mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-02-08 20:43:42 +08:00
ba640acfcc
- track and publish validity based on hover thrust variance, innovation test ratio, and hysteresis - only publish on actual updates or becoming inactive - fix dt (previous timestamp wasn't being saved) - use local position timestamp (corresponding) to accel data rather than current time to avoid unnecessary timing jitter - check local position validity before using - mc_hover_thrust_estimator: move from wq:lp_default -> wq:nav_and_controllers to ensure the hover thrust estimator runs after the position controller and uses the same vehicle_local_position data - land_detector: check hover thrust estimate validity and adjust low throttle thresholds if hover thrust is available - mc_pos_control: only use hover thrust estimate if valid
14 lines
619 B
Plaintext
14 lines
619 B
Plaintext
uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # time of corresponding sensor data last used for this estimate
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float32 hover_thrust # estimated hover thrust [0.1, 0.9]
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float32 hover_thrust_var # estimated hover thrust variance
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float32 accel_innov # innovation of the last acceleration fusion
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float32 accel_innov_var # innovation variance of the last acceleration fusion
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float32 accel_innov_test_ratio # normalized innovation squared test ratio
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float32 accel_noise_var # vertical acceleration noise variance estimated form innovation residual
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bool valid
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