b1e442b830
vehicle_local_position: added bitfield for terrain estimate sensor info
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- 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
0f411d6820
Multi-EKF support (ekf2)
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- 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
20c2fe6d28
estimator messages add explicit timestamp_sample
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- 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
97fc1db768
vehicle_local_position: rename yaw -> heading and add reset logic
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- vehicle_global_position yaw removed (redundant)
2020-08-10 11:42:03 +02:00
c270e75156
vehicle_local_position: delete unused and redundant dist_bottom_rate
2020-01-18 12:50:57 -05:00
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
183a63cce9
purge vehicle_vision_position alias
2018-09-18 09:52:33 +02:00
e932030d88
add timestamp field to uORB msgs; sync timestamp whenever possible
2018-08-09 13:40:48 +02:00
8299f571c8
msg : add height limits to local position
2018-06-09 13:38:04 +02:00
0ed78f259e
msg: Add estimator required control limits to vehicle_local_positiion
2018-01-29 22:30:34 +01:00
3fc7aba178
TECS: Use version in ECL library
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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
b4755297ec
delete control_state and cleanup vehicle_attitude ( #7882 )
2017-09-21 16:24:53 -04:00
2e008dfbc4
msg: Add vertical derivative to vehicle position messages
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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
e9a3eca751
msg: add velocity accuracy reporting to local position topic
2017-05-03 08:37:14 +02:00
7c068e83d8
msg: correct definitions for local position origin validity flags
2017-05-01 17:23:11 +02:00
569251dc2e
mavlink_receiver : Add external estimator interface
2017-02-15 21:47:51 +01:00
0d7189c894
added position and velocity reset data to local position topic
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Conflicts:
msg/vehicle_local_position.msg
2016-11-21 07:29:21 +01:00
3511f8abfb
Add position ground truth. ( #5819 )
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Have confirmed this works with gazebo sitl.
2016-11-09 19:38:38 -05:00
76387b1693
uorb autogeneration
2016-05-14 11:27:07 +02:00
61ff954d26
uORB msg spec: Clarify local position yaw
2016-01-01 11:38:56 +01:00
635d9ea760
msg: Improve vehicle_local_position documentation
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Clean up formatting, improve consistency of descriptions and ensure units are defined
2016-01-01 13:39:50 +11:00
c67cb25f9a
port more uorb headers to msg
2015-01-28 16:31:19 +01:00
RomanBapst
Daniel Agar
Nick
TSC21
Mohammed Kabir
Paul Riseborough
Kabir Mohammed
tumbili
James Goppert
Lorenz Meier
Paul Riseborough
Thomas Gubler