EKF2: add usage to new exposed covariance

[TSC21]

Brings PX4/PX4-ECL#543 in, by getting use of the new covariances interface methods.

Tested with SITL.

[TSC21]

FMU-v2... annoying us again.

[CarlOlsson]

I tested this in SITL using

make px4_sitl gazebo HEADLESS=1

and the estimator_status covariance fields were not updating (only the first element)

PR

master

Do you know why?

[TSC21]

I have not checked estimator_status, only odometry. I can take a look.

[TSC21]

@CarlOlsson I think I have fixed it in 9c92002. Cn you have a try?

[CarlOlsson]

yes now it seems to work (Y)

[TSC21]

@Tony3dr can I have a test from you here? Thanks!

[Tony3dr]

@Tony3dr can I have a test from you here? Thanks!
@TSC21 absolutely, we will run some test tomorrow.

[TSC21]

@Tony3dr can I have a test from you here? Thanks!

@TSC21 absolutely, we will run some test tomorrow.

Thanks Anthony!

[dannyfpv]

Tested on Pixhawk 4 v5 Indoor flight test

Modes Tested

Takeoff: Good
Stabilized Mode: Good.

Flight Test:
Arm and Take off in the stabilized mode= no issues
Throttle Test = no issues
Pitch, Roll, Yaw, Land = no issues

Notes:

Took off in stabilized mode for approximately 1:30, No issues noted good flight in general. The vehicle behaved as expected.

Flight log:

https://review.px4.io/plot_app?log=c223569f-87b1-44d2-8ed9-c9330d32e6f6

[jorge789]

Indoor flight test on Pixhawk Cube V3:

Modes Tested

Takeoff: Good
Stabilized Mode: Good.

Flight Test:
Arm and Take off in the stabilized mode ✓
Throttle Test ✓
Pitch, Roll, Yaw ✓
Land ✓

Notes:

Took off in stabilized mode for approximately 1:30, No issues noted good flight in general. The vehicle behaved as expected.

Flight log:

https://review.px4.io/plot_app?log=72b97f22-3429-4397-afbd-42f140d112e4

Indoor flight test on PixRacer V4:

Modes Tested

Takeoff: Good
Stabilized Mode: Good.

Flight Test:
Arm and Take off in the stabilized mode ✓
Throttle Test ✓
Pitch, Roll, Yaw ✓
Land ✓

Notes:

Took off in stabilized mode for approximately 1:30, No issues noted good flight in general. The vehicle behaved as expected.

Flight log:

https://review.px4.io/plot_app?log=77956a27-beea-4b5e-8ced-b03dcf831dfa

[TSC21]

@jorge789 thanks for the flight testing! @dagar still hiting low stack. We need to rethink the approach.

[stale]

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.

[TSC21]

Still relevant and needing the required changes so to run online without blowing the stack. @dagar any suggestions would help.

[stale]

This issue has been automatically marked as stale because it has not had recent activity. Thank you for your contributions.

[TSC21]

Not stale. Needs to be revisited.

@jkflying @kamilritz

[TSC21]

I suppose this will be handled later. I am closing for now, as the current solution is not applicable anymore.