rroche
January 11, 2023, 6:01pm
1
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@mcsauder needs help bringing this PR trough the finish line CI fails on two boards
PX4:main ← PX4:pr-add_mag_to_thermal_calibration
opened 12:16AM - 23 Sep 22 UTC
## Describe problem solved by this pull request
This PR extends the thermal com… pensation to include magnetometers. Sensor ordering following the convention `accel, gyro, mag, baro` is also standardized across files in this PR.
## Describe your solution
Data taken from an IST8310 magnetometer standard with the pixhawk4 and pixhawk4 mini shows a change in measured values from 0C to 45C by almost ~10uTesla (0.1Gauss). The typical earth magnetic field strength is ~60uTesla, so the observed shift is significant against what is being measured and more significant in areas of the earth with weaker magnetic field strength.
## Test data / coverage
Flight tested with calibration values applied at ambient (~21C): https://review.px4.io/plot_app?log=6335c430-828b-4f7e-8404-ba7832585ada
After cold soaking to ~7C and temperature climbing to ~17C: https://review.px4.io/plot_app?log=6335c430-828b-4f7e-8404-ba7832585ada
## Additional context
Most magnetometers do not have an integrated temperature sensor, so this PR utilizes the primary barometer temperature value as the magnetometer temperature. If there is a better alternative we can certainly use a different source (such as the IMU).
Let me know if you have questions or feedback on this PR. Thanks!
-Mark
Once you install make doesn’t work, there are some gstreamer errors. @farhang is going to check if there’s any PX4 related issues
The backstory is we don’t want to take a lot of risk, and would like to schedule our releases. Response from @dagar we don’t have a set schedule, syncing regularly with main branch would work best
@AWilkins_Ascend has a PR that needs review
PX4:main ← AscendEngineering:vertical_speed
opened 05:12AM - 27 Oct 22 UTC
Pull request for feature request #20366.
- [x] test in hold with a do_repos… ition (make sure do_change_speed does not affect the up and down speed in hold mode)
- [x] post logs of this working
- [x] Be smarter about when to return for _getMaxZSpeed in PositionSmoothing.cpp instead of a conditional. EDIT: don't need to modify PositionSmoothing.cpp
- [x] right now doing "do_change_speed" in QGC changes vertical and horizontal speeds. Functionality to separate those out is in the code, just need to pass in the correct parameters to get them. Want to create script or QGC change to test this functionality properly.
- [x] Uncomment lines that pull from cruise_speed so they pay attention to the up and down variables we set in the .plan file
- [x] Ensure when -2 is sent, speed type that is specified is reverted
- [x] What happens when you send DO_CHANGE_SPEED in Hold mode during a do_reposition
- [x] Test with real world UAV
- [x] rebase on main
opened 01:32PM - 12 Jan 23 UTC
EKF2
vision
bug-report
So I'm using a VIO source which provides very accurate odometry messages sent to… the px4 via. MAVROS. It does fly well, but occasionally the state estimator flips out completely which has the potential to lead to some pretty nasty crashes.
A flight log of this happening: https://review.px4.io/plot_app?log=b3cfc2fb-83ef-431a-890c-e9b905b5fb6f
I've been experimenting with all kinds of values in the parameter list, like the EKF2_AID_MASK, but the issue prevails.
I've noticed when looking at my rosbag, that the VIO data i feed is always correct, and the "local_position/odom" message, which i assume to be after EKF2 fusion, is never quite as precise, and sometimes completely trusts the GPS position (which is very inaccurate).
How can I tune the EKF to trust the external vision system more than it currently does?
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v1.14.beta is meant for testing and there will be a new beta tag soon.
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