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save significant IMU bias changes learned by the EKF

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* ekf2: make publishing of learned accel biases more robust
* ekf2: reset accel bias if calibration updated
* msg: add separate accel and gyro calibration counters
* ekf2: use separate accel and gyro calibration counters
* ekf2: rework logic to reset biases when calibration counters increment
* sensors: add saving of learned accel biases
* ekf2: generalized saving accel/gyro/mag in flight sensor calibration
* boards: holybro kakutef7 disable systemcmds/perf and systemcmds/top to save flash

Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
This commit is contained in:
Daniel Agar
2021-11-07 15:34:27 -05:00
committed by GitHub
parent 5969508fa7
commit 68026eadeb
10 changed files with 406 additions and 50 deletions
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msg/estimator_sensor_bias.msg
+3
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@@ -13,15 +13,18 @@ float32[3] gyro_bias # gyroscope in-run bias in body frame (rad/s)
float32 gyro_bias_limit # magnitude of maximum gyroscope in-run bias in body frame (rad/s)
float32[3] gyro_bias_variance
bool gyro_bias_valid
bool gyro_bias_stable # true when the gyro bias estimate is stable enough to use for calibration
uint32 accel_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] accel_bias # accelerometer in-run bias in body frame (m/s^2)
float32 accel_bias_limit # magnitude of maximum accelerometer in-run bias in body frame (m/s^2)
float32[3] accel_bias_variance
bool accel_bias_valid
bool accel_bias_stable # true when the accel bias estimate is stable enough to use for calibration
uint32 mag_device_id # unique device ID for the sensor that does not change between power cycles
float32[3] mag_bias # magnetometer in-run bias in body frame (Gauss)
float32 mag_bias_limit # magnitude of maximum magnetometer in-run bias in body frame (Gauss)
float32[3] mag_bias_variance
bool mag_bias_valid
bool mag_bias_stable # true when the mag bias estimate is stable enough to use for calibration
msg/vehicle_imu.msg
+2 -1
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@@ -16,4 +16,5 @@ uint8 CLIPPING_Y = 2
uint8 CLIPPING_Z = 4
uint8 delta_velocity_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame
uint8 calibration_count # Calibration changed counter. Monotonically increases whenever calibration changes.
uint8 accel_calibration_count # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.
uint8 gyro_calibration_count # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.