Multi-EKF support (ekf2)

mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-05-28 19:32:36 +08:00

- 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

									
										msg/CMakeLists.txt
									
		+1
		
												View File
												
				@@ -57,6 +57,7 @@ set(msg_files

					esc_status.msg

					estimator_innovations.msg

					estimator_optical_flow_vel.msg

					estimator_selector_status.msg

					estimator_sensor_bias.msg

					estimator_states.msg

					estimator_status.msg