Within ekf2, optical flow messages (amongst others) are fused to the state estimates. It might occur that optical flow sensors report unreliable and unrealistic spikes. In that case, the state estimator went crazy so far and just ignored optical flow values from that moment on.
The common thread for all these spikes seems to be a too high integration time span. Therefore, this fix adds a simple logic that ignores unrealistically high integration time spans. As a threshold, 1 second was chosen.
Reported-by: Dominik Natter <dominik.natter@gmail.com>
If some bits are set but no topic was added, _subscriptions was null but
later accessed.
During normal use this only happens when switching between different
firmware versions with different SDLOG_PROFILE definition (with custom
config).
This fixes the corner case where a NAV_DELAY command changes the
validity of the next WP but not the rest of the triplet. The logic in
FlightTask was ignoring this change because the check was only based on
WP position change.
Tests for both of these models did not pass for me locally. Therefore,
I'm removing them for now. It's up to the stakeholders of these models
to add them again.
- ecl in PX4/Firmware (fff83fdee69789ec9da259b564bbfe67585a4b5f): a8bb8ea99f
- ecl current upstream: e4b44f704b
- Changes: a8bb8ea99f...e4b44f704be4b44f7 2020-06-23 PX4 BuildBot - Update geo_lookup WMM to latest Tue Jun 23 14:15:04 UTC 2020
4b746a3 2020-06-23 bresch - GPS Yaw: add consts and remove fusion starting message
2bafe9d 2020-06-22 bresch - GPS Yaw: wait to fuse at yaw at least once before declaring it faulty
51cd63d 2020-06-22 bresch - GPS Yaw: fall back to other yaw aiding source in case of bad data
fe2a9d3 2020-06-22 bresch - GPS Yaw: move isfinite checks in control.cpp
3c6790f 2020-06-22 bresch - GPS Yaw: Always reset Yaw when GPS Yaw fusion is starting
ff8b5ec 2020-06-21 kamilritz - Extract general functions into utils
fda30d8 2020-06-15 Daniel Agar - geo_lookup: expand latitude to +-80 degrees
109eca5 2020-06-15 Daniel Agar - geo_lookup: create simple python script to update tables
41b9e4f 2020-06-15 Daniel Agar - geo_lookup: move tables to separate file
- avoids the need for ekf2_timestamp publications by q and lpe
- adds logger to the lockstep cycle and makes it poll on ekf2_timestamps
or vehicle_attitude. This avoids dropped samples (required for replay).
Matthias Grob
TSC21
dominiknatter
Daniel Agar
Jari van Ewijk
Beat Küng
PX4 BuildBot
bresch
Benjamin Perseghetti
RomanBapst
Julian Oes
JaeyoungLim
JaeyoungLim
David Sidrane
Mirko Denecke