move hover_thrust_estimator to new module (mc_hover_thrust_estimator)

* MC_HTE: unitialize with hover_thrust parameter * MC_HTE: constrain hover thrust setter between 0.1 and 0.9 * MC_HTE: integrate with land detector and velocity controller * MCHoverThrustEstimator: Always publish an estimate even when not fusing measurements. This is required as the land detector and the position controller need to receive a hover thrust value. * MC_HTE: use altitude agl threshold to start the estimator local_position.z is relative to the origin of the EKF while dist_bottom is above ground Co-authored-by: bresch <brescianimathieu@gmail.com>
2026-05-21 01:12:11 +00:00 · 2020-03-11 21:20:54 -04:00
parent 4b9e6964f4
commit f9794e99f8
74 changed files with 419 additions and 141 deletions
--- a/posix-configs/SITL/init/test/test_shutdown
+++ b/posix-configs/SITL/init/test/test_shutdown
@@ -25,6 +25,7 @@ land_detector start vtol
 navigator start
 ekf2 start
 vtol_att_control start
+mc_hover_thrust_estimator start
 mc_pos_control start vtol
 mc_att_control start vtol
 mc_rate_control start vtol
--- a/posix-configs/bbblue/px4.config
+++ b/posix-configs/bbblue/px4.config
@@ -67,6 +67,7 @@ navigator start
 ekf2 start
 land_detector start multicopter

+mc_hover_thrust_estimator start
 mc_pos_control start
 mc_att_control start
 mc_rate_control start
--- a/posix-configs/eagle/200qx/px4.config
+++ b/posix-configs/eagle/200qx/px4.config
@@ -26,6 +26,7 @@ sensors start
 commander start
 ekf2 start
 land_detector start multicopter
+mc_hover_thrust_estimator start
 mc_pos_control start
 mc_att_control start
 mc_rate_control start
--- a/posix-configs/eagle/210qc/px4.config
+++ b/posix-configs/eagle/210qc/px4.config
@@ -26,6 +26,7 @@ sensors start
 commander start
 ekf2 start
 land_detector start multicopter
+mc_hover_thrust_estimator start
 mc_pos_control start
 mc_att_control start
 mc_rate_control start
--- a/posix-configs/eagle/flight/px4.config
+++ b/posix-configs/eagle/flight/px4.config
@@ -14,6 +14,7 @@ sensors start
 commander start
 ekf2 start
 land_detector start multicopter
+mc_hover_thrust_estimator start
 mc_pos_control start
 mc_att_control start
 mc_rate_control start
--- a/posix-configs/eagle/hil/px4.config
+++ b/posix-configs/eagle/hil/px4.config
@@ -16,6 +16,7 @@ rc_update start
 commander start -hil
 sensors start
 ekf2 start
+mc_hover_thrust_estimator start
 mc_pos_control start
 mc_att_control start
 mc_rate_control start
--- a/posix-configs/eagle/init/rcS
+++ b/posix-configs/eagle/init/rcS
@@ -87,6 +87,7 @@ fi

 qshell commander start
 qshell land_detector start multicopter
+qshell mc_hover_thrust_estimator start
 qshell mc_pos_control start
 qshell mc_att_control start
 qshell mc_rate_control start
--- a/posix-configs/excelsior/px4.config
+++ b/posix-configs/excelsior/px4.config
@@ -24,6 +24,7 @@ sensors start
 commander start
 ekf2 start
 land_detector start multicopter
+mc_hover_thrust_estimator start
 mc_pos_control start
 mc_att_control start
 mc_rate_control start
--- a/posix-configs/ocpoc/px4.config
+++ b/posix-configs/ocpoc/px4.config
@@ -32,6 +32,7 @@ navigator start
 dataman start
 ekf2 start
 land_detector start multicopter
+mc_hover_thrust_estimator start
 mc_pos_control start
 mc_att_control start
 mc_rate_control start
--- a/posix-configs/rpi/px4.config
+++ b/posix-configs/rpi/px4.config
@@ -36,6 +36,7 @@ commander start
 navigator start
 ekf2 start
 land_detector start multicopter
+mc_hover_thrust_estimator start
 mc_pos_control start
 mc_att_control start
 mc_rate_control start
--- a/posix-configs/rpi/px4_hil.config
+++ b/posix-configs/rpi/px4_hil.config
@@ -25,6 +25,7 @@ commander start -hil
 navigator start
 ekf2 start
 land_detector start multicopter
+mc_hover_thrust_estimator start
 mc_pos_control start
 mc_att_control start
 mc_rate_control start
--- a/posix-configs/rpi/px4_test.config
+++ b/posix-configs/rpi/px4_test.config
@@ -36,6 +36,7 @@ commander start
 navigator start
 ekf2 start
 land_detector start multicopter
+mc_hover_thrust_estimator start
 mc_pos_control start
 mc_att_control start