Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Update submodule ecl to latest Tue Jun 11 12:38:12 UTC 2019 #12244

Merged
merged 1 commit into from
Jun 19, 2019
Merged

Update submodule ecl to latest Tue Jun 11 12:38:12 UTC 2019 #12244

merged 1 commit into from
Jun 19, 2019

Conversation

dagar
Copy link
Member

@dagar dagar commented Jun 11, 2019 

- ecl in PX4/Firmware (6f194d44bd3d11baad47ce23d37fa23299fe91d1): https://github.com/PX4/ecl/commit/0f49eb34a08e499a26d749ed981429047f2100ff
- ecl current upstream: https://github.com/PX4/ecl/commit/cef2ba5ab9fbc3b36c09181f7a9170d8c255fb8b
- Changes: https://github.com/PX4/ecl/compare/0f49eb34a08e499a26d749ed981429047f2100ff...cef2ba5ab9fbc3b36c09181f7a9170d8c255fb8b

cef2ba5 2019-05-08 Roman - implemented Kahan summation algorithm for adding process noise to delta angle- and delta velocity bias variance

@dagar dagar requested review from priseborough, RomanBapst and a team June 11, 2019 17:29
@PX4BuildBot PX4BuildBot force-pushed the pr-update_src/lib/ecl branch 8 times, most recently from 707a1c0 to 8a61c42 Compare June 15, 2019 12:42
@dagar
Copy link
Member Author

dagar commented Jun 15, 2019

This brings in the Kahan summation change.

@PX4BuildBot PX4BuildBot force-pushed the pr-update_src/lib/ecl branch from 8a61c42 to a2ac244 Compare June 16, 2019 00:38
@weekly-digest weekly-digest bot mentioned this pull request Jun 16, 2019
Closed
@PX4BuildBot PX4BuildBot force-pushed the pr-update_src/lib/ecl branch 3 times, most recently from c2a9838 to 4de3ce0 Compare June 17, 2019 12:38
@dannyfpv
Copy link

Tested on Pixhawk4 V5 f450
Modes Tested

Position Mode: no issue
Altitude Mode: no issue
Stabilized Mode: no issue
mission mode: no issue
rtl: no issue

pr log:
https://review.px4.io/plot_app?log=5b4599f3-2ee9-4bf2-aee0-7630b7e82ae3

master log:
https://review.px4.io/plot_app?log=d6b64a97-057e-4064-a185-97de8c0a5852

@jorge789
Copy link

Tested on PixRacer V4:

Modes Tested

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.

- Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoin activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
https://review.px4.io/plot_app?log=90564758-6659-42b3-8004-2d8f1eedf0e7

Log: Comparison to master:
https://review.px4.io/plot_app?log=39c9e714-0813-4f8b-8e96-908907baa506

Tested on Pixhawk 2 Cube V3:

Modes Tested

Position Mode: Good.
Altitude Mode: Good.
Stabilized Mode: Good.
Mission Plan Mode (Automated): Good.
RTL: Good.

- Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoin activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
https://review.px4.io/plot_app?log=266d552b-22f0-4f7f-83a1-d89266fe9636

Logs: Comparison to master
https://review.px4.io/plot_app?log=c1d7199f-bd87-4af8-b4f0-c2af71fc3636

@Junkim3DR
Copy link

Junkim3DR commented Jun 17, 2019 •
edited
Loading

Tested on Pixhawk 4mini v5:

Modes Tested

  • Position Mode: Good.
  • Altitude Mode: Good.
  • Stabilized Mode: Good.
  • Mission Plan Mode (Automated): Good.
  • RTL (Automated): Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoin activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
PR 12244

Master

Tested on NXP vFMUK6_v3:

Modes Tested

  • Position Mode: Good.
  • Altitude Mode: Good.
  • Stabilized Mode: Good.
  • Mission Plan Mode (Automated): Good.
  • RTL (Automated): Good.

Procedure
Arm and Take off in position mode, after flying for approximately one minute, switched to altitude then stabilized mode proceed to switch to mission plan mode then make sure that vehicle follows all waypoints as shown in QGC, once completed all waypoin activate RTL and see landing behaviour.

Notes:
No issues noted, good flight in general.

Log:
PR 12244

@PX4BuildBot PX4BuildBot force-pushed the pr-update_src/lib/ecl branch 2 times, most recently from 28e2e75 to 546919b Compare June 18, 2019 12:39
priseborough
priseborough reviewed Jun 18, 2019
View reviewed changes
Copy link
Contributor

@priseborough priseborough left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

Estimator log data shows expected behaviour. Delta velocity bias state variances reduce at a slightly lower rate with the change, but due to lower limit applied in SW, after about 3min of flying there is effectively no difference before and after the change. Any change in delta angle bias state variance behaviour is masked by flight to flight variations. This is OK to merge.

priseborough
priseborough previously approved these changes Jun 18, 2019
View reviewed changes
@PX4BuildBot
Update submodule ecl to latest Tue Jun 18 20:37:33 EDT 2019
b93eae2 
    - ecl in PX4/Firmware (4673dd0): PX4/PX4-ECL@0f49eb3
    - ecl current upstream: PX4/PX4-ECL@a036cf8
    - Changes: PX4/PX4-ECL@0f49eb3...a036cf8

    a036cf8 2019-06-14 Paul Riseborough - EKF: Remove use of of quaternion self product operator and fix delta rotation sign
0e946f2 2019-06-14 Paul Riseborough - EKF: Remove use of quaternion self product operator and fix delta rotation sign error
ad7f7af 2019-05-21 CarlOlsson - ekf: correct quaternion multiplication order
d6351bd 2019-05-21 CarlOlsson - EKF: update comment
7612fa4 2019-05-30 Paul Riseborough - EKF: Don't start using GPS for height until all validity checks have passed
cef2ba5 2019-05-08 Roman - implemented Kahan summation algorithm for adding process noise to delta angle- and delta velocity bias variance
@PX4BuildBot PX4BuildBot force-pushed the pr-update_src/lib/ecl branch from 546919b to b93eae2 Compare June 19, 2019 00:37
@priseborough priseborough self-requested a review June 19, 2019 01:37
@priseborough priseborough merged commit 4831a4b into master Jun 19, 2019
@priseborough priseborough deleted the pr-update_src/lib/ecl branch June 19, 2019 01:38
@weekly-digest weekly-digest bot mentioned this pull request Jun 23, 2019
Closed
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@priseborough priseborough priseborough approved these changes

@RomanBapst RomanBapst Awaiting requested review from RomanBapst

Assignees
No one assigned
Labels
Admin: Enhancement (improvement) 💡 EKF2
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
6 participants
@dagar @dannyfpv @jorge789 @Junkim3DR @priseborough @PX4BuildBot