consume PX4 ecl submodule and preserve all history #17897
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
When the antennas are not parallel to the x body axis, the GPS message contains the angular offset but the data is already corrected in the driver. EKF2 should then not add this offset during the initialisation.
- Rename GPS yaw fusion functions: resetGpsAntYaw -> resetYawToGps fuseGpsAntYaw -> fuseGpsYaw - Move last fusion time in reset function
* Reset position/velocity return type is void * Delete not needed comments
Except for the velpos fusion
remove airspeed_innov_var_temp variable. setting to global variable even when fusion is aborted is okay
by combining x and y ballistic coeff inverse a vector
- ensure valid min is numerically larger than 0 (float32)
- otherwise checkVerticalAccelerationHealth() can fail if GPS or EV aren't available to correctly set vertical velocity fusion time and innovation ratio
This produces a more numerically stable and simpler derivation as it already contains the unit quaternion constraint
dagar
changed the title
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
The ECL project (Very lightweight Estimation & Control Library) containing the backend for PX4's primary estimator (ekf2) was structured separately from PX4 to encourage wider scale collaboration. Although a few other projects have consumed this work at various points, it never really resulted in additional ongoing development. Completely merging the ECL repository into PX4 will eliminate submodule annoyances and in general reduce friction in development both publicly and in private forks. Third parties that want to make use of the EKF without PX4 can still extract the library for the time being. Later this may open to door to tighter integration with PX4 for improved performance (minimizing unnecessary copying, etc).
I've performed a "git subtree merge" with the ECL submodule to preserve all development history.