Mathieu Bresciani 112f24c54f ekf2_main - Add optical flow innovation pre-flight check (#13036) ... * ekf2: Add FirstOrderLpf and InnovationLpf classes for innovation lowpass filtering * ekf2: use InnovLpf filter class in preflight checks * ekf2: move selection of yaw test limit for pre-flight check in function * ekf2: Move pre-flight checks into separate function * ekf2: use static constexpr insetead of inline for sq (square) function * ekf2: Split pre-flight checks in separate functions Also use the same check for all the innovations: innov_lpf < test and innov < 2xtest * ekf2: Add optical flow pre-flight check * ekf2: Combine FirstOrderLpf and InnovationLpf in single class * ekf2: check vel_pos_innov when ev_pos is active as well * ekf2: transform InnovationLpf into a header only library and pass the spike limit during the update call to avoid storing it here * ekf2: Static and const cleanup - set spike_lim constants as static constexpr, set innovation - set checker helper functions as static - rename the mix of heading and yaw as heading to avoid confusion * ekf2: use ternary operator in selectHeadingTestLimit instead of if-else * ekf2: store intermediate redults in const bool flags. Those will be used for logging * ekf2: set variable const whenever possible * ekf2: create PreFlightChecker class that handle all the innovation pre-flight checks. Add simple unit testing Use bitmask instead of general flag to have more granularity * PreFlightChecker: use setter for the innovations to check instead of sending booleans in the update function This makes it more scalable as more checks will be added * ekf: Use booleans instead of bitmask for ekf preflt checks Rename "down" to "vert"		2019-10-28 16:04:11 -04:00
..
templates	microRTPS: templates: only decode ros2_distro when possible and nedeed	2019-10-20 16:08:32 +01:00
tools	msg: don't implement print_message for fmu-v2	2019-10-18 11:54:24 +02:00
CMakeLists.txt	msg: don't implement print_message for fmu-v2	2019-10-18 11:54:24 +02:00
actuator_armed.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
actuator_controls.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
actuator_direct.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
actuator_outputs.msg	beautify some identation	2018-08-09 13:40:48 +02:00
adc_report.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
airspeed.msg	beautify some identation	2018-08-09 13:40:48 +02:00
airspeed_validated.msg	Airspeed Selector: repurpose wind estimator into an airspeed (selection, validation) module.	2019-08-09 10:55:05 +02:00
battery_status.msg	Mavlink: fixed temperature for batteries (#12605)	2019-08-02 10:09:03 -04:00
camera_capture.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
camera_trigger.msg	camera_capture: change topic namings to make logging, mavlink streaming and geotagging easier	2019-02-10 18:07:44 -05:00
collision_constraints.msg	first push on supporting ROS2 Dashing and IDL 4.2	2019-10-04 16:56:03 +01:00
collision_report.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
commander_state.msg	msg: add orbit main and navigation state	2018-12-08 22:34:57 +01:00
cpuload.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
debug_array.msg	Add support for mavlink message DEBUG_FLOAT_ARRAY	2018-09-27 12:33:12 -04:00
debug_key_value.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
debug_value.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
debug_vect.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
differential_pressure.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
distance_sensor.msg	CollisionPrevention add more distance_sensor orientations	2019-10-01 21:05:37 -04:00
ekf2_innovations.msg	beautify some identation	2018-08-09 13:40:48 +02:00
ekf2_timestamps.msg	ekf2: add vehicle_odometry usage and data validation check; update replay as well	2018-09-18 09:52:33 +02:00
ekf_gps_drift.msg	msg: Create message for GPS drift rates	2018-08-17 10:44:07 +10:00
ekf_gps_position.msg	msg: Add heading data to GPS blending output log data	2018-10-17 09:48:38 -04:00
esc_report.msg	esc_status: trim the message and remove unused fields	2019-10-11 08:14:17 +02:00
esc_status.msg	dshot: add telemetry and publish esc_status message	2019-10-11 08:14:17 +02:00
estimator_status.msg	ekf2_main - Add optical flow innovation pre-flight check (#13036)	2019-10-28 16:04:11 -04:00
follow_target.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
geofence_result.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
gps_dump.msg	introduce uORB::PublicationQueued and transition most orb_advertise_queue usage	2019-08-04 10:08:09 -04:00
gps_inject_data.msg	introduce uORB::PublicationQueued and transition most orb_advertise_queue usage	2019-08-04 10:08:09 -04:00
home_position.msg	beautify some identation	2018-08-09 13:40:48 +02:00
input_rc.msg	Fixing some typos	2019-01-25 11:58:17 -05:00
iridiumsbd_status.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
irlock_report.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
landing_gear.msg	vehicle constraints: remove landing gear	2018-12-10 16:17:23 +01:00
landing_target_innovations.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
landing_target_pose.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
led_control.msg	introduce uORB::PublicationQueued and transition most orb_advertise_queue usage	2019-08-04 10:08:09 -04:00
log_message.msg	listener print strings	2019-07-30 10:47:10 -04:00
manual_control_setpoint.msg	manual_contol_setpoint: fix mode slot numbering (#12578)	2019-08-01 12:27:58 -04:00
mavlink_log.msg	introduce uORB::PublicationQueued and transition most orb_advertise_queue usage	2019-08-04 10:08:09 -04:00
mission.msg	beautify some identation	2018-08-09 13:40:48 +02:00
mission_result.msg	beautify some identation	2018-08-09 13:40:48 +02:00
mount_orientation.msg	beautify some identation	2018-08-09 13:40:48 +02:00
multirotor_motor_limits.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
obstacle_distance.msg	Collision Prevention: support multiple sensors and frames (#12883)	2019-09-06 08:38:56 +02:00
offboard_control_mode.msg	mc_att_ctrl: added yawrate control from offboard.	2019-06-04 08:26:09 +02:00
optical_flow.msg	first push on supporting ROS2 Dashing and IDL 4.2	2019-10-04 16:56:03 +01:00
orbit_status.msg	orbit_status: fix type for radius	2018-12-18 14:40:07 +01:00
parameter_update.msg	beautify some identation	2018-08-09 13:40:48 +02:00
ping.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
position_controller_landing_status.msg	generic position controller status/feedback message	2018-08-31 14:43:51 -04:00
position_controller_status.msg	rename position_controller_status field from altitude_acceptance_radius	2018-09-24 11:23:01 +02:00
position_setpoint.msg	Navigator: VTOL: disable weather vane during yaw aligning before front transition	2019-08-21 10:08:04 +02:00
position_setpoint_triplet.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
power_button_state.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
power_monitor.msg	Added TI ina226 I2C power monitor (#11755)	2019-05-17 13:33:48 -04:00
pwm_input.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
qshell_req.msg	qshell: rename qshell sequence fields so they can be parsed on fastrtpsgen	2019-09-04 17:04:28 +01:00
qshell_retval.msg	qshell: rename qshell sequence fields so they can be parsed on fastrtpsgen	2019-09-04 17:04:28 +01:00
radio_status.msg	radio_status: change 'fixed' field name to 'fix' so it does not clash with 'fixed' floating-point notation on the IDL generation	2018-10-08 10:58:45 +02:00
rate_ctrl_status.msg	sensors: create vehicle_angular_velocity module (#12596)	2019-08-06 12:55:25 -04:00
rc_channels.msg	added aux6 RC channel	2019-04-03 08:20:47 -04:00
rc_parameter_map.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
safety.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
satellite_info.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
sensor_accel.msg	beautify some identation	2018-08-09 13:40:48 +02:00
sensor_baro.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
sensor_bias.msg	sensors: create vehicle_acceleration module (#12597)	2019-08-07 05:05:48 -04:00
sensor_combined.msg	first push on supporting ROS2 Dashing and IDL 4.2	2019-10-04 16:56:03 +01:00
sensor_correction.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
sensor_gyro.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
sensor_gyro_control.msg	introduce sensor_gyro_control message for vehicle_angular_velocity (#12145)	2019-08-16 13:53:59 -04:00
sensor_mag.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
sensor_preflight.msg	Improve magnetometer inconsistency check	2019-08-07 18:44:39 +02:00
sensor_selection.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
servorail_status.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
subsystem_info.msg	introduce uORB::PublicationQueued and transition most orb_advertise_queue usage	2019-08-04 10:08:09 -04:00
system_power.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
task_stack_info.msg	load_mon: update orb_publish to uORB::Publication<>	2019-09-02 20:41:34 -04:00
tecs_status.msg	tecs msg: changed flight_path_angle to height rate as clearly we are	2018-09-17 10:27:08 -04:00
telemetry_status.msg	introduce uORB::PublicationQueued and transition most orb_advertise_queue usage	2019-08-04 10:08:09 -04:00
test_motor.msg	mixer_module: add support for test_motor (motor_test CLI command)	2019-10-21 09:42:08 +02:00
timesync_status.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
trajectory_waypoint.msg	add point type (mavlink command associated with wp) in Obstacle Avoidance interface	2019-08-05 16:05:40 +02:00
transponder_report.msg	introduce uORB::PublicationQueued and transition most orb_advertise_queue usage	2019-08-04 10:08:09 -04:00
tune_control.msg	tune_control: use orb queue advertisement consistently	2019-07-25 10:38:57 -04:00
uavcan_parameter_request.msg	introduce uORB::PublicationQueued and transition most orb_advertise_queue usage	2019-08-04 10:08:09 -04:00
uavcan_parameter_value.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
ulog_stream.msg	ulog stream msgs: rename 'sequence' fields as they are protected names in fastrtpsgen	2019-10-14 16:37:17 +01:00
ulog_stream_ack.msg	ulog stream msgs: rename 'sequence' fields as they are protected names in fastrtpsgen	2019-10-14 16:37:17 +01:00
vehicle_acceleration.msg	sensors: create vehicle_acceleration module (#12597)	2019-08-07 05:05:48 -04:00
vehicle_air_data.msg	beautify some identation	2018-08-09 13:40:48 +02:00
vehicle_angular_velocity.msg	sensors: create vehicle_angular_velocity module (#12596)	2019-08-06 12:55:25 -04:00
vehicle_attitude.msg	Fixing and simplifying mavlink odometry handling (#12793)	2019-08-30 06:33:13 -07:00
vehicle_attitude_setpoint.msg	remove the landing gear from the attitude setpoint	2018-12-10 16:17:23 +01:00
vehicle_command.msg	beautify some identation	2018-08-09 13:40:48 +02:00
vehicle_command_ack.msg	introduce uORB::PublicationQueued and transition most orb_advertise_queue usage	2019-08-04 10:08:09 -04:00
vehicle_constraints.msg	mc_pos_control/FlightTasks: trigger takeoff based on task	2019-05-22 22:05:38 +02:00
vehicle_control_mode.msg	MAVLink/Commander: @Pedro-Roque's offboard yawrate handling	2019-06-04 08:26:09 +02:00
vehicle_global_position.msg	EKF: Estimate WGS84 altitude with filtered AMSL offset	2018-11-22 16:55:30 +01:00
vehicle_gps_position.msg	msg: Add antenna array heading offset to GPS message	2018-10-17 09:48:38 -04:00
vehicle_land_detected.msg	LandDetector: switch land flags to properies instead of one state	2019-10-16 00:47:01 -04:00
vehicle_local_position.msg	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
vehicle_local_position_setpoint.msg	Auto traj - Add Trajectory logging	2018-11-06 22:17:00 +01:00
vehicle_magnetometer.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00
vehicle_odometry.msg	ECL reference frame alignment fix (#12771)	2019-09-23 14:24:52 -04:00
vehicle_rates_setpoint.msg	VTOL rate control architecture improvements (#10819)	2018-11-21 20:32:40 -05:00
vehicle_roi.msg	beautify some identation	2018-08-09 13:40:48 +02:00
vehicle_status.msg	vehicle_status: replace ARMING_STATE_REBOOT with ARMING_STATE_SHUTDOWN	2019-08-05 05:55:33 -07:00
vehicle_status_flags.msg	Commander: move esc_status as local variable.	2019-08-09 09:41:17 +02:00
vehicle_trajectory_waypoint.msg	TRAJECTORY message renamed	2018-11-13 12:13:01 -05:00
vtol_vehicle_status.msg	beautify some identation	2018-08-09 13:40:48 +02:00
wheel_encoders.msg	Changed wheel encoder publication to multi-instance	2019-08-05 02:45:33 -07:00
wind_estimate.msg	add timestamp field to uORB msgs; sync timestamp whenever possible	2018-08-09 13:40:48 +02:00