if the user arms within 30s of startup then stop the re-init of the
sensors. This can give less accurate frequency as the sample rate may
not have settled yet, but it is better than doing init of the filters
while the vehicle may be flying
also fix a 32 bit millis wrap
when doing the init() we must use the reference frequency, not the
current frequency. Using the current frequency leaves us with an
incorrect value for Q. If the current frequency is below the reference
frequency (which shouldn't happen in 4.5, but has been seen in 4.3)
then the Q can be much too low and massive phase lag can happen.
The vulnerability in 4.5.x is that the current frequency could be well
above the reference frequency. For example, the user may be doing a
motor test at 30s after boot, which is when we stop the
sensors_converging() test, and thus is the last time we call
init(). In that case we can end up with a Q which is much larger than
the one that should come from INS_HNTCH_FREQ and INS_HNTCH_BW, and
thus end up with a filter that produces a lot less attenuation than is
desired, potentially leading to instability due to high noise.
There are other scenarios that can cause this - for example a motor
test of a fwd motor at 30s after boot, or a spurious FFT peak due to
someone knocking the aircraft, or the vibration of a IC engine.
- ROS expects quaternions to be normalised and the default message constructor does not enforce this.
- Fix normalisation for pose stamped.
Signed-off-by: Rhys Mainwaring <rhys.mainwaring@me.com>
If the Gyro/Accel ID is already in the registered list, do not try to add it again.
This stops an issue seen on a CubeOrangePlus BG3 where, during the very first boot after a parameter wipe, software incorrectly registers a fourth IMU.
The Fourth IMU is registered because the AUX IMU is the same DevID as the third ICM45686.
* Rename NMEA heading to ground_course_deg
* Rename heading() utility to ground course (it was wrong)
* Add _rad prefix to be pedantic about units
* Add missing degrees conversion in NMEA because NMEA is not SI
Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
