Pr att bias cleanup2 #7773
Pr att bias cleanup2 #7773
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LorenzMeier
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I'll get the changes in that @sanderux requested for the fixed wing controller. |
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@priseborough thanks for addressing my comments. |
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I can change it to be airspeed disabled everywhere assuming that it will always be used as a boolean and we will not be adding other mode selections (eg use none, use estimated, use measured). |
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considering now it is a boolean and if in the future that changes the code would have to change anyway, i say lets make it airspeed_disabled |
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@PX4TestFlights Please thoroughly re-test this. Thanks! |
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On all airframes that is - multicopter, VTOL, fixed wing. |
…rrected sensor readings from the estimator
…to sensor_corrected topic
Fixes build error caused by unnecessary double precision operations.
Clarify units and definitions. Covariance is a measure of joint variability of two variables and should not be used to describe the variability of a single variable.
mhkabir
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Rebased. |
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a few flights with pixracer (v4) very stable; seemingly better tracking; no issues |
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Flight with pixhawk 1(V3); Good flight, no issues Flight with pixhawk pro (V4PRO); Good flight, no issues Flight with pixhawk 1 (V2); Good flight, no issues |
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@santiago3dr @Avysuarez Thanks! We still need coverage on VTOL and FW. :) |
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Unrelated to the PR, but one of the logs have that annoying transformation bug. Those tracking errors would've constituted a flyaway in reality : |
Any clues for where it's happening? When have you seen this bug? |
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@dagar It's filed here : PX4/pyulog#13, but I don't think anyone is closer to finding the core problem. |
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vtol flight: compared to master: ...and compared to stable: FW flights: compared to master: good flight performance; stable with nice tracking with both platforms |
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@santiago3dr Many thanks for the excellent test coverage! @LorenzMeier @priseborough @dagar I wil merge this soon after a final review unless any of you have any objections. :) |
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Your change has some impact on airspeedsensorless vehicles. Do you think i should give it a quick test on the deltaquad? |
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@sanderux Yes definitely! Please do test and let us know if airspeed-less operation works as expected. |
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@sanderux Any chance to get this done today? |
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Sorry, no luck yet, planning and weather keep interfering. I will try in the next 2 days |
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@sanderux Updates? If none, let's get this in anyway. |
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Rebasing |
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@dagar does @PX4TestFlights need to re-test? |
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Rebase became difficult and didn't seem worth it. |
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