Release 1.10 release branch cherry picks since beta4 #13273
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Some of these perf counters were useful during initial development, but realistically aren't needed anymore, some are redundant when we can now see the average interval from `work_queue status` and some of them simply aren't worth the cost at higher rates.
* 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"
Signed-off-by: RomanBapst <[email protected]>
The AUR repository got fixed upstream after I reported the issue. I tested on a fresh machine so we can get rid of the workaround that was necessary. See https://aur.archlinux.org/packages/ignition-cmake/#comment-712301
dt could drive the alpha filter crazy because of the small dt approximation during the computation of the coefficient. - Remove unused bitmask packing of the innovation checks
…optical_flow topic). (#13257)
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38 tasks
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Replaced by #13277 because this branch name doesn't work with the branch protection. |
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I would like to fork the release branch and only add strict bugfixes here so that we can keep development going in master.
I looked at all commits since
v1.10.0-beta4and cherry-picked what I thought was low risk and/or bugfixes.The crossed ones below are what's included now. Please comment where you disagree and I'll fix it.
FYI @mrpollo
o)
Not merged yet but should be cherry-picked: