Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-28 19:08:29 +08:00
Code Issues Actions 27 Packages Projects Releases Wiki Activity

Multi-EKF support (ekf2)

Browse Source 
- 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: Paul Riseborough <gncsolns@gmail.com>
This commit is contained in:
Daniel Agar
2020-10-27 10:56:11 -04:00
committed by GitHub
parent d5245a22d3
commit 0f411d6820
56 changed files with 1747 additions and 295 deletions
Download Patch File Download Diff File Expand all files Collapse all files
ROMFS/px4fmu_common/init.d/rc.uuv_apps
+1 -1
View File
@@ -9,7 +9,7 @@
# Begin Estimator Group Selection #
###############################################################################
ekf2 start
ekf2 start &
###############################################################################
# End Estimator Group Selection #