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delete SYS_MC_EST_GROUP

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- introduce per module parameters (EKF2_EN, LPE_EN, ATT_EN)
 - add basic checks to prevent EKF2 + LPE running simultaneously
This commit is contained in:
Daniel Agar
2023-12-18 13:03:52 -05:00
parent 1b1479a92b
commit 78bbb66568
29 changed files with 154 additions and 209 deletions
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ROMFS/px4fmu_common/init.d-posix/rcS
+18 -5
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@@ -182,10 +182,6 @@ param set-default SYS_FAILURE_EN 1
# does not go below 50% by default, but failure injection can trigger failsafes.
param set-default COM_LOW_BAT_ACT 2
# Allow to override SYS_MC_EST_GROUP via env
if [ -n "$SYS_MC_EST_GROUP" ]; then
param set SYS_MC_EST_GROUP $SYS_MC_EST_GROUP
fi
# Adapt timeout parameters if simulation runs faster or slower than realtime.
if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -256,6 +252,23 @@ manual_control start
sensors start
commander start
#
# state estimator selection
if param compare -s EKF2_EN 1
then
ekf2 start &
fi
if param compare -s LPE_EN 1
then
local_position_estimator start
fi
if param compare -s ATT_EN 1
then
attitude_estimator_q start
fi
if ! pwm_out_sim start -m sim
then
tune_control play error
@@ -330,7 +343,7 @@ fi
[ -e "$autostart_file".post ] && . "$autostart_file".post
# Run script to start logging
if param compare SYS_MC_EST_GROUP 2
if param compare -s EKF2_EN 1
then
set LOGGER_ARGS "-p ekf2_timestamps"
else
ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
+1 -1
View File
@@ -17,7 +17,7 @@
#
. ${R}etc/init.d/rc.mc_defaults
param set-default SYS_MC_EST_GROUP 2
param set-default SYS_HAS_MAG 0
param set-default EKF2_OF_CTRL 1
param set-default EKF2_GPS_CTRL 0
ROMFS/px4fmu_common/init.d/rc.airship_apps
-43
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@@ -5,49 +5,6 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
###############################################################################
# Begin Estimator Group Selection #
###############################################################################
#
# LPE
#
if param compare SYS_MC_EST_GROUP 1
then
#
# Try to start LPE. If it fails, start EKF2 as a default.
# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
#
if attitude_estimator_q start
then
echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
local_position_estimator start
else
echo "ERROR [init] Estimator LPE not available. Using EKF2"
param set SYS_MC_EST_GROUP 2
param save
reboot
fi
else
#
# Q estimator (attitude estimation only)
#
if param compare SYS_MC_EST_GROUP 3
then
attitude_estimator_q start
else
#
# EKF2
#
param set SYS_MC_EST_GROUP 2
ekf2 start &
fi
fi
###############################################################################
# End Estimator Group Selection #
###############################################################################
#
# Start Control Allocator
#
ROMFS/px4fmu_common/init.d/rc.balloon_apps
-36
View File
@@ -4,39 +4,3 @@
#
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
#
# Start the attitude and position estimator.
#
if param compare SYS_MC_EST_GROUP 1
then
#
# Try to start LPE. If it fails, start EKF2 as a default.
# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
#
if attitude_estimator_q start
then
echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
local_position_estimator start
else
echo "ERROR [init] Estimator LPE not available. Using EKF2"
param set SYS_MC_EST_GROUP 2
param save
reboot
fi
else
#
# Q estimator (attitude estimation only)
#
if param compare SYS_MC_EST_GROUP 3
then
attitude_estimator_q start
else
#
# EKF2
#
param set SYS_MC_EST_GROUP 2
ekf2 start &
fi
fi
ROMFS/px4fmu_common/init.d/rc.balloon_defaults
+3 -1
View File
@@ -13,4 +13,6 @@ param set-default MAV_TYPE 8
#
# Default parameters for balloon UAVs.
#
param set-default SYS_MC_EST_GROUP 1
param set-default LPE_EN 1
param set-default ATT_EN 1
param set-default EKF2_EN 0
ROMFS/px4fmu_common/init.d/rc.fw_apps
-5
View File
@@ -5,11 +5,6 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
#
# Start the attitude and position estimator.
#
ekf2 start &
#
# Start Control Allocator
#
ROMFS/px4fmu_common/init.d/rc.mc_apps
-43
View File
@@ -5,49 +5,6 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
###############################################################################
# Begin Estimator Group Selection #
###############################################################################
#
# LPE
#
if param compare SYS_MC_EST_GROUP 1
then
#
# Try to start LPE. If it fails, start EKF2 as a default.
# Unfortunately we do not build it on px4_fmu-v2 due to a limited flash.
#
if attitude_estimator_q start
then
echo "WARN [init] Estimator LPE unsupported, EKF2 recommended."
local_position_estimator start
else
echo "ERROR [init] Estimator LPE not available. Using EKF2"
param set SYS_MC_EST_GROUP 2
param save
reboot
fi
else
#
# Q estimator (attitude estimation only)
#
if param compare SYS_MC_EST_GROUP 3
then
attitude_estimator_q start
else
#
# EKF2
#
param set SYS_MC_EST_GROUP 2
ekf2 start &
fi
fi
###############################################################################
# End Estimator Group Selection #
###############################################################################
#
# Start Control Allocator
#
ROMFS/px4fmu_common/init.d/rc.rover_apps
-5
View File
@@ -5,11 +5,6 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
#
# Start the attitude and position estimator.
#
ekf2 start &
#
# Start Control Allocator
#
ROMFS/px4fmu_common/init.d/rc.rover_differential_apps
-3
View File
@@ -1,9 +1,6 @@
#!/bin/sh
# Standard apps for a differential drive rover.
# Start the attitude and position estimator.
ekf2 start &
# Start rover differential drive controller.
differential_drive start
ROMFS/px4fmu_common/init.d/rc.uuv_apps
-10
View File
@@ -5,16 +5,6 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
###############################################################################
# Begin Estimator Group Selection #
###############################################################################
ekf2 start &
###############################################################################
# End Estimator Group Selection #
###############################################################################
#
# Start Control Allocator
#
ROMFS/px4fmu_common/init.d/rc.vehicle_setup
-1
View File
@@ -76,5 +76,4 @@ fi
if [ $VEHICLE_TYPE = none ]
then
echo "No autostart ID found"
ekf2 start &
fi
ROMFS/px4fmu_common/init.d/rc.vtol_apps
-10
View File
@@ -5,16 +5,6 @@
# NOTE: Script variables are declared/initialized/unset in the rcS script.
#
###############################################################################
# Begin Estimator group selection #
###############################################################################
ekf2 start &
###############################################################################
# End Estimator group selection #
###############################################################################
#
# Start Control Allocator
#
ROMFS/px4fmu_common/init.d/rcS
+17
View File
@@ -391,6 +391,23 @@ else
pwm_out start
fi
#
# state estimator selection
if param compare -s EKF2_EN 1
then
ekf2 start &
fi
if param compare -s LPE_EN 1
then
local_position_estimator start
fi
if param compare -s ATT_EN 1
then
attitude_estimator_q start
fi
#
# Configure vehicle type specific parameters.
# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.