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ekf2/commander: simplify navigation filter preflight checks

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- remove commander test ratio "tuning knobs" (COM_ARM_EKF_{HGT,POS,VEL,YAW})
   - these are effectively redundant with the actual tuning (noise & gate)
     in the estimator, plus most users have no idea why they'd be
     adjusting these other than to silence an annoying preflight complaint
 - remove ekf2 "PreFlightChecker" with hard coded innovation limits
 - ekf2 preflight innovation flags are now simply if any active source
   exceeds half the limit preflight
This commit is contained in:
Daniel Agar
2024-06-17 18:48:12 -04:00
committed by Mathieu Bresciani
parent a42dc2165c
commit eac14b7db2
15 changed files with 104 additions and 806 deletions
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boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
-6
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@@ -335,7 +335,6 @@
*(.text._ZThn16_N7sensors22VehicleAngularVelocity3RunEv)
*(.text._ZN29MavlinkStreamObstacleDistance4sendEv)
*(.text._ZN24MavlinkStreamOrbitStatus4sendEv)
*(.text._ZN16PreFlightChecker26preFlightCheckHeightFailedERK23estimator_innovations_sf)
*(.text._ZN9Navigator3runEv)
*(.text._ZN24MavlinkParametersManager11send_paramsEv)
*(.text._ZN17MavlinkLogHandler4sendEv)
@@ -374,7 +373,6 @@
*(.text.imxrt_ioctl)
*(.text._ZN3Ekf25checkMagBiasObservabilityEv)
*(.text._ZN36MavlinkStreamGimbalDeviceSetAttitude4sendEv)
*(.text._ZN16PreFlightChecker6updateEfRK23estimator_innovations_s)
*(.text._ZN4math13expo_deadzoneIfEEKT_RS2_S3_S3_.isra.0)
*(.text._ZN19StickAccelerationXYC1EP12ModuleParams)
*(.text.imxrt_epsubmit)
@@ -458,7 +456,6 @@
*(.text._ZN14FlightTaskAuto17_evaluateTripletsEv)
*(.text._ZN11calibration9Gyroscope23SensorCorrectionsUpdateEb)
*(.text._ZN25MavlinkStreamMagCalReport4sendEv)
*(.text._ZN16PreFlightChecker27preFlightCheckHeadingFailedERK23estimator_innovations_sf)
*(.text.imxrt_config_gpio)
*(.text.nxsig_timeout)
*(.text._ZN11RateControl19setSaturationStatusERKN6matrix7Vector3IbEES4_)
@@ -593,7 +590,6 @@
*(.text.uart_xmitchars_done)
*(.text._ZN4EKF225PublishYawEstimatorStatusERKy)
*(.text.sin)
*(.text._ZN16PreFlightChecker27preFlightCheckVertVelFailedERK23estimator_innovations_sf)
*(.text._ZN6Safety19safetyButtonHandlerEv)
*(.text._ZN3Ekf19controlAuxVelFusionEv)
*(.text._ZNK6matrix6MatrixIfLj2ELj1EEplERKS1_)
@@ -667,10 +663,8 @@
*(.text._ZN26MavlinkStreamCameraTrigger8get_sizeEv)
*(.text.iob_navail)
*(.text._ZN12FailsafeBase25removeNonActivatedActionsEv)
*(.text._ZN16PreFlightChecker28preFlightCheckHorizVelFailedERK23estimator_innovations_sf)
*(.text._ZN15TakeoffHandling10updateRampEff)
*(.text._Z7led_offi)
*(.text._ZN16PreFlightChecker22selectHeadingTestLimitEv)
*(.text.led_off)
*(.text.udp_wrbuffer_test)
*(.text._ZNK3Ekf34updateVerticalPositionAidSrcStatusERKyfffR24estimator_aid_source1d_s)