ekf2: update to latest ecl version #13014
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Includes compatibility changes for renamed variables.
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@priseborough This also need to include the copying of velocity data into the ECL backend and addition of velocity flag to EKF2_AID_MASK. |
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I suggest to add a few minor things:
-
Here add
(ParamFloat<px4::params::EKF2_EVV_NOISE>) _param_ekf2_evv_noise, ///< default velocity observation noise for exernal vision measurements (m/s) -
Here change to
_param_ekf2_ev_gate, ///< external vision estimator innovation consistency gate size (STD) (ParamExtFloat<px4::params::EKF2_EVV_GATE>) _param_ekf2_evv_gate, ///< external vision velocity innovation consistency gate size (STD) (ParamExtFloat<px4::params::EKF2_EVP_GATE>) _param_ekf2_evp_gate, ///< external vision position innovation consistency gate size (STD) -
Here add
_param_ekf2_evv_gate(_params->ev_vel_innov_gate), _param_ekf2_evp_gate(_params->ev_pos_innov_gate),
And in the ekf2_params.c:
- Here change to:
`PARAM_DEFINE_FLOAT(EKF2_EVP_NOISE, 0.1f);
/**
- Measurement noise for vision velocity observations used when the vision system does not supply error estimates
- @group EKF2
- @min 0.01
- @Unit m/s
- @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_EVV_NOISE, 0.1f);`
- Gate size for vision velocity estimate fusion
- Sets the number of standard deviations used by the innovation consistency test.
- @group EKF2
- @min 1.0
- @Unit SD
- @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_EVV_GATE, 3.0f);
/**
- Gate size for vision position fusion
- Sets the number of standard deviations used by the innovation consistency test.
- @group EKF2
- @min 1.0
- @Unit SD
- @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_EVP_GATE, 5.0f);`
This param tuning yielded good vision fusion with several different EKF_AID_MASK settings
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@kamilritz Can you please have a look at the parameter definitions before tomorrow if you get time. The build is failing at the step where the parameter xml file is generated and i am out of time today. TXS. |
| * @group EKF2 | ||
| * @min 0.01 | ||
| * @unit rad | ||
| * @Unit m/s |
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| * @Unit m/s | |
| * @unit m/s |
| @@ -1161,6 +1157,26 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_A_HMAX, 5.0f); | |||
| */ | |||
| PARAM_DEFINE_FLOAT(EKF2_RNG_A_IGATE, 1.0f); | |||
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| /** | |||
| * Gate size for vision velocity estimate fusion | |||
| * Sets the number of standard deviations used by the innovation consistency test. | |||
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`
- Gate size for vision velocity estimate fusion
- Sets the number of standard deviations used by the innovation consistency test.
- @group EKF2
`
add some empty lines here
| * Sets the number of standard deviations used by the innovation consistency test. | ||
| * @group EKF2 | ||
| * @min 1.0 | ||
| * @Unit SD |
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| * @Unit SD | |
| * @unit SD |
| PARAM_DEFINE_FLOAT(EKF2_EVV_GATE, 3.0f); | ||
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| /** | ||
| * Gate size for vision position fusion |
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Add some empty lines here as well
| * Sets the number of standard deviations used by the innovation consistency test. | ||
| * @group EKF2 | ||
| * @min 1.0 | ||
| * @Unit SD |
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| * @Unit SD | |
| * @unit SD |
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continued in #13023 |
Adds ability to use velocity data from vehicle_odometry message and miscellaneous fixes for use of other data from vehicle_odometry. See PX4/PX4-ECL#642 for details
Includes ekf2_main.cpp compatibility changes for renamed variables.
@kamilritz FYI