter;
+			++_alt_reset_counter;
 
-		if (_instance[_selected_instance].estimator_global_position_sub.get_instance() != _global_position_instance_prev) {
-			_global_position_instance_prev = _instance[_selected_instance].estimator_global_position_sub.get_instance();
-			instance_change = true;
-		}
+			_delta_lat_reset = global_position.lat - _global_position_last.lat;
+			_delta_lon_reset = global_position.lon - _global_position_last.lon;
+			_delta_alt_reset = global_position.delta_alt - _global_position_last.delta_alt;
+
+			// ensure monotonically increasing timestamp_sample through reset
+			global_position.timestamp_sample = max(global_position.timestamp_sample, _global_position_last.timestamp_sample);
+
+		} else {
+			// otherwise propogate deltas from estimator data while maintaining the overall reset counts
 
-		if (_global_position_last.timestamp != 0) {
 			// lat/lon reset
-			if (!instance_change && (global_position.lat_lon_reset_counter == _global_position_last.lat_lon_reset_counter + 1)) {
+			if (global_position.lat_lon_reset_counter > _global_position_last.lat_lon_reset_counter) {
 				++_lat_lon_reset_counter;
 
 				// TODO: delta latitude/longitude
-				_delta_lat_reset = global_position.lat - _global_position_last.lat;
-				_delta_lon_reset = global_position.lon - _global_position_last.lon;
-
-			} else if (instance_change || (global_position.lat_lon_reset_counter != _global_position_last.lat_lon_reset_counter)) {
-				++_lat_lon_reset_counter;
-
-				_delta_lat_reset = global_position.lat - _global_position_last.lat;
-				_delta_lon_reset = global_position.lon - _global_position_last.lon;
+				//_delta_lat_reset = global_position.delta_lat;
+				//_delta_lon_reset = global_position.delta_lon;
 			}
 
 			// alt reset
-			if (!instance_change && (global_position.alt_reset_counter == _global_position_last.alt_reset_counter + 1)) {
+			if (global_position.alt_reset_counter > _global_position_last.alt_reset_counter) {
 				++_alt_reset_counter;
 				_delta_alt_reset = global_position.delta_alt;
-
-			} else if (instance_change || (global_position.alt_reset_counter != _global_position_last.alt_reset_counter)) {
-				++_alt_reset_counter;
-				_delta_alt_reset = global_position.delta_alt - _global_position_last.delta_alt;
 			}
-
-		} else {
-			_lat_lon_reset_counter = global_position.lat_lon_reset_counter;
-			_alt_reset_counter = global_position.alt_reset_counter;
-
-			_delta_alt_reset = global_position.delta_alt;
 		}
 
-		bool publish = true;
-
-		// ensure monotonically increasing timestamp_sample through reset, don't publish
-		//  estimator's global position for system (vehicle_global_position) if it's stale
-		if ((global_position.timestamp_sample <= _global_position_last.timestamp_sample)
-		    || (global_position.timestamp_sample < _instance[_selected_instance].timestamp_sample_last)) {
-
-			publish = false;
-		}
-
-		// save last primary estimator_global_position as published with original resets
+		// save last primary estimator_global_position
 		_global_position_last = global_position;
 
-		if (publish) {
+		// publish estimator's global position for system (vehicle_global_position) unless it's stale
+		if (global_position.timestamp_sample >= _instance[_selected_instance].timestamp_sample_last) {
 			// republish with total reset count and current timestamp
 			global_position.lat_lon_reset_counter = _lat_lon_reset_counter;
 			global_position.alt_reset_counter = _alt_reset_counter;
@@ -590,31 +499,22 @@ void EKF2Selector::PublishVehicleGlobalPosition()
 	}
 }
 
-void EKF2Selector::PublishWindEstimate()
+void EKF2Selector::PublishWindEstimate(bool reset)
 {
-	// selected estimator_wind -> wind
 	wind_s wind;
 
-	if (_instance[_selected_instance].estimator_wind_sub.update(&wind)) {
-		bool publish = true;
-
-		// ensure monotonically increasing timestamp_sample through reset, don't publish
-		//  estimator's wind for system (wind) if it's stale
-		if ((wind.timestamp_sample <= _wind_last.timestamp_sample)
-		    || (wind.timestamp_sample < _instance[_selected_instance].timestamp_sample_last)) {
-
-			publish = false;
+	if (_instance[_selected_instance].estimator_wind_sub.copy(&wind)) {
+		if (reset) {
+			// ensure monotonically increasing timestamp_sample through reset
+			wind.timestamp_sample = max(wind.timestamp_sample, _wind_last.timestamp_sample);
 		}
 
 		// save last primary wind
 		_wind_last = wind;
 
-		// publish estimator's wind for system unless it's stale
-		if (publish) {
-			// republish with current timestamp
-			wind.timestamp = hrt_absolute_time();
-			_wind_pub.publish(wind);
-		}
+		// republish with current timestamp
+		wind.timestamp = hrt_absolute_time();
+		_wind_pub.publish(wind);
 	}
 }
 
@@ -655,6 +555,7 @@ void EKF2Selector::Run()
 	}
 
 	if (updated) {
+
 		const uint8_t available_instances_prev = _available_instances;
 		const uint8_t selected_instance_prev = _selected_instance;
 		const uint32_t instance_changed_count_prev = _instance_changed_count;
@@ -723,47 +624,69 @@ void EKF2Selector::Run()
 		    || (last_instance_change_prev != _last_instance_change)
 		    || _accel_fault_detected || _gyro_fault_detected) {
 
-			PublishEstimatorSelectorStatus();
+			estimator_selector_status_s selector_status{};
+			selector_status.primary_instance = _selected_instance;
+			selector_status.instances_available = _available_instances;
+			selector_status.instance_changed_count = _instance_changed_count;
+			selector_status.last_instance_change = _last_instance_change;
+			selector_status.accel_device_id = _instance[_selected_instance].accel_device_id;
+			selector_status.baro_device_id = _instance[_selected_instance].baro_device_id;
+			selector_status.gyro_device_id = _instance[_selected_instance].gyro_device_id;
+			selector_status.mag_device_id = _instance[_selected_instance].mag_device_id;
+			selector_status.gyro_fault_detected = _gyro_fault_detected;
+			selector_status.accel_fault_detected = _accel_fault_detected;
+
+			for (int i = 0; i < EKF2_MAX_INSTANCES; i++) {
+				selector_status.combined_test_ratio[i] = _instance[i].combined_test_ratio;
+				selector_status.relative_test_ratio[i] = _instance[i].relative_test_ratio;
+				selector_status.healthy[i] = _instance[i].healthy;
+			}
+
+			for (int i = 0; i < IMU_STATUS_SIZE; i++) {
+				selector_status.accumulated_gyro_error[i] = _accumulated_gyro_error[i];
+				selector_status.accumulated_accel_error[i] = _accumulated_accel_error[i];
+			}
+
+			selector_status.timestamp = hrt_absolute_time();
+			_estimator_selector_status_pub.publish(selector_status);
+			_last_status_publish = selector_status.timestamp;
 			_selector_status_publish = false;
 		}
 	}
 
 	// republish selected estimator data for system
-	PublishVehicleAttitude();
-	PublishVehicleLocalPosition();
-	PublishVehicleGlobalPosition();
-	PublishVehicleOdometry();
-	PublishWindEstimate();
-}
 
-void EKF2Selector::PublishEstimatorSelectorStatus()
-{
-	estimator_selector_status_s selector_status{};
-	selector_status.primary_instance = _selected_instance;
-	selector_status.instances_available = _available_instances;
-	selector_status.instance_changed_count = _instance_changed_count;
-	selector_status.last_instance_change = _last_instance_change;
-	selector_status.accel_device_id = _instance[_selected_instance].accel_device_id;
-	selector_status.baro_device_id = _instance[_selected_instance].baro_device_id;
-	selector_status.gyro_device_id = _instance[_selected_instance].gyro_device_id;
-	selector_status.mag_device_id = _instance[_selected_instance].mag_device_id;
-	selector_status.gyro_fault_detected = _gyro_fault_detected;
-	selector_status.accel_fault_detected = _accel_fault_detected;
-
-	for (int i = 0; i < EKF2_MAX_INSTANCES; i++) {
-		selector_status.combined_test_ratio[i] = _instance[i].combined_test_ratio;
-		selector_status.relative_test_ratio[i] = _instance[i].relative_test_ratio;
-		selector_status.healthy[i] = _instance[i].healthy;
+	// selected estimator_attitude -> vehicle_attitude
+	if (_instance[_selected_instance].estimator_attitude_sub.updated()) {
+		PublishVehicleAttitude();
 	}
 
-	for (int i = 0; i < IMU_STATUS_SIZE; i++) {
-		selector_status.accumulated_gyro_error[i] = _accumulated_gyro_error[i];
-		selector_status.accumulated_accel_error[i] = _accumulated_accel_error[i];
+	// selected estimator_local_position -> vehicle_local_position
+	if (_instance[_selected_instance].estimator_local_position_sub.updated()) {
+		PublishVehicleLocalPosition();
 	}
 
-	selector_status.timestamp = hrt_absolute_time();
-	_estimator_selector_status_pub.publish(selector_status);
-	_last_status_publish = selector_status.timestamp;
+	// selected estimator_global_position -> vehicle_global_position
+	if (_instance[_selected_instance].estimator_global_position_sub.updated()) {
+		PublishVehicleGlobalPosition();
+	}
+
+	// selected estimator_wind -> wind
+	if (_instance[_selected_instance].estimator_wind_sub.updated()) {
+		PublishWindEstimate();
+	}
+
+	// selected estimator_odometry -> vehicle_odometry
+	if (_instance[_selected_instance].estimator_odometry_sub.updated()) {
+		vehicle_odometry_s vehicle_odometry;
+
+		if (_instance[_selected_instance].estimator_odometry_sub.update(&vehicle_odometry)) {
+			if (vehicle_odometry.timestamp_sample >= _instance[_selected_instance].timestamp_sample_last) {
+				vehicle_odometry.timestamp = hrt_absolute_time();
+				_vehicle_odometry_pub.publish(vehicle_odometry);
+			}
+		}
+	}
 }
 
 void EKF2Selector::PrintStatus()

src/modules/ekf2/EKF2Selector.hpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020 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
@@ -78,12 +78,10 @@ private:
 	static constexpr uint64_t FILTER_UPDATE_PERIOD{10_ms};
 
 	void Run() override;
-	void PublishEstimatorSelectorStatus();
-	void PublishVehicleAttitude();
-	void PublishVehicleLocalPosition();
-	void PublishVehicleGlobalPosition();
-	void PublishVehicleOdometry();
-	void PublishWindEstimate();
+	void PublishVehicleAttitude(bool reset = false);
+	void PublishVehicleLocalPosition(bool reset = false);
+	void PublishVehicleGlobalPosition(bool reset = false);
+	void PublishWindEstimate(bool reset = false);
 	bool SelectInstance(uint8_t instance);
 
 	// Update the error scores for all available instances
@@ -193,9 +191,6 @@ private:
 	uint8_t _vz_reset_counter{0};
 	uint8_t _heading_reset_counter{0};
 
-	// vehicle_odometry
-	vehicle_odometry_s _odometry_last{};
-
 	// vehicle_global_position: reset counters
 	vehicle_global_position_s _global_position_last{};
 	double _delta_lat_reset{0};
@@ -207,10 +202,6 @@ private:
 	// wind estimate
 	wind_s _wind_last{};
 
-	uint8_t _attitude_instance_prev{INVALID_INSTANCE};
-	uint8_t _local_position_instance_prev{INVALID_INSTANCE};
-	uint8_t _global_position_instance_prev{INVALID_INSTANCE};
-
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 	uORB::Subscription _sensors_status_imu{ORB_ID(sensors_status_imu)};
 

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp

@@ -148,22 +148,23 @@ void VehicleAngularVelocity::ResetFilters(float new_scale)
 {
 	if ((_filter_sample_rate_hz > 0) && PX4_ISFINITE(_filter_sample_rate_hz)) {
 
-		const Vector3f angular_velocity{GetResetAngularVelocity(new_scale)};
-		const Vector3f angular_acceleration{GetResetAngularAcceleration(new_scale)};
+		const Vector3f angular_velocity_raw{GetResetAngularVelocity(_angular_velocity, new_scale)};
+		const Vector3f angular_velocity_raw_prev{GetResetAngularVelocity(_angular_velocity_prev, new_scale)};
+		const Vector3f angular_acceleration_raw{GetResetAngularAcceleration(new_scale)};
 
 		for (int axis = 0; axis < 3; axis++) {
 			// angular velocity low pass
 			_lp_filter_velocity[axis].set_cutoff_frequency(_filter_sample_rate_hz, _param_imu_gyro_cutoff.get());
-			_lp_filter_velocity[axis].reset(angular_velocity(axis));
+			_lp_filter_velocity[axis].reset(angular_velocity_raw(axis));
 
 			// angular velocity notch
 			_notch_filter_velocity[axis].setParameters(_filter_sample_rate_hz, _param_imu_gyro_nf_freq.get(),
 					_param_imu_gyro_nf_bw.get());
-			_notch_filter_velocity[axis].reset(angular_velocity(axis));
+			_notch_filter_velocity[axis].reset(angular_velocity_raw(axis));
 
 			// angular acceleration low pass
 			_lp_filter_acceleration[axis].set_cutoff_frequency(_filter_sample_rate_hz, _param_imu_dgyro_cutoff.get());
-			_lp_filter_acceleration[axis].reset(angular_acceleration(axis));
+			_lp_filter_acceleration[axis].reset(angular_acceleration_raw(axis));
 		}
 
 		// dynamic notch filters, first disable, then force update (if available)
@@ -173,7 +174,8 @@ void VehicleAngularVelocity::ResetFilters(float new_scale)
 		UpdateDynamicNotchEscRpm(new_scale, true);
 		UpdateDynamicNotchFFT(new_scale, true);
 
-		_angular_velocity_prev = angular_velocity;
+		_angular_velocity_raw_prev = angular_velocity_raw;
+		_angular_velocity_raw_prev_prev = angular_velocity_raw_prev;
 		_last_scale = new_scale;
 
 		_reset_filters = false;
@@ -350,18 +352,18 @@ void VehicleAngularVelocity::ParametersUpdate(bool force)
 	}
 }
 
-Vector3f VehicleAngularVelocity::GetResetAngularVelocity(float new_scale) const
+Vector3f VehicleAngularVelocity::GetResetAngularVelocity(const Vector3f &angular_velocity, float new_scale) const
 {
 	if ((_last_publish != 0) && (new_scale > 0.f)) {
 		// angular velocity filtering is performed on raw unscaled data
 		//  start with last valid vehicle body frame angular velocity and compute equivalent raw data (for current sensor selection)
-		Vector3f angular_velocity{_calibration.Uncorrect(_angular_velocity + _bias) / new_scale};
+		Vector3f angular_velocity_raw{_calibration.Uncorrect(angular_velocity + _bias) / new_scale};
 
-		if (PX4_ISFINITE(angular_velocity(0))
-		    && PX4_ISFINITE(angular_velocity(1))
-		    && PX4_ISFINITE(angular_velocity(2))) {
+		if (PX4_ISFINITE(angular_velocity_raw(0))
+		    && PX4_ISFINITE(angular_velocity_raw(1))
+		    && PX4_ISFINITE(angular_velocity_raw(2))) {
 
-			return angular_velocity;
+			return angular_velocity_raw;
 		}
 	}
 
@@ -373,13 +375,13 @@ Vector3f VehicleAngularVelocity::GetResetAngularAcceleration(float new_scale) co
 	if ((_last_publish != 0) && (new_scale > 0.f)) {
 		// angular acceleration filtering is performed on unscaled angular velocity data
 		//  start with last valid vehicle body frame angular acceleration and compute equivalent raw data (for current sensor selection)
-		Vector3f angular_acceleration{_calibration.rotation().I() *_angular_acceleration / new_scale};
+		Vector3f angular_acceleration_raw{_calibration.rotation().I() *_angular_acceleration / new_scale};
 
-		if (PX4_ISFINITE(angular_acceleration(0))
-		    && PX4_ISFINITE(angular_acceleration(1))
-		    && PX4_ISFINITE(angular_acceleration(2))) {
+		if (PX4_ISFINITE(angular_acceleration_raw(0))
+		    && PX4_ISFINITE(angular_acceleration_raw(1))
+		    && PX4_ISFINITE(angular_acceleration_raw(2))) {
 
-			return angular_acceleration;
+			return angular_acceleration_raw;
 		}
 	}
 
@@ -452,7 +454,7 @@ void VehicleAngularVelocity::UpdateDynamicNotchEscRpm(float new_scale, bool forc
 
 							// only reset if there's sufficient change (> 1%)
 							if (force || (change_percent > 0.01f)) {
-								const Vector3f reset_angular_velocity{GetResetAngularVelocity(new_scale)};
+								const Vector3f reset_angular_velocity{GetResetAngularVelocity(_angular_velocity, new_scale)};
 
 								for (int axis = 0; axis < 3; axis++) {
 									auto &dnf = _dynamic_notch_filter_esc_rpm[i][harmonic][axis];
@@ -511,7 +513,7 @@ void VehicleAngularVelocity::UpdateDynamicNotchFFT(float new_scale, bool force)
 
 							// only reset if there's sufficient change
 							if (peak_diff_abs > sensor_gyro_fft.resolution_hz) {
-								dnf.reset(GetResetAngularVelocity(new_scale)(axis));
+								dnf.reset(GetResetAngularVelocity(_angular_velocity, new_scale)(axis));
 							}
 
 							perf_count(_dynamic_notch_filter_fft_update_perf);
@@ -583,20 +585,6 @@ float VehicleAngularVelocity::FilterAngularVelocity(int axis, float data[], int
 	return data[N - 1];
 }
 
-float VehicleAngularVelocity::FilterAngularAcceleration(int axis, float dt_s, float data[], int N)
-{
-	// angular acceleration: Differentiate & apply specific angular acceleration (D-term) low-pass (IMU_DGYRO_CUTOFF)
-	float angular_acceleration_filtered = 0.f;
-
-	for (int n = 0; n < N; n++) {
-		const float angular_acceleration = (data[n] - _angular_velocity_prev(axis)) / dt_s;
-		angular_acceleration_filtered = _lp_filter_acceleration[axis].apply(angular_acceleration);
-		_angular_velocity_prev(axis) = data[n];
-	}
-
-	return angular_acceleration_filtered;
-}
-
 void VehicleAngularVelocity::Run()
 {
 	// backup schedule
@@ -656,7 +644,18 @@ void VehicleAngularVelocity::Run()
 
 					// save last filtered sample
 					angular_velocity_unscaled(axis) = FilterAngularVelocity(axis, data, N);
-					angular_acceleration_unscaled(axis) = FilterAngularAcceleration(axis, dt_s, data, N);
+
+					// angular acceleration: Differentiate & apply specific angular acceleration (D-term) low-pass (IMU_DGYRO_CUTOFF)
+					for (int n = 0; n < N; n++) {
+						// Backward finite difference (1st derivative 3 coffecients [1/2, -2, 3/2])
+						const float angular_acceleration = (+ 0.5f * _angular_velocity_raw_prev_prev(axis)
+										    - 2.0f * _angular_velocity_raw_prev(axis)
+										    + 1.5f * data[n]) / dt_s;
+						_angular_velocity_raw_prev_prev(axis) = _angular_velocity_raw_prev(axis);
+						_angular_velocity_raw_prev(axis) = data[n];
+
+						angular_acceleration_unscaled(axis) = _lp_filter_acceleration[axis].apply(angular_acceleration);
+					}
 				}
 
 				// Publish
@@ -699,7 +698,11 @@ void VehicleAngularVelocity::Run()
 
 				// save last filtered sample
 				angular_velocity(axis) = FilterAngularVelocity(axis, data);
-				angular_acceleration(axis) = FilterAngularAcceleration(axis, dt_s, data);
+
+				angular_acceleration(axis) = _lp_filter_acceleration[axis].apply((raw_data_array[axis]
+							     - _angular_velocity_raw_prev(axis)) / dt_s);
+				_angular_velocity_raw_prev_prev(axis) = _angular_velocity_raw_prev(axis);
+				_angular_velocity_raw_prev(axis) = raw_data_array[axis];
 			}
 
 			// Publish
@@ -712,6 +715,7 @@ void VehicleAngularVelocity::CalibrateAndPublish(bool publish, const hrt_abstime
 		const Vector3f &angular_velocity_unscaled,  const Vector3f &angular_acceleration_unscaled, float scale)
 {
 	// Angular velocity: rotate sensor frame to board, scale raw data to SI, apply calibration, and remove in-run estimated bias
+	_angular_velocity_prev = _angular_velocity;
 	_angular_velocity = _calibration.Correct(angular_velocity_unscaled * scale) - _bias;
 
 	// Angular acceleration: rotate sensor frame to board, scale raw data to SI, apply any additional configured rotation

src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.hpp

@@ -79,7 +79,6 @@ private:
 				 const matrix::Vector3f &angular_acceleration, float scale = 1.f);
 
 	float FilterAngularVelocity(int axis, float data[], int N = 1);
-	float FilterAngularAcceleration(int axis, float dt_s, float data[], int N = 1);
 
 	void DisableDynamicNotchEscRpm();
 	void DisableDynamicNotchFFT();
@@ -93,7 +92,7 @@ private:
 	bool UpdateSampleRate();
 
 	// scaled appropriately for current FIFO mode
-	matrix::Vector3f GetResetAngularVelocity(float new_scale = 1.f) const;
+	matrix::Vector3f GetResetAngularVelocity(const matrix::Vector3f &angular_velocity, float new_scale = 1.f) const;
 	matrix::Vector3f GetResetAngularAcceleration(float new_scale = 1.f) const;
 
 	static constexpr int MAX_SENSOR_COUNT = 4;
@@ -119,9 +118,11 @@ private:
 	matrix::Vector3f _bias{};
 
 	matrix::Vector3f _angular_velocity{};
+	matrix::Vector3f _angular_velocity_prev{};
 	matrix::Vector3f _angular_acceleration{};
 
-	matrix::Vector3f _angular_velocity_prev{};
+	matrix::Vector3f _angular_velocity_raw_prev{};
+	matrix::Vector3f _angular_velocity_raw_prev_prev{};
 	hrt_abstime _timestamp_sample_last{0};
 
 	hrt_abstime _publish_interval_min_us{0};

src/modules/vtol_att_control/vtol_type.cpp

@@ -332,7 +332,7 @@ bool VtolType::set_idle_fw()
 
 	for (int i = 0; i < num_outputs_max; i++) {
 		if (is_channel_set(i, generate_bitmap_from_channel_numbers(_params->vtol_motor_id))) {
-			pwm_values.values[i] = PWM_DEFAULT_MIN;
+			pwm_values.values[i] = PWM_MOTOR_OFF;
 
 		} else {
 			pwm_values.values[i] = _min_mc_pwm_values.values[i];