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19 Commits

Author SHA1 Message Date
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 a89b69b0ea
vehicle_global_position: remove velocity fields (duplicates of local vx, vy, vz) 
* attitude_estimator_q: get velocity from local position (if available)
 2020-03-11 23:57:43 -04:00
Michael Schaeuble 30dbfd99fb EKF: Estimate WGS84 altitude with filtered AMSL offset 2018-11-22 16:55:30 +01:00
TSC21 e932030d88 add timestamp field to uORB msgs; sync timestamp whenever possible 2018-08-09 13:40:48 +02:00
Daniel Agar 3b5b12e1d1 move baro and magnetometer data out of sensor_combined 2018-04-11 23:26:58 -04:00
Daniel Agar 458db2e508 vehicle_global_position remove redundant evh and evv 
- vehicle_status_flags condition_global_velocity_valid is also unnecessary
 2018-03-05 13:20:28 -05:00
Daniel Agar b9081fb0ab vehicle_global_position delete unused pos_d_deriv 2018-03-05 01:41:18 -05:00
Daniel Agar b4755297ec delete control_state and cleanup vehicle_attitude (#7882) 2017-09-21 16:24:53 -04:00
Daniel Agar dc18112697 EKF2 limit map reprojection (#7900) 2017-09-05 12:56:53 -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 d0d2c9dcba msg: add velocity accuracy reporting to global position topic 2017-05-03 08:37:14 +02:00
tumbili 937c5adfc0 added estimator reset data to global position topic 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
Paul Riseborough 092b0d5dfb msg: Improve vehicle_global_position documentation 
Clean up formatting, improve consistency of descriptions and ensure units are defined
 2016-01-01 13:40:18 +11:00
Andreas Antener f5a844d4aa added field for pressure altitude to global position 2015-11-24 14:03:54 +01:00
James Goppert e1d2c0c5ad Move more messages to auto-generation, work on C++ code style 2015-05-20 08:57:29 +02:00