forked from Archive/PX4-Autopilot
delete sdlog2 EKF2 replay (#7982)
This commit is contained in:
parent
b00c93ac21
commit
3498fe0c6f
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@ -774,17 +774,7 @@ then
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#
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if param compare SYS_LOGGER 0
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then
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# check if we should increase logging rate for ekf2 replay message logging
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if param greater EKF2_REC_RPL 0
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then
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if sdlog2 start -r 500 -e -b 18 -t
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then
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fi
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else
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if sdlog2 start -r 100 -a -b 9 -t
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then
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fi
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fi
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sdlog2 start -r 100 -a -b 9 -t
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else
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set LOGGER_ARGS ""
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#
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@ -795,21 +785,24 @@ then
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set LOGGER_BUF 64
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param set SDLOG_MODE 2
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fi
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if param compare SDLOG_MODE 1
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then
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set LOGGER_ARGS "-e"
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fi
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if param compare SDLOG_MODE 2
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then
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set LOGGER_ARGS "-f"
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fi
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if ver hwcmp AEROFC_V1
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then
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set LOGGER_ARGS "-m mavlink"
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fi
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if logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
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then
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fi
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logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
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unset LOGGER_BUF
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unset LOGGER_ARGS
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fi
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@ -114,26 +114,10 @@ then
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echo "You need to have gazebo simulator installed!"
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exit 1
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fi
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elif [ "$program" == "replay" ] && [ ! -n "$no_sim" ]
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then
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echo "Replaying logfile: $logfile"
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# This is not a simulator, but a log file to replay
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# Check if we need to creat a param file to allow user to change parameters
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if ! [ -f "$rootfs/replay_params.txt" ]
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then
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mkdir -p $rootfs
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touch $rootfs/replay_params.txt
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fi
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fi
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cd $working_dir
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if [ "$logfile" != "" ]
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then
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cp $logfile $rootfs/replay.px4log
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fi
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# Do not exit on failure now from here on because we want the complete cleanup
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set +e
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@ -21,7 +21,7 @@ msg_id_map = {
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'differential_pressure': 16,
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'distance_sensor': 17,
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'ekf2_innovations': 18,
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'ekf2_replay': 19,
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'ekf2_timestamps': 20,
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'esc_report': 21,
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'esc_status': 22,
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@ -79,7 +79,6 @@ set(config_module_list
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#
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modules/attitude_estimator_q
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modules/ekf2
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modules/ekf2_replay
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modules/local_position_estimator
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modules/position_estimator_inav
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@ -1,56 +0,0 @@
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include(posix/px4_impl_posix)
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set(CMAKE_TOOLCHAIN_FILE ${PX4_SOURCE_DIR}/cmake/toolchains/Toolchain-native.cmake)
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set(config_module_list
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drivers/device
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drivers/boards/sitl
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platforms/common
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platforms/posix/px4_layer
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platforms/posix/work_queue
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systemcmds/param
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systemcmds/ver
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systemcmds/perf
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modules/uORB
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modules/systemlib/param
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modules/systemlib
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modules/ekf2
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modules/ekf2_replay
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modules/sdlog2
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modules/logger
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lib/controllib
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lib/mathlib
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lib/mathlib/math/filter
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lib/conversion
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lib/ecl
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lib/external_lgpl
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lib/geo
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lib/geo_lookup
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lib/version
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lib/DriverFramework/framework
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lib/micro-CDR
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)
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set(config_extra_builtin_cmds
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serdis
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sercon
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)
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set(config_sitl_rcS_dir
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posix-configs/SITL/init/replay
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CACHE INTERNAL "init script dir for sitl"
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)
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set(config_sitl_viewer
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replay
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CACHE STRING "viewer for sitl"
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)
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set_property(CACHE config_sitl_viewer
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PROPERTY STRINGS "replay;none")
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set(config_sitl_debugger
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disable
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CACHE STRING "debugger for sitl"
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)
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set_property(CACHE config_sitl_debugger
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PROPERTY STRINGS "disable;gdb;lldb")
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@ -52,7 +52,6 @@ set(msg_file_names
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differential_pressure.msg
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distance_sensor.msg
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ekf2_innovations.msg
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ekf2_replay.msg
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ekf2_timestamps.msg
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esc_report.msg
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esc_status.msg
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@ -1,49 +0,0 @@
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uint32 gyro_integral_dt # gyro integration period in us
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uint32 accelerometer_integral_dt # accelerometer integration period in us
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uint64 magnetometer_timestamp # timestamp of magnetometer measurement in us
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uint64 baro_timestamp # timestamp of barometer measurement in us
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uint64 rng_timestamp # timestamp of range finder measurement in us
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uint64 flow_timestamp # timestamp of optical flow measurement in us
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uint64 asp_timestamp # timestamp of airspeed measurement in us
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uint64 ev_timestamp # timestamp of external vision measurement in us
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float32[3] gyro_rad # gyro vector in rad
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float32[3] accelerometer_m_s2 # accelerometer vector in m/s^2
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float32[3] magnetometer_ga # magnetometer measurement vector (body fixed NED) in ga
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float32 baro_alt_meter # barometer altitude measurement in m
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uint64 time_usec # timestamp of gps position measurement in us
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int32 lat # Latitude in 1E-7 degrees
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int32 lon # Longitude in 1E-7 degrees
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int32 alt # Altitude in 1E-3 meters above MSL, (millimetres)
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uint8 fix_type
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uint8 nsats # number of GPS satellites used by the receiver
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float32 eph # GPS horizontal position accuracy (metres)
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float32 epv # GPS vertical position accuracy (metres)
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float32 sacc # GPS speed accuracy (metres/sec)
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float32 vel_m_s # GPS ground speed, (metres/sec)
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float32 vel_n_m_s # GPS North velocity, (metres/sec)
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float32 vel_e_m_s # GPS East velocity, (metres/sec)
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float32 vel_d_m_s # GPS Down velocity, (metres/sec)
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bool vel_ned_valid # True if NED velocity is valid
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# range finder measurements
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float32 range_to_ground # range finder measured range to ground (m)
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# optical flow sensor measurements
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float32[2] flow_pixel_integral # integrated optical flow rate around x and y axes (rad)
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float32[2] flow_gyro_integral # integrated gyro rate around x and y axes (rad)
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uint32 flow_time_integral # integration timespan (usec)
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uint8 flow_quality # Quality of accumulated optical flow data (0 - 255)
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# airspeed
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float32 indicated_airspeed_m_s # indicated airspeed in meters per second, -1 if unknown
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float32 true_airspeed_m_s # true filtered airspeed in meters per second, -1 if unknown
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# external vision measurements
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float32[3] pos_ev # position in earth (NED) frame (metres)
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float32[4] quat_ev # quaternion rotation from earth (NED) to body (XYZ) frame
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float32 pos_err # position error 1-std for each axis (metres)
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float32 ang_err # angular error 1-std for each axis (rad)
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@ -1,4 +0,0 @@
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uorb start
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ekf2 start -r
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sleep 0.2
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ekf2_replay start replay.px4log
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@ -2,7 +2,6 @@ uorb start
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muorb start
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logger start -t -b 200
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param set MAV_BROADCAST 1
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param set SDLOG_PRIO_BOOST 3
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dataman start
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navigator start
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mavlink start -u 14556 -r 1000000
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@ -2,7 +2,6 @@ uorb start
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muorb start
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logger start -t -b 200
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param set MAV_BROADCAST 1
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param set SDLOG_PRIO_BOOST 3
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dataman start
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navigator start
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mavlink start -u 14556 -r 1000000
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@ -2,7 +2,6 @@ uorb start
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muorb start
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logger start -t -b 200
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param set MAV_BROADCAST 1
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param set SDLOG_PRIO_BOOST 3
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dataman start
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navigator start
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mavlink start -u 14556 -r 1000000
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@ -64,7 +64,6 @@
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#include <uORB/topics/wind_estimate.h>
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#include <uORB/topics/estimator_status.h>
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#include <uORB/topics/ekf2_innovations.h>
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#include <uORB/topics/ekf2_replay.h>
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#include <uORB/topics/ekf2_timestamps.h>
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#include <uORB/topics/optical_flow.h>
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#include <uORB/topics/distance_sensor.h>
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@ -162,7 +161,6 @@ private:
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orb_advert_t _wind_pub;
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orb_advert_t _estimator_status_pub;
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orb_advert_t _estimator_innovations_pub;
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orb_advert_t _replay_pub;
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orb_advert_t _ekf2_timestamps_pub;
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uORB::Publication<vehicle_local_position_s> _vehicle_local_position_pub;
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@ -235,8 +233,6 @@ private:
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control::BlockParamExtFloat _requiredHdrift; ///< maximum acceptable horizontal drift speed (m/s)
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control::BlockParamExtFloat _requiredVdrift; ///< maximum acceptable vertical drift speed (m/s)
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control::BlockParamInt _param_record_replay_msg; ///< turns on recording of ekf2 replay messages
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// measurement source control
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control::BlockParamExtInt
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_fusion_mode; ///< bitmasked integer that selects which of the GPS and optical flow aiding sources will be used
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@ -339,7 +335,6 @@ Ekf2::Ekf2():
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_wind_pub(nullptr),
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_estimator_status_pub(nullptr),
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_estimator_innovations_pub(nullptr),
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_replay_pub(nullptr),
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_ekf2_timestamps_pub(nullptr),
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_vehicle_local_position_pub(ORB_ID(vehicle_local_position), -1, &getPublications()),
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_vehicle_global_position_pub(ORB_ID(vehicle_global_position), -1, &getPublications()),
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@ -391,7 +386,6 @@ Ekf2::Ekf2():
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_requiredGDoP(this, "EKF2_REQ_GDOP", false, _params->req_gdop),
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_requiredHdrift(this, "EKF2_REQ_HDRIFT", false, _params->req_hdrift),
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_requiredVdrift(this, "EKF2_REQ_VDRIFT", false, _params->req_vdrift),
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_param_record_replay_msg(this, "EKF2_REC_RPL", false),
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_fusion_mode(this, "EKF2_AID_MASK", false, _params->fusion_mode),
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_vdist_sensor_type(this, "EKF2_HGT_MODE", false, _params->vdist_sensor_type),
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_range_noise(this, "EKF2_RNG_NOISE", false, _params->range_noise),
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@ -1355,96 +1349,6 @@ void Ekf2::run()
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orb_publish(ORB_ID(ekf2_timestamps), _ekf2_timestamps_pub, &ekf2_timestamps);
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}
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}
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// publish replay message if in replay mode
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if (_param_record_replay_msg.get() == 1) {
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struct ekf2_replay_s replay = {};
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replay.timestamp = now;
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replay.gyro_integral_dt = sensors.gyro_integral_dt;
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replay.accelerometer_integral_dt = sensors.accelerometer_integral_dt;
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replay.magnetometer_timestamp = _timestamp_mag_us;
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replay.baro_timestamp = _timestamp_balt_us;
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memcpy(replay.gyro_rad, sensors.gyro_rad, sizeof(replay.gyro_rad));
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memcpy(replay.accelerometer_m_s2, sensors.accelerometer_m_s2, sizeof(replay.accelerometer_m_s2));
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memcpy(replay.magnetometer_ga, sensors.magnetometer_ga, sizeof(replay.magnetometer_ga));
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replay.baro_alt_meter = sensors.baro_alt_meter;
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// only write gps data if we had a gps update.
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if (gps_updated) {
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replay.time_usec = gps.timestamp;
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replay.lat = gps.lat;
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replay.lon = gps.lon;
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replay.alt = gps.alt;
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replay.fix_type = gps.fix_type;
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replay.nsats = gps.satellites_used;
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replay.eph = gps.eph;
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replay.epv = gps.epv;
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replay.sacc = gps.s_variance_m_s;
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replay.vel_m_s = gps.vel_m_s;
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replay.vel_n_m_s = gps.vel_n_m_s;
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replay.vel_e_m_s = gps.vel_e_m_s;
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replay.vel_d_m_s = gps.vel_d_m_s;
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replay.vel_ned_valid = gps.vel_ned_valid;
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} else {
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// this will tell the logging app not to bother logging any gps replay data
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replay.time_usec = 0;
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}
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if (optical_flow_updated) {
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replay.flow_timestamp = optical_flow.timestamp;
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replay.flow_pixel_integral[0] = optical_flow.pixel_flow_x_integral;
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replay.flow_pixel_integral[1] = optical_flow.pixel_flow_y_integral;
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replay.flow_gyro_integral[0] = optical_flow.gyro_x_rate_integral;
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replay.flow_gyro_integral[1] = optical_flow.gyro_y_rate_integral;
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replay.flow_time_integral = optical_flow.integration_timespan;
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replay.flow_quality = optical_flow.quality;
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} else {
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replay.flow_timestamp = 0;
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}
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if (range_finder_updated) {
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replay.rng_timestamp = range_finder.timestamp;
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replay.range_to_ground = range_finder.current_distance;
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} else {
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replay.rng_timestamp = 0;
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}
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if (airspeed_updated) {
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replay.asp_timestamp = airspeed.timestamp;
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replay.indicated_airspeed_m_s = airspeed.indicated_airspeed_m_s;
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replay.true_airspeed_m_s = airspeed.true_airspeed_m_s;
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} else {
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replay.asp_timestamp = 0;
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}
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if (vision_position_updated || vision_attitude_updated) {
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replay.ev_timestamp = vision_position_updated ? ev_pos.timestamp : ev_att.timestamp;
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replay.pos_ev[0] = ev_pos.x;
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replay.pos_ev[1] = ev_pos.y;
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replay.pos_ev[2] = ev_pos.z;
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replay.quat_ev[0] = ev_att.q[0];
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replay.quat_ev[1] = ev_att.q[1];
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replay.quat_ev[2] = ev_att.q[2];
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replay.quat_ev[3] = ev_att.q[3];
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// TODO: switch to covariances from topic later
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replay.pos_err = _ev_pos_noise.get();
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replay.ang_err = _ev_ang_noise.get();
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} else {
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replay.ev_timestamp = 0;
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}
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if (_replay_pub == nullptr) {
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_replay_pub = orb_advertise(ORB_ID(ekf2_replay), &replay);
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} else {
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orb_publish(ORB_ID(ekf2_replay), _replay_pub, &replay);
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}
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}
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}
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orb_unsubscribe(sensors_sub);
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|
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@ -521,17 +521,6 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_V_GATE, 5.0f);
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*/
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PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 3.0f);
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/**
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* Replay mode
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*
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* A value of 1 indicates that the ekf2 module will publish
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* replay messages for logging.
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*
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* @group EKF2
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* @boolean
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*/
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PARAM_DEFINE_INT32(EKF2_REC_RPL, 0);
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/**
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* Integer bitmask controlling data fusion and aiding methods.
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*
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@ -1,46 +0,0 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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||||
#
|
||||
# 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.
|
||||
#
|
||||
#############################################################################
|
||||
px4_add_module(
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||||
MODULE modules__ekf2_replay
|
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MAIN ekf2_replay
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COMPILE_FLAGS
|
||||
-Wno-sign-compare # TODO: fix all sign-compare
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||||
STACK_MAIN 1000
|
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STACK_MAX 4000
|
||||
SRCS
|
||||
ekf2_replay_main.cpp
|
||||
DEPENDS
|
||||
platforms__common
|
||||
git_ecl
|
||||
)
|
||||
# vim: set noet ft=cmake fenc=utf-8 ff=unix :
|
File diff suppressed because it is too large
Load Diff
|
@ -97,7 +97,6 @@
|
|||
#include <uORB/topics/mc_att_ctrl_status.h>
|
||||
#include <uORB/topics/ekf2_innovations.h>
|
||||
#include <uORB/topics/camera_trigger.h>
|
||||
#include <uORB/topics/ekf2_replay.h>
|
||||
#include <uORB/topics/vehicle_land_detected.h>
|
||||
#include <uORB/topics/commander_state.h>
|
||||
#include <uORB/topics/cpuload.h>
|
||||
|
@ -1149,25 +1148,10 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
/* There are different log types possible on different platforms. */
|
||||
enum {
|
||||
LOG_TYPE_NORMAL,
|
||||
LOG_TYPE_REPLAY_ONLY,
|
||||
LOG_TYPE_ALL
|
||||
} log_type;
|
||||
|
||||
/* Check if we are gathering data for a replay log for ekf2. */
|
||||
param_t replay_handle = param_find("EKF2_REC_RPL");
|
||||
int32_t tmp = 0;
|
||||
param_get(replay_handle, &tmp);
|
||||
bool record_replay_log = (bool)tmp;
|
||||
|
||||
if (record_replay_log) {
|
||||
#if defined(__PX4_QURT) || defined(__PX4_POSIX)
|
||||
log_type = LOG_TYPE_ALL;
|
||||
#else
|
||||
log_type = LOG_TYPE_REPLAY_ONLY;
|
||||
#endif
|
||||
} else {
|
||||
log_type = LOG_TYPE_NORMAL;
|
||||
}
|
||||
log_type = LOG_TYPE_NORMAL;
|
||||
|
||||
/* warning! using union here to save memory, elements should be used separately! */
|
||||
union {
|
||||
|
@ -1206,7 +1190,6 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
struct control_state_s ctrl_state;
|
||||
struct ekf2_innovations_s innovations;
|
||||
struct camera_trigger_s camera_trigger;
|
||||
struct ekf2_replay_s replay;
|
||||
struct vehicle_land_detected_s land_detected;
|
||||
struct cpuload_s cpuload;
|
||||
struct vehicle_gps_position_s dual_gps_pos;
|
||||
|
@ -1263,14 +1246,8 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
struct log_EST4_s log_INO1;
|
||||
struct log_EST5_s log_INO2;
|
||||
struct log_CAMT_s log_CAMT;
|
||||
struct log_RPL1_s log_RPL1;
|
||||
struct log_RPL2_s log_RPL2;
|
||||
struct log_EST6_s log_INO3;
|
||||
struct log_RPL3_s log_RPL3;
|
||||
struct log_RPL4_s log_RPL4;
|
||||
struct log_RPL5_s log_RPL5;
|
||||
struct log_LAND_s log_LAND;
|
||||
struct log_RPL6_s log_RPL6;
|
||||
struct log_LOAD_s log_LOAD;
|
||||
struct log_DPRS_s log_DPRS;
|
||||
struct log_STCK_s log_STCK;
|
||||
|
@ -1319,7 +1296,6 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
int ctrl_state_sub;
|
||||
int innov_sub;
|
||||
int cam_trig_sub;
|
||||
int replay_sub;
|
||||
int land_detected_sub;
|
||||
int commander_state_sub;
|
||||
int cpuload_sub;
|
||||
|
@ -1363,7 +1339,6 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
subs.ctrl_state_sub = -1;
|
||||
subs.innov_sub = -1;
|
||||
subs.cam_trig_sub = -1;
|
||||
subs.replay_sub = -1;
|
||||
subs.land_detected_sub = -1;
|
||||
subs.commander_state_sub = -1;
|
||||
subs.cpuload_sub = -1;
|
||||
|
@ -1372,7 +1347,6 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
|
||||
/* add new topics HERE */
|
||||
|
||||
|
||||
for (unsigned i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
|
||||
subs.telemetry_subs[i] = -1;
|
||||
}
|
||||
|
@ -1408,7 +1382,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
thread_running = true;
|
||||
|
||||
// wakeup source
|
||||
px4_pollfd_struct_t fds[2];
|
||||
px4_pollfd_struct_t fds[1];
|
||||
unsigned px4_pollfd_len = 0;
|
||||
|
||||
int poll_counter = 0;
|
||||
|
@ -1421,11 +1395,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
fds[0].fd = subs.sensor_sub;
|
||||
fds[0].events = POLLIN;
|
||||
|
||||
subs.replay_sub = orb_subscribe(ORB_ID(ekf2_replay));
|
||||
fds[1].fd = subs.replay_sub;
|
||||
fds[1].events = POLLIN;
|
||||
|
||||
px4_pollfd_len = 2;
|
||||
px4_pollfd_len = 1;
|
||||
|
||||
poll_to_logging_factor = 1;
|
||||
|
||||
|
@ -1442,18 +1412,6 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
// TODO Remove hardcoded rate!
|
||||
poll_to_logging_factor = 250 / (log_rate < 1 ? 1 : log_rate);
|
||||
|
||||
break;
|
||||
|
||||
case LOG_TYPE_REPLAY_ONLY:
|
||||
|
||||
subs.replay_sub = orb_subscribe(ORB_ID(ekf2_replay));
|
||||
fds[0].fd = subs.replay_sub;
|
||||
fds[0].events = POLLIN;
|
||||
|
||||
px4_pollfd_len = 1;
|
||||
|
||||
poll_to_logging_factor = 1;
|
||||
|
||||
break;
|
||||
}
|
||||
|
||||
|
@ -1521,10 +1479,6 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
if (fds[0].revents & POLLIN) {
|
||||
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor);
|
||||
}
|
||||
|
||||
if (fds[1].revents & POLLIN) {
|
||||
orb_copy(ORB_ID(ekf2_replay), subs.replay_sub, &buf.replay);
|
||||
}
|
||||
break;
|
||||
|
||||
case LOG_TYPE_NORMAL:
|
||||
|
@ -1532,12 +1486,6 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
orb_copy(ORB_ID(sensor_combined), subs.sensor_sub, &buf.sensor);
|
||||
}
|
||||
break;
|
||||
|
||||
case LOG_TYPE_REPLAY_ONLY:
|
||||
if (fds[0].revents & POLLIN) {
|
||||
orb_copy(ORB_ID(ekf2_replay), subs.replay_sub, &buf.replay);
|
||||
}
|
||||
break;
|
||||
}
|
||||
poll_counter++;
|
||||
continue;
|
||||
|
@ -1563,109 +1511,6 @@ int sdlog2_thread_main(int argc, char *argv[])
|
|||
LOGBUFFER_WRITE_AND_COUNT(STAT);
|
||||
}
|
||||
|
||||
/* --- EKF2 REPLAY --- */
|
||||
if (log_type == LOG_TYPE_ALL || log_type == LOG_TYPE_REPLAY_ONLY) {
|
||||
|
||||
bool replay_updated = false;
|
||||
|
||||
if (log_type == LOG_TYPE_ALL) {
|
||||
|
||||
if (fds[1].revents & POLLIN) {
|
||||
orb_copy(ORB_ID(ekf2_replay), subs.replay_sub, &buf.replay);
|
||||
replay_updated = true;
|
||||
}
|
||||
|
||||
} else if (log_type == LOG_TYPE_REPLAY_ONLY) {
|
||||
if (fds[0].revents & POLLIN) {
|
||||
orb_copy(ORB_ID(ekf2_replay), subs.replay_sub, &buf.replay);
|
||||
replay_updated = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (replay_updated) {
|
||||
log_msg.msg_type = LOG_RPL1_MSG;
|
||||
log_msg.body.log_RPL1.time_ref = buf.replay.timestamp;
|
||||
log_msg.body.log_RPL1.gyro_integral_dt = buf.replay.gyro_integral_dt;
|
||||
log_msg.body.log_RPL1.accelerometer_integral_dt = buf.replay.accelerometer_integral_dt;
|
||||
log_msg.body.log_RPL1.magnetometer_timestamp = buf.replay.magnetometer_timestamp;
|
||||
log_msg.body.log_RPL1.baro_timestamp = buf.replay.baro_timestamp;
|
||||
log_msg.body.log_RPL1.gyro_x_rad = buf.replay.gyro_rad[0];
|
||||
log_msg.body.log_RPL1.gyro_y_rad = buf.replay.gyro_rad[1];
|
||||
log_msg.body.log_RPL1.gyro_z_rad = buf.replay.gyro_rad[2];
|
||||
log_msg.body.log_RPL1.accelerometer_x_m_s2 = buf.replay.accelerometer_m_s2[0];
|
||||
log_msg.body.log_RPL1.accelerometer_y_m_s2 = buf.replay.accelerometer_m_s2[1];
|
||||
log_msg.body.log_RPL1.accelerometer_z_m_s2 = buf.replay.accelerometer_m_s2[2];
|
||||
log_msg.body.log_RPL1.magnetometer_x_ga = buf.replay.magnetometer_ga[0];
|
||||
log_msg.body.log_RPL1.magnetometer_y_ga = buf.replay.magnetometer_ga[1];
|
||||
log_msg.body.log_RPL1.magnetometer_z_ga = buf.replay.magnetometer_ga[2];
|
||||
log_msg.body.log_RPL1.baro_alt_meter = buf.replay.baro_alt_meter;
|
||||
LOGBUFFER_WRITE_AND_COUNT(RPL1);
|
||||
|
||||
// only log the gps replay data if it actually updated
|
||||
if (buf.replay.time_usec > 0) {
|
||||
log_msg.msg_type = LOG_RPL2_MSG;
|
||||
log_msg.body.log_RPL2.time_pos_usec = buf.replay.time_usec;
|
||||
log_msg.body.log_RPL2.time_vel_usec = buf.replay.time_usec;
|
||||
log_msg.body.log_RPL2.lat = buf.replay.lat;
|
||||
log_msg.body.log_RPL2.lon = buf.replay.lon;
|
||||
log_msg.body.log_RPL2.alt = buf.replay.alt;
|
||||
log_msg.body.log_RPL2.fix_type = buf.replay.fix_type;
|
||||
log_msg.body.log_RPL2.nsats = buf.replay.nsats;
|
||||
log_msg.body.log_RPL2.eph = buf.replay.eph;
|
||||
log_msg.body.log_RPL2.epv = buf.replay.epv;
|
||||
log_msg.body.log_RPL2.sacc = buf.replay.sacc;
|
||||
log_msg.body.log_RPL2.vel_m_s = buf.replay.vel_m_s;
|
||||
log_msg.body.log_RPL2.vel_n_m_s = buf.replay.vel_n_m_s;
|
||||
log_msg.body.log_RPL2.vel_e_m_s = buf.replay.vel_e_m_s;
|
||||
log_msg.body.log_RPL2.vel_d_m_s = buf.replay.vel_d_m_s;
|
||||
log_msg.body.log_RPL2.vel_ned_valid = buf.replay.vel_ned_valid;
|
||||
LOGBUFFER_WRITE_AND_COUNT(RPL2);
|
||||
}
|
||||
|
||||
if (buf.replay.flow_timestamp > 0) {
|
||||
log_msg.msg_type = LOG_RPL3_MSG;
|
||||
log_msg.body.log_RPL3.time_flow_usec = buf.replay.flow_timestamp;
|
||||
log_msg.body.log_RPL3.flow_integral_x = buf.replay.flow_pixel_integral[0];
|
||||
log_msg.body.log_RPL3.flow_integral_y = buf.replay.flow_pixel_integral[1];
|
||||
log_msg.body.log_RPL3.gyro_integral_x = buf.replay.flow_gyro_integral[0];
|
||||
log_msg.body.log_RPL3.gyro_integral_y = buf.replay.flow_gyro_integral[1];
|
||||
log_msg.body.log_RPL3.flow_time_integral = buf.replay.flow_time_integral;
|
||||
log_msg.body.log_RPL3.flow_quality = buf.replay.flow_quality;
|
||||
LOGBUFFER_WRITE_AND_COUNT(RPL3);
|
||||
}
|
||||
|
||||
if (buf.replay.rng_timestamp > 0) {
|
||||
log_msg.msg_type = LOG_RPL4_MSG;
|
||||
log_msg.body.log_RPL4.time_rng_usec = buf.replay.rng_timestamp;
|
||||
log_msg.body.log_RPL4.range_to_ground = buf.replay.range_to_ground;
|
||||
LOGBUFFER_WRITE_AND_COUNT(RPL4);
|
||||
}
|
||||
|
||||
if (buf.replay.asp_timestamp > 0) {
|
||||
log_msg.msg_type = LOG_RPL6_MSG;
|
||||
log_msg.body.log_RPL6.time_airs_usec = buf.replay.asp_timestamp;
|
||||
log_msg.body.log_RPL6.indicated_airspeed_m_s = buf.replay.indicated_airspeed_m_s;
|
||||
log_msg.body.log_RPL6.true_airspeed_m_s = buf.replay.true_airspeed_m_s;
|
||||
LOGBUFFER_WRITE_AND_COUNT(RPL6);
|
||||
}
|
||||
|
||||
if (buf.replay.ev_timestamp > 0) {
|
||||
log_msg.msg_type = LOG_RPL5_MSG;
|
||||
log_msg.body.log_RPL5.time_ev_usec = buf.replay.ev_timestamp;
|
||||
log_msg.body.log_RPL5.x = buf.replay.pos_ev[0];
|
||||
log_msg.body.log_RPL5.y = buf.replay.pos_ev[1];
|
||||
log_msg.body.log_RPL5.z = buf.replay.pos_ev[2];
|
||||
log_msg.body.log_RPL5.q0 = buf.replay.quat_ev[0];
|
||||
log_msg.body.log_RPL5.q1 = buf.replay.quat_ev[1];
|
||||
log_msg.body.log_RPL5.q2 = buf.replay.quat_ev[2];
|
||||
log_msg.body.log_RPL5.q3 = buf.replay.quat_ev[3];
|
||||
log_msg.body.log_RPL5.pos_err = buf.replay.pos_err;
|
||||
log_msg.body.log_RPL5.ang_err = buf.replay.ang_err;
|
||||
LOGBUFFER_WRITE_AND_COUNT(RPL5);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (log_type == LOG_TYPE_ALL || log_type == LOG_TYPE_NORMAL) {
|
||||
|
||||
if (fds[0].revents & POLLIN) {
|
||||
|
|
|
@ -514,63 +514,12 @@ struct log_EST5_s {
|
|||
|
||||
#define LOG_OUT1_MSG 50
|
||||
|
||||
/* --- EKF2 REPLAY Part 1 --- */
|
||||
#define LOG_RPL1_MSG 51
|
||||
struct log_RPL1_s {
|
||||
uint64_t time_ref;
|
||||
uint32_t gyro_integral_dt;
|
||||
uint32_t accelerometer_integral_dt;
|
||||
uint64_t magnetometer_timestamp;
|
||||
uint64_t baro_timestamp;
|
||||
float gyro_x_rad;
|
||||
float gyro_y_rad;
|
||||
float gyro_z_rad;
|
||||
float accelerometer_x_m_s2;
|
||||
float accelerometer_y_m_s2;
|
||||
float accelerometer_z_m_s2;
|
||||
float magnetometer_x_ga;
|
||||
float magnetometer_y_ga;
|
||||
float magnetometer_z_ga;
|
||||
float baro_alt_meter;
|
||||
};
|
||||
/* --- EKF2 REPLAY Part 2 --- */
|
||||
#define LOG_RPL2_MSG 52
|
||||
struct log_RPL2_s {
|
||||
uint64_t time_pos_usec;
|
||||
uint64_t time_vel_usec;
|
||||
int32_t lat;
|
||||
int32_t lon;
|
||||
int32_t alt;
|
||||
uint8_t fix_type;
|
||||
uint8_t nsats;
|
||||
float eph;
|
||||
float epv;
|
||||
float sacc;
|
||||
float vel_m_s;
|
||||
float vel_n_m_s;
|
||||
float vel_e_m_s;
|
||||
float vel_d_m_s;
|
||||
bool vel_ned_valid;
|
||||
};
|
||||
|
||||
/* --- EST6 - ESTIMATOR INNOVATIONS --- */
|
||||
#define LOG_EST6_MSG 53
|
||||
struct log_EST6_s {
|
||||
float s[6];
|
||||
};
|
||||
|
||||
/* --- EKF2 REPLAY Part 3 --- */
|
||||
#define LOG_RPL3_MSG 54
|
||||
struct log_RPL3_s {
|
||||
uint64_t time_flow_usec;
|
||||
float flow_integral_x;
|
||||
float flow_integral_y;
|
||||
float gyro_integral_x;
|
||||
float gyro_integral_y;
|
||||
uint32_t flow_time_integral;
|
||||
uint8_t flow_quality;
|
||||
};
|
||||
|
||||
/* --- CAMERA TRIGGER --- */
|
||||
#define LOG_CAMT_MSG 55
|
||||
struct log_CAMT_s {
|
||||
|
@ -578,13 +527,6 @@ struct log_CAMT_s {
|
|||
uint32_t seq;
|
||||
};
|
||||
|
||||
/* --- EKF2 REPLAY Part 4 --- */
|
||||
#define LOG_RPL4_MSG 56
|
||||
struct log_RPL4_s {
|
||||
uint64_t time_rng_usec;
|
||||
float range_to_ground;
|
||||
};
|
||||
|
||||
/* --- LAND DETECTOR --- */
|
||||
#define LOG_LAND_MSG 57
|
||||
struct log_LAND_s {
|
||||
|
@ -594,29 +536,6 @@ struct log_LAND_s {
|
|||
/* 58 used for DGPS message
|
||||
shares struct with GPS MSG 8*/
|
||||
|
||||
/* --- EKF2 REPLAY Part 6 --- */
|
||||
#define LOG_RPL6_MSG 59
|
||||
struct log_RPL6_s {
|
||||
uint64_t time_airs_usec;
|
||||
float indicated_airspeed_m_s;
|
||||
float true_airspeed_m_s;
|
||||
};
|
||||
|
||||
/* --- EKF2 REPLAY Part 5 --- */
|
||||
#define LOG_RPL5_MSG 60
|
||||
struct log_RPL5_s {
|
||||
uint64_t time_ev_usec;
|
||||
float x;
|
||||
float y;
|
||||
float z;
|
||||
float q0;
|
||||
float q1;
|
||||
float q2;
|
||||
float q3;
|
||||
float pos_err;
|
||||
float ang_err;
|
||||
};
|
||||
|
||||
/* --- SYSTEM LOAD --- */
|
||||
#define LOG_LOAD_MSG 61
|
||||
struct log_LOAD_s {
|
||||
|
@ -720,12 +639,6 @@ static const struct log_format_s log_formats[] = {
|
|||
LOG_FORMAT(TSYN, "Q", "TimeOffset"),
|
||||
LOG_FORMAT(MACS, "fff", "RRint,PRint,YRint"),
|
||||
LOG_FORMAT(CAMT, "QI", "timestamp,seq"),
|
||||
LOG_FORMAT(RPL1, "QffQQffffffffff", "t,gIdt,aIdt,Tm,Tb,gx,gy,gz,ax,ay,az,magX,magY,magZ,b_alt"),
|
||||
LOG_FORMAT(RPL2, "QQLLiMMfffffffM", "Tpos,Tvel,lat,lon,alt,fix,nsats,eph,epv,sacc,v,vN,vE,vD,v_val"),
|
||||
LOG_FORMAT(RPL3, "QffffIB", "Tflow,fx,fy,gx,gy,delT,qual"),
|
||||
LOG_FORMAT(RPL4, "Qf", "Trng,rng"),
|
||||
LOG_FORMAT(RPL5, "Qfffffffff", "Tev,x,y,z,q0,q1,q2,q3,posErr,angErr"),
|
||||
LOG_FORMAT(RPL6, "Qff", "Tasp,inAsp,trAsp"),
|
||||
LOG_FORMAT(LAND, "B", "Landed"),
|
||||
LOG_FORMAT(LOAD, "f", "CPU"),
|
||||
LOG_FORMAT(DPRS, "Qffff", "errors,DPRESraw,DPRES,DPRESmax,Temp"),
|
||||
|
|
Loading…
Reference in New Issue