[WIP] introduce new vehicle_imu message #9756
Conversation
dagar
force-pushed
the
pr-vehicle_imu
branch
4 times, most recently
from
df67300 to
17e5f31
Compare
|
This PR has uncovered a few legitimate bugs with EKF (and commander) validity flags and SITL simulator sensors. |
dagar
force-pushed
the
pr-vehicle_imu
branch
3 times, most recently
from
481a06a to
163311f
Compare
dagar
force-pushed
the
pr-vehicle_imu
branch
2 times, most recently
from
1d96413 to
6a75568
Compare
|
This issue has been automatically marked as stale because it has not had recent activity. It will be closed if no further activity occurs. Thank you for your contributions. |
|
@dagar, I can deconflict the files in this PR for you if that helps you advance it. Give me a thumbs up if you'd like me to proceed. |
… from MulticopterLandDetector::_get_maybe_landed_state(). (#13072) PR #12681 added a check to the MulticopterLandDetector::_get_maybe_landed_state() method for a valid vehicle_attitude.timstamp value to finish work in PR #9756. It was discovered that the addition of that check leaves it possible to fly in acro mode without a valid attitude and auto-disarm can engage, allowing the multicopter to fall out of the sky.
|
This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions. |
|
Hi @dagar, I have the remaining primary work from this PR captured here, and the incidental work captured here. Once/if PR #11874 is able to be merged I'll submit a subsequent PR to finish out the remaining work for the vehicle_imu message. In the meantime, you can wait for that PR or close this one out if you like! Let me know if you need anything from me in the meantime. -Mark |
Consolidate _update_params() methods for improved inheritance from the LandDetector base class. Move common uORB::Subscriptions to the base class for inheritance. Deprecate redundant override methods.
Consolidate _update_params() methods for improved inheritance from the LandDetector base class. Move common uORB::Subscriptions to the base class for inheritance. Deprecate redundant override methods.
|
This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions. |
This PR introduces a new simple message
vehicle_imuto serve as a replacement for sensor_combined in the sensors pipeline.vehicle_imu
This message is kept as small as possible to facilitate logging without dropouts for EKF replay with older NuttX based hardware. Without any loss of functionality this saves 8 bytes per message, or 2 kB/s @ 250 Hz (about 5-7% of the default logger data).
The current sensor_combined message is used pervasively throughout the system, so I'd like to get consensus on the message structure and general direction, then gradually remove sensor_combined.
EKF replay compatibility is the main blocker for merging this immediately.