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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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0f411d6820
- ekf2 can now run in multi-instance mode (currently up to 9 instances)
- in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
- new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
- sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
- existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
- ekf2 single instance mode is still fully supported and the default
Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
18 lines
652 B
Plaintext
18 lines
652 B
Plaintext
#
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# Sensor check metrics. This will be zero for a sensor that's primary or unpopulated.
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#
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uint64 timestamp # time since system start (microseconds)
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uint32 accel_device_id_primary # current primary accel device id for reference
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uint32[4] accel_device_ids
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float32[4] accel_inconsistency_m_s_s # magnitude of acceleration difference between IMU instance and mean in (m/s/s).
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bool[4] accel_healthy
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uint32 gyro_device_id_primary # current primary gyro device id for reference
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uint32[4] gyro_device_ids
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float32[4] gyro_inconsistency_rad_s # magnitude of angular rate difference between IMU instance and mean in (rad/s).
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bool[4] gyro_healthy
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