Commit Graph

22 Commits

Author SHA1 Message Date
RomanBapst b1e442b830 vehicle_local_position: added bitfield for terrain estimate sensor info
- indicate how the distance to the bottom is estimated as this is important
to know in the context

Signed-off-by: RomanBapst <bapstroman@gmail.com>
2021-01-17 12:06:59 +01:00
Daniel Agar 0f411d6820
Multi-EKF support (ekf2)
- 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>
2020-10-27 10:56:11 -04:00
Daniel Agar 20c2fe6d28 estimator messages add explicit timestamp_sample
- timestamp is uORB publication metadata
 - this allows us to see what the system saw at publication time plus the latency in estimation
2020-09-04 10:48:26 -04:00
Daniel Agar 97fc1db768 vehicle_local_position: rename yaw -> heading and add reset logic
- vehicle_global_position yaw removed (redundant)
2020-08-10 11:42:03 +02:00
Daniel Agar c270e75156
vehicle_local_position: delete unused and redundant dist_bottom_rate 2020-01-18 12:50:57 -05:00
Nick b72d010c34 Update vehicle_local_position.ref_alt comment to reflect how ref_alt is being used in PX4 2019-10-14 12:33:25 -04:00
TSC21 183a63cce9 purge vehicle_vision_position alias 2018-09-18 09:52:33 +02:00
TSC21 e932030d88 add timestamp field to uORB msgs; sync timestamp whenever possible 2018-08-09 13:40:48 +02:00
Mohammed Kabir 8299f571c8 msg : add height limits to local position 2018-06-09 13:38:04 +02:00
Paul Riseborough 0ed78f259e msg: Add estimator required control limits to vehicle_local_positiion 2018-01-29 22:30:34 +01:00
Paul Riseborough 3fc7aba178 TECS: Use version in ECL library
This change updates a number of interfaces to use the new TECS implementation from the ECL library.
2017-10-22 21:56:06 +02:00
Daniel Agar b4755297ec delete control_state and cleanup vehicle_attitude (#7882) 2017-09-21 16:24:53 -04:00
Paul Riseborough 2e008dfbc4 msg: Add vertical derivative to vehicle position messages
This enables control loops that are sensitive to vertical velocity offsets to use a vertical velocity that is kinematically consistent with the vertical position.
2017-06-19 09:09:52 +02:00
priseborough e9a3eca751 msg: add velocity accuracy reporting to local position topic 2017-05-03 08:37:14 +02:00
Paul Riseborough 7c068e83d8 msg: correct definitions for local position origin validity flags 2017-05-01 17:23:11 +02:00
Kabir Mohammed 569251dc2e mavlink_receiver : Add external estimator interface 2017-02-15 21:47:51 +01:00
tumbili 0d7189c894 added position and velocity reset data to local position topic
Conflicts:
	msg/vehicle_local_position.msg
2016-11-21 07:29:21 +01:00
James Goppert 3511f8abfb Add position ground truth. (#5819)
Have confirmed this works with gazebo sitl.
2016-11-09 19:38:38 -05:00
Daniel Agar 76387b1693 uorb autogeneration 2016-05-14 11:27:07 +02:00
Lorenz Meier 61ff954d26 uORB msg spec: Clarify local position yaw 2016-01-01 11:38:56 +01:00
Paul Riseborough 635d9ea760 msg: Improve vehicle_local_position documentation
Clean up formatting, improve consistency of descriptions and ensure units are defined
2016-01-01 13:39:50 +11:00
Thomas Gubler c67cb25f9a port more uorb headers to msg 2015-01-28 16:31:19 +01:00