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ECL: Clean velPos logging, deprecate ekf2_innovations msg
This commit is contained in:
kamilritz
Julian Kent
@@ -55,13 +55,13 @@ set(msg_files
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debug_vect.msg
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differential_pressure.msg
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distance_sensor.msg
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ekf2_innovations.msg # TODO: remove as soon as https://github.com/PX4/Firmware/pull/13127 is rebased over this
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ekf2_timestamps.msg
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ekf_gps_drift.msg
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ekf_gps_position.msg
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esc_report.msg
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esc_status.msg
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estimator_status.msg
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estimator_innovations.msg
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follow_target.msg
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geofence_result.msg
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gps_dump.msg
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@@ -159,8 +159,7 @@ set(msg_files
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)
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set(deprecated_msgs
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# TODO: uncomment as soon as https://github.com/PX4/Firmware/pull/13127 is rebased over this
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# ekf2_innovations.msg # 2019-11-22, Updated estimator interface and logging; replaced by 'estimator_innovations'.
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ekf2_innovations.msg # 2019-11-22, Updated estimator interface and logging; replaced by 'estimator_innovations'.
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)
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foreach(msg IN LISTS deprecated_msgs)
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@@ -1,19 +0,0 @@
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uint64 timestamp # time since system start (microseconds)
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float32[6] vel_pos_innov # velocity and position innovations
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float32[3] mag_innov # earth magnetic field innovations
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float32 heading_innov # heading innovation
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float32 airspeed_innov # airspeed innovation
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float32 beta_innov # synthetic sideslip innovation
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float32[2] flow_innov # flow innovation
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float32 hagl_innov # innovation from the terrain estimator for the height above ground level measurement (m)
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float32[6] vel_pos_innov_var # velocity and position innovation variances
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float32[3] mag_innov_var # earth magnetic field innovation variance
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float32 heading_innov_var # heading innovation variance
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float32 airspeed_innov_var # Airspeed innovation variance
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float32 beta_innov_var # synthetic sideslip innovation variance
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float32[2] flow_innov_var # flow innovation variance
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float32 hagl_innov_var # innovation variance from the terrain estimator for the height above ground level measurement (m^2)
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float32[3] output_tracking_error # return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m)
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float32[2] drag_innov # drag specific force innovation (m/s/s)
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float32[2] drag_innov_var # drag specific force innovation variance (m/s/s)**2
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float32[2] aux_vel_innov # auxiliary NE velocity innovations from landing target measurement (m/s)
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43
msg/estimator_innovations.msg
Normal file
43
msg/estimator_innovations.msg
Normal file
@@ -0,0 +1,43 @@
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uint64 timestamp # time since system start (microseconds)
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# GPS
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float32[2] gps_hvel # horizontal GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)
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float32 gps_vvel # vertical GPS velocity innovation (m/sec) and innovation variance ((m/sec)**2)
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float32[2] gps_hpos # horizontal GPS position innovation (m) and innovation variance (m**2)
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float32 gps_vpos # vertical GPS position innovation (m) and innovation variance (m**2)
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# External Vision
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float32[2] ev_hvel # horizontal external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)
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float32 ev_vvel # vertical external vision velocity innovation (m/sec) and innovation variance ((m/sec)**2)
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float32[2] ev_hpos # horizontal external vision position innovation (m) and innovation variance (m**2)
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float32 ev_vpos # vertical external vision position innovation (m) and innovation variance (m**2)
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# Fake Position and Velocity
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float32[2] fake_hvel # fake horizontal velocity innovation (m/s) and innovation variance ((m/s)**2)
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float32 fake_vvel # fake vertical velocity innovation (m/s) and innovation variance ((m/s)**2)
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float32[2] fake_hpos # fake horizontal position innovation (m) and innovation variance (m**2)
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float32 fake_vpos # fake vertical position innovation (m) and innovation variance (m**2)
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# Height sensors
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float32 rng_vpos # range sensor height innovation (m) and innovation variance (m**2)
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float32 baro_vpos # barometer height innovation (m) and innovation variance (m**2)
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# Auxiliary velocity
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float32[2] aux_hvel # horizontal auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
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float32 aux_vvel # vertical auxiliar velocity innovation from landing target measurement (m/sec) and innovation variance ((m/sec)**2)
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# Optical flow
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float32[2] flow # flow innvoation (rad/sec) and innovation variance ((rad/sec)**2)
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# Various
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float32 heading # heading innovation (rad) and innovation variance (rad**2)
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float32[3] mag_field # earth magnetic field innovation (Gauss) and innovation variance (Gauss**2)
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float32[2] drag # drag specific force innovation (m/sec**2) and innovation variance ((m/sec)**2)
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float32 airspeed # airspeed innovation (m/sec) and innovation variance ((m/sec)**2)
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float32 beta # synthetic sideslip innovation (rad) and innovation variance (rad**2)
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float32 hagl # height of ground innovation (m) and innovation variance (m**2)
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# The innovation test ratios are scalar values. In case the field is a vector,
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# the test ratio will be put in the first component of the vector.
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# TOPICS estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios
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@@ -9,6 +9,8 @@ float32[3] vibe # IMU vibration metrics in the following array locations
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float32[24] covariances # Diagonal Elements of Covariance Matrix
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float32[3] output_tracking_error # return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m)
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uint16 gps_check_fail_flags # Bitmask to indicate status of GPS checks - see definition below
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# bits are true when corresponding test has failed
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uint8 GPS_CHECK_FAIL_GPS_FIX = 0 # 0 : insufficient fix type (no 3D solution)
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@@ -45,8 +45,7 @@ rtps:
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- msg: distance_sensor
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id: 17
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send: true
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# TODO: replace with 'estimator_innovations' as https://github.com/PX4/Firmware/pull/13127 is rebased over this
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- msg: ekf2_innovations
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- msg: estimator_innovations
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id: 18
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- msg: ekf2_timestamps
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id: 19
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@@ -336,4 +335,10 @@ rtps:
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- msg: vehicle_visual_odometry_aligned
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id: 169
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alias: vehicle_odometry
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- msg: estimator_innovation_variances
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id: 170
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alias: estimator_innovations
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- msg: estimator_innovation_test_ratios
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id: 171
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alias: estimator_innovations
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########## multi topics: end ##########
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