msg/hover_thrust_estimate.msg

uint64 timestamp                # time since system start (microseconds)
uint64 timestamp_sample         # time of corresponding sensor data last used for this estimate

float32 hover_thrust		# estimated hover thrust [0.1, 0.9]
float32 hover_thrust_var	# estimated hover thrust variance

float32 accel_innov		# innovation of the last acceleration fusion
float32 accel_innov_var		# innovation variance of the last acceleration fusion
float32 accel_innov_test_ratio	# normalized innovation squared test ratio

float32 accel_noise_var		# vertical acceleration noise variance estimated form innovation residual

bool valid
mc_hover_thrust_estimator: validity flag and other small improvements/fixes - 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 2020-08-03 10:30:52 -04:00			`uint64 timestamp # time since system start (microseconds)`
			`uint64 timestamp_sample # time of corresponding sensor data last used for this estimate`
HoverThrustEstimator: add a new single state estimator with measurement noise auto-tuning The purpose of this estimator is to improve land detection and vertical velocity feedforward Recovery strategy: This is required when the setpoint suddenly changes in air or that the EKF is diverging. A lowpassed test ratio is used as a trigger for the recovery logic Also, a lowpassed residual is used to estimate the steady-state value and remove it when estimating the accel noise to avoid increasing the accel noise when the redisual is caused by an offset. 2020-01-19 13:56:05 +01:00
			`float32 hover_thrust # estimated hover thrust [0.1, 0.9]`
			`float32 hover_thrust_var # estimated hover thrust variance`

			`float32 accel_innov # innovation of the last acceleration fusion`
			`float32 accel_innov_var # innovation variance of the last acceleration fusion`
			`float32 accel_innov_test_ratio # normalized innovation squared test ratio`

			`float32 accel_noise_var # vertical acceleration noise variance estimated form innovation residual`
mc_hover_thrust_estimator: validity flag and other small improvements/fixes - 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 2020-08-03 10:30:52 -04:00
			`bool valid`