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ekf2 handle accelerometer clipping

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- track clipping per IMU axis and pass through to ecl/EKF
 - update ecl/EKF to include delta velocity clipping changes (PX4/ecl#663)
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Daniel Agar
2020-04-07 20:11:08 -04:00
committed by GitHub
parent 74aa3201ce
commit cf37be8c44
12 changed files with 101 additions and 36 deletions
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msg/sensor_combined.msg
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@@ -13,3 +13,8 @@ uint32 gyro_integral_dt # gyro measurement sampling period in us
int32 accelerometer_timestamp_relative # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
float32[3] accelerometer_m_s2 # average value acceleration measured in the XYZ body frame in m/s/s over the last accelerometer sampling period
uint32 accelerometer_integral_dt # accelerometer measurement sampling period in us
uint8 CLIPPING_X = 1
uint8 CLIPPING_Y = 2
uint8 CLIPPING_Z = 4
uint8 accelerometer_clipping # bitfield indicating if there was any accelerometer clipping (per axis) during the sampling period