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[WIP] ekf2 allow initializing without baro or mag depending on configuration #16216

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[WIP] ekf2 allow initializing without baro or mag depending on configuration #16216

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159e625
[WIP] ekf2 allow initializing without baro or mag depending on config…
dagar Dec 8, 2020
c5a6144
AlphaFilter update use return
dagar Dec 8, 2020
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8 changes: 3 additions & 5 deletions src/lib/battery/battery.cpp
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Expand Up @@ -129,11 +129,9 @@ void Battery::updateBatteryStatus(const hrt_abstime &timestamp, float voltage_v,
_throttle_filter.reset(throttle_normalized);
}

_voltage_filter_v.update(voltage_v);
_current_filter_a.update(current_a);
_throttle_filter.update(throttle_normalized);
sumDischarged(timestamp, current_a);
estimateRemaining(_voltage_filter_v.getState(), _current_filter_a.getState(), _throttle_filter.getState());
estimateRemaining(_voltage_filter_v.update(voltage_v),
_current_filter_a.update(current_a),
_throttle_filter.update(throttle_normalized));
computeScale();

if (_battery_initialized) {
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2 changes: 1 addition & 1 deletion src/lib/ecl
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Submodule ecl updated 14 files
+8 −10 .github/workflows/functional_change_indicator.yml
+27 −0 .github/workflows/update_change_indicator.yml
+7 −1 AlphaFilter/AlphaFilter.hpp
+1 −0 EKF/airspeed_fusion.cpp
+15 −29 EKF/control.cpp
+41 −24 EKF/ekf.cpp
+10 −5 EKF/ekf.h
+3 −2 EKF/ekf_helper.cpp
+1 −4 EKF/estimator_interface.cpp
+0 −3 EKF/estimator_interface.h
+0 −8 EKF/mag_control.cpp
+388 −388 test/change_indication/ekf_gsf_reset.csv
+348 −348 test/change_indication/iris_gps.csv
+3 −3 test/test_EKF_initialization.cpp
3 changes: 1 addition & 2 deletions src/lib/flight_tasks/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
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Expand Up @@ -354,8 +354,7 @@ void FlightTaskManualAltitude::_updateSetpoints()
Vector2f sp(_sticks.getPosition().slice<2, 1>(0, 0));

_man_input_filter.setParameters(_deltatime, _param_mc_man_tilt_tau.get());
_man_input_filter.update(sp);
sp = _man_input_filter.getState();
sp = _man_input_filter.update(sp);
_rotateIntoHeadingFrame(sp);

if (sp.length() > 1.0f) {
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7 changes: 3 additions & 4 deletions src/modules/mc_att_control/mc_att_control_main.cpp
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Expand Up @@ -146,10 +146,9 @@ MulticopterAttitudeControl::generate_attitude_setpoint(const Quatf &q, float dt,
*/
_man_x_input_filter.setParameters(dt, _param_mc_man_tilt_tau.get());
_man_y_input_filter.setParameters(dt, _param_mc_man_tilt_tau.get());
_man_x_input_filter.update(_manual_control_setpoint.x * _man_tilt_max);
_man_y_input_filter.update(_manual_control_setpoint.y * _man_tilt_max);
const float x = _man_x_input_filter.getState();
const float y = _man_y_input_filter.getState();

const float x = _man_x_input_filter.update(_manual_control_setpoint.x * _man_tilt_max);
const float y = _man_y_input_filter.update(_manual_control_setpoint.y * _man_tilt_max);

// we want to fly towards the direction of (x, y), so we use a perpendicular axis angle vector in the XY-plane
Vector2f v = Vector2f(y, -x);
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