Commit Graph

4 Commits

Author SHA1 Message Date
Daniel Agar 713a1d08a3 sensors: add accel/gyro current priority to sensors_status_imu
- later the sensor priorities (user configurable) can be factored into the estimator selection criteria
2021-07-30 21:20:01 -04:00
Robin Lilja aa244a098c
Clarification of coordinate systems for sensors_* and vehicle_* messages (#16339)
Changed all 'NED' references to 'FRD'. Also cleaned up mixing of m/s/s and m/s^2 to use the latter. Corrected m/s/s to Pascals. Plus minor typos. Also made some minor cosmetic clean ups.

Co-authored-by: Robin <robin@Robins-MacBook-Pro-Work.local>
Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
2020-12-15 09:18:05 +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 60d613ea04
sensors: sensor_preflight_imu -> sensors_status_imu and run continuously
- inconsistency checks now run continuously instead of only preflight
 - keep inconsistencies for all sensors
 - add per sensor data validator state as overall health flag
2020-09-06 22:06:13 -04:00