1. 27 Oct, 2020 2 commits
    • Daniel Agar's avatar
      rename vehicle_visual_odometry_aligned -> estimator_visual_odometry_aligned · df2f26eb
      Daniel Agar authored
       - saves a small amount of work for the ekf2 selector in multi-EKF mode (visual_odometry_aligned now ignored)
       - helps to distinguish the origin/purpose from vehicle_odometry and vehicle_visual_odometry
      df2f26eb
    • Daniel Agar's avatar
      Multi-EKF support (ekf2) · 0f411d68
      Daniel Agar authored
      
      
       - ekf2 can now run in multi-instance mode (currently up to 9 instances)
          - in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
       - new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
       - sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
       - existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
       - ekf2 single instance mode is still fully supported and the default
      
      Co-authored-by: default avatarPaul Riseborough <gncsolns@gmail.com>
      0f411d68
  2. 26 Oct, 2020 1 commit
  3. 25 Oct, 2020 1 commit
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  5. 12 Oct, 2020 1 commit
  6. 02 Oct, 2020 1 commit
  7. 26 Sep, 2020 1 commit
  8. 25 Sep, 2020 1 commit
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  11. 28 Aug, 2020 1 commit
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  13. 07 Aug, 2020 1 commit
  14. 21 Jul, 2020 1 commit
  15. 30 May, 2020 1 commit
    • Daniel Agar's avatar
      move IMU integration out of drivers to sensors hub to handle accel/gyro sync · e34bdb4b
      Daniel Agar authored
       - IMU integration move from drivers (PX4Accelerometer/PX4Gyroscope) to sensors/vehicle_imu 
       - sensors: voted_sensors_update now consumes vehicle_imu
       - delete sensor_accel_integrated, sensor_gyro_integrated
       - merge sensor_accel_status/sensor_gyro_status into vehicle_imu_status
       - sensors status output minor improvements (ordering, whitespace, show selected sensor device id and instance)
      e34bdb4b
  16. 15 Mar, 2020 1 commit
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  24. 27 Jan, 2020 2 commits
  25. 22 Jan, 2020 1 commit
  26. 18 Jan, 2020 1 commit
    • Daniel Agar's avatar
      sensor accel/gyro message cleanup · bb465ca5
      Daniel Agar authored
       - split out integrated data into new standalone messages (sensor_accel_integrated and sensor_gyro_integrated)
       - publish sensor_gyro at full rate and remove sensor_gyro_control
       - limit sensor status publications to 10 Hz
       - remove unused accel/gyro raw ADC fields
       - add device IDs to sensor_bias and sensor_correction
          - vehicle_angular_velocity/vehicle_acceleration: check device ids before using bias and corrections
      bb465ca5
  27. 15 Jan, 2020 1 commit
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