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Quick test of ekf att pos for indoor #1782

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Quick test of ekf att pos for indoor #1782

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jgoppert
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Don't Pull: This branch is a work in progress to evaluate the ekf 22 state att pos filter for indoor use.

@LorenzMeier
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Please be aware that the whole data association step is not implemented yet - the filter can do it, but the functions to feed flow data are never called. The missing bits are the equivalents of these:
https://github.com/priseborough/InertialNav/blob/optflow_merge/code/main_closed_loop_float.cpp#L379-L472

The filter is valided with log data.

@jgoppert
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This was just a quick hack and I'm probably missing something, but the altitude estimate looks pretty poor compared to using sonar alone in the flow position estimator example app. The position also isn't updating. This could be due to my hack gps is passing the home as a measurement/ or the optical flow measurement is disabled, but I didn't see anything like that immediately.

EKF Attitude Position Estimator

ekf-att-pos
ekf-att-pos-top

Flow Position Estimator

flow-pos-est

flow_pos_est_alt

@jgoppert
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@LorenzMeier OK, thanks, I figured as much.

@jgoppert
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@LorenzMeier If you want to try to merge in that flow correction I can flight test it tomorrow.

@LorenzMeier
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I can give it a try, but no guarantees - will require a bunch of debugging probably. But it would be awesome to get this going.

PX4BuildBot added a commit that referenced this pull request Jan 13, 2022
@PX4BuildBot
Update submodule mavlink to latest Thu Jan 13 00:39:20 UTC 2022
bc00136 
    - mavlink in PX4/Firmware (0bdf3f6): mavlink/mavlink@75204ad
    - mavlink current upstream: mavlink/mavlink@68ff649
    - Changes: mavlink/mavlink@75204ad...68ff649

    68ff649f 2022-01-13 Hamish Willee - MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT - deprecate (#1768)
ae531d97 2022-01-13 Peter Barker - Move "external" dialects to be normal dialects (#1761)
00a3f8ed 2022-01-12 Julian Oes - Revert "Delete unused cmake tree (#1760)" (#1782)
aa0764bd 2022-01-12 Hamish Willee - MAV_PROTOCOL_CAPABILITY_PARAM_UNION - rename/reserved (#1771)
c3b46620 2022-01-12 Hamish Willee - Update mavlink_udp.c example readme to use mavlink 2 (#1780)
0449a5ec 2022-01-12 Tatsuya Yamaguchi - add extended sensor status bits to MAVLink UDP example (#1778)
fc3539e1 2022-01-10 Josh Henderson - ardupilotmega: Sync to ArduPilot downstream 10-JAN-2022 (#1777)
27395aa7 2022-01-06 Julian Oes - pymavlink: update submodule to latest master (#1776)
2180611b 2022-01-06 Hamish Willee - MAV_WINCH_STATUS_CLUTCH_ENGAGED: Winch clutch is engaged allowing motor to move freely
7c6f104f 2022-01-05 Jacob Dahl - Extend WINCH_STATUS_FLAG and WINCH_ACTION (#1766)
dcb44e75 2022-01-06 Hamish Willee - Delete unused cmake tree (#1760)
5b8bec5b 2022-01-05 Hamish Willee - common.xml: AUTOTUNE_AXIS_YAW - fix value to correct one for bitmask (#1767)
PX4BuildBot added a commit that referenced this pull request Jan 13, 2022
@PX4BuildBot
Update submodule mavlink to latest Thu Jan 13 12:39:04 UTC 2022
010d83c 
    - mavlink in PX4/Firmware (44f6ba6): mavlink/mavlink@75204ad
    - mavlink current upstream: mavlink/mavlink@68ff649
    - Changes: mavlink/mavlink@75204ad...68ff649

    68ff649f 2022-01-13 Hamish Willee - MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT - deprecate (#1768)
ae531d97 2022-01-13 Peter Barker - Move "external" dialects to be normal dialects (#1761)
00a3f8ed 2022-01-12 Julian Oes - Revert "Delete unused cmake tree (#1760)" (#1782)
aa0764bd 2022-01-12 Hamish Willee - MAV_PROTOCOL_CAPABILITY_PARAM_UNION - rename/reserved (#1771)
c3b46620 2022-01-12 Hamish Willee - Update mavlink_udp.c example readme to use mavlink 2 (#1780)
0449a5ec 2022-01-12 Tatsuya Yamaguchi - add extended sensor status bits to MAVLink UDP example (#1778)
fc3539e1 2022-01-10 Josh Henderson - ardupilotmega: Sync to ArduPilot downstream 10-JAN-2022 (#1777)
27395aa7 2022-01-06 Julian Oes - pymavlink: update submodule to latest master (#1776)
2180611b 2022-01-06 Hamish Willee - MAV_WINCH_STATUS_CLUTCH_ENGAGED: Winch clutch is engaged allowing motor to move freely
7c6f104f 2022-01-05 Jacob Dahl - Extend WINCH_STATUS_FLAG and WINCH_ACTION (#1766)
dcb44e75 2022-01-06 Hamish Willee - Delete unused cmake tree (#1760)
5b8bec5b 2022-01-05 Hamish Willee - common.xml: AUTOTUNE_AXIS_YAW - fix value to correct one for bitmask (#1767)
PX4BuildBot added a commit that referenced this pull request Jan 14, 2022
@PX4BuildBot
Update submodule mavlink to latest Fri Jan 14 00:39:08 UTC 2022
435dd8f 
    - mavlink in PX4/Firmware (8ca02b4): mavlink/mavlink@75204ad
    - mavlink current upstream: mavlink/mavlink@68ff649
    - Changes: mavlink/mavlink@75204ad...68ff649

    68ff649f 2022-01-13 Hamish Willee - MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT - deprecate (#1768)
ae531d97 2022-01-13 Peter Barker - Move "external" dialects to be normal dialects (#1761)
00a3f8ed 2022-01-12 Julian Oes - Revert "Delete unused cmake tree (#1760)" (#1782)
aa0764bd 2022-01-12 Hamish Willee - MAV_PROTOCOL_CAPABILITY_PARAM_UNION - rename/reserved (#1771)
c3b46620 2022-01-12 Hamish Willee - Update mavlink_udp.c example readme to use mavlink 2 (#1780)
0449a5ec 2022-01-12 Tatsuya Yamaguchi - add extended sensor status bits to MAVLink UDP example (#1778)
fc3539e1 2022-01-10 Josh Henderson - ardupilotmega: Sync to ArduPilot downstream 10-JAN-2022 (#1777)
27395aa7 2022-01-06 Julian Oes - pymavlink: update submodule to latest master (#1776)
2180611b 2022-01-06 Hamish Willee - MAV_WINCH_STATUS_CLUTCH_ENGAGED: Winch clutch is engaged allowing motor to move freely
7c6f104f 2022-01-05 Jacob Dahl - Extend WINCH_STATUS_FLAG and WINCH_ACTION (#1766)
dcb44e75 2022-01-06 Hamish Willee - Delete unused cmake tree (#1760)
5b8bec5b 2022-01-05 Hamish Willee - common.xml: AUTOTUNE_AXIS_YAW - fix value to correct one for bitmask (#1767)
PX4BuildBot added a commit that referenced this pull request Jan 15, 2022
@PX4BuildBot
Update submodule mavlink to latest Sat Jan 15 00:38:28 UTC 2022
e82ae6e 
    - mavlink in PX4/Firmware (662dd0d): mavlink/mavlink@75204ad
    - mavlink current upstream: mavlink/mavlink@3d80920
    - Changes: mavlink/mavlink@75204ad...3d80920

    3d809200 2022-01-14 Hamish Willee - MAV_PROTOCOL_CAPABILITY_FLIGHT_INFORMATION - mark as reserved capability (#1775)
68ff649f 2022-01-13 Hamish Willee - MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT - deprecate (#1768)
ae531d97 2022-01-13 Peter Barker - Move "external" dialects to be normal dialects (#1761)
00a3f8ed 2022-01-12 Julian Oes - Revert "Delete unused cmake tree (#1760)" (#1782)
aa0764bd 2022-01-12 Hamish Willee - MAV_PROTOCOL_CAPABILITY_PARAM_UNION - rename/reserved (#1771)
c3b46620 2022-01-12 Hamish Willee - Update mavlink_udp.c example readme to use mavlink 2 (#1780)
0449a5ec 2022-01-12 Tatsuya Yamaguchi - add extended sensor status bits to MAVLink UDP example (#1778)
fc3539e1 2022-01-10 Josh Henderson - ardupilotmega: Sync to ArduPilot downstream 10-JAN-2022 (#1777)
27395aa7 2022-01-06 Julian Oes - pymavlink: update submodule to latest master (#1776)
2180611b 2022-01-06 Hamish Willee - MAV_WINCH_STATUS_CLUTCH_ENGAGED: Winch clutch is engaged allowing motor to move freely
7c6f104f 2022-01-05 Jacob Dahl - Extend WINCH_STATUS_FLAG and WINCH_ACTION (#1766)
dcb44e75 2022-01-06 Hamish Willee - Delete unused cmake tree (#1760)
5b8bec5b 2022-01-05 Hamish Willee - common.xml: AUTOTUNE_AXIS_YAW - fix value to correct one for bitmask (#1767)
PX4BuildBot added a commit that referenced this pull request Jan 15, 2022
@PX4BuildBot
Update submodule mavlink to latest Sat Jan 15 12:39:04 UTC 2022
694c33d 
    - mavlink in PX4/Firmware (c0ddc25): mavlink/mavlink@75204ad
    - mavlink current upstream: mavlink/mavlink@3d80920
    - Changes: mavlink/mavlink@75204ad...3d80920

    3d809200 2022-01-14 Hamish Willee - MAV_PROTOCOL_CAPABILITY_FLIGHT_INFORMATION - mark as reserved capability (#1775)
68ff649f 2022-01-13 Hamish Willee - MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT - deprecate (#1768)
ae531d97 2022-01-13 Peter Barker - Move "external" dialects to be normal dialects (#1761)
00a3f8ed 2022-01-12 Julian Oes - Revert "Delete unused cmake tree (#1760)" (#1782)
aa0764bd 2022-01-12 Hamish Willee - MAV_PROTOCOL_CAPABILITY_PARAM_UNION - rename/reserved (#1771)
c3b46620 2022-01-12 Hamish Willee - Update mavlink_udp.c example readme to use mavlink 2 (#1780)
0449a5ec 2022-01-12 Tatsuya Yamaguchi - add extended sensor status bits to MAVLink UDP example (#1778)
fc3539e1 2022-01-10 Josh Henderson - ardupilotmega: Sync to ArduPilot downstream 10-JAN-2022 (#1777)
27395aa7 2022-01-06 Julian Oes - pymavlink: update submodule to latest master (#1776)
2180611b 2022-01-06 Hamish Willee - MAV_WINCH_STATUS_CLUTCH_ENGAGED: Winch clutch is engaged allowing motor to move freely
7c6f104f 2022-01-05 Jacob Dahl - Extend WINCH_STATUS_FLAG and WINCH_ACTION (#1766)
dcb44e75 2022-01-06 Hamish Willee - Delete unused cmake tree (#1760)
5b8bec5b 2022-01-05 Hamish Willee - common.xml: AUTOTUNE_AXIS_YAW - fix value to correct one for bitmask (#1767)
PX4BuildBot added a commit that referenced this pull request Jan 17, 2022
@PX4BuildBot
Update submodule mavlink to latest Mon Jan 17 00:39:11 UTC 2022
101d5ad 
    - mavlink in PX4/Firmware (eb9c887): mavlink/mavlink@75204ad
    - mavlink current upstream: mavlink/mavlink@3d80920
    - Changes: mavlink/mavlink@75204ad...3d80920

    3d809200 2022-01-14 Hamish Willee - MAV_PROTOCOL_CAPABILITY_FLIGHT_INFORMATION - mark as reserved capability (#1775)
68ff649f 2022-01-13 Hamish Willee - MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT - deprecate (#1768)
ae531d97 2022-01-13 Peter Barker - Move "external" dialects to be normal dialects (#1761)
00a3f8ed 2022-01-12 Julian Oes - Revert "Delete unused cmake tree (#1760)" (#1782)
aa0764bd 2022-01-12 Hamish Willee - MAV_PROTOCOL_CAPABILITY_PARAM_UNION - rename/reserved (#1771)
c3b46620 2022-01-12 Hamish Willee - Update mavlink_udp.c example readme to use mavlink 2 (#1780)
0449a5ec 2022-01-12 Tatsuya Yamaguchi - add extended sensor status bits to MAVLink UDP example (#1778)
fc3539e1 2022-01-10 Josh Henderson - ardupilotmega: Sync to ArduPilot downstream 10-JAN-2022 (#1777)
27395aa7 2022-01-06 Julian Oes - pymavlink: update submodule to latest master (#1776)
2180611b 2022-01-06 Hamish Willee - MAV_WINCH_STATUS_CLUTCH_ENGAGED: Winch clutch is engaged allowing motor to move freely
7c6f104f 2022-01-05 Jacob Dahl - Extend WINCH_STATUS_FLAG and WINCH_ACTION (#1766)
dcb44e75 2022-01-06 Hamish Willee - Delete unused cmake tree (#1760)
5b8bec5b 2022-01-05 Hamish Willee - common.xml: AUTOTUNE_AXIS_YAW - fix value to correct one for bitmask (#1767)
PX4BuildBot added a commit that referenced this pull request Jan 18, 2022
@PX4BuildBot
Update submodule mavlink to latest Tue Jan 18 00:39:07 UTC 2022
0310c03 
    - mavlink in PX4/Firmware (37e04f5): mavlink/mavlink@75204ad
    - mavlink current upstream: mavlink/mavlink@3d80920
    - Changes: mavlink/mavlink@75204ad...3d80920

    3d809200 2022-01-14 Hamish Willee - MAV_PROTOCOL_CAPABILITY_FLIGHT_INFORMATION - mark as reserved capability (#1775)
68ff649f 2022-01-13 Hamish Willee - MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT - deprecate (#1768)
ae531d97 2022-01-13 Peter Barker - Move "external" dialects to be normal dialects (#1761)
00a3f8ed 2022-01-12 Julian Oes - Revert "Delete unused cmake tree (#1760)" (#1782)
aa0764bd 2022-01-12 Hamish Willee - MAV_PROTOCOL_CAPABILITY_PARAM_UNION - rename/reserved (#1771)
c3b46620 2022-01-12 Hamish Willee - Update mavlink_udp.c example readme to use mavlink 2 (#1780)
0449a5ec 2022-01-12 Tatsuya Yamaguchi - add extended sensor status bits to MAVLink UDP example (#1778)
fc3539e1 2022-01-10 Josh Henderson - ardupilotmega: Sync to ArduPilot downstream 10-JAN-2022 (#1777)
27395aa7 2022-01-06 Julian Oes - pymavlink: update submodule to latest master (#1776)
2180611b 2022-01-06 Hamish Willee - MAV_WINCH_STATUS_CLUTCH_ENGAGED: Winch clutch is engaged allowing motor to move freely
7c6f104f 2022-01-05 Jacob Dahl - Extend WINCH_STATUS_FLAG and WINCH_ACTION (#1766)
dcb44e75 2022-01-06 Hamish Willee - Delete unused cmake tree (#1760)
5b8bec5b 2022-01-05 Hamish Willee - common.xml: AUTOTUNE_AXIS_YAW - fix value to correct one for bitmask (#1767)
@dagar dagar mentioned this pull request Jan 18, 2022
Merged
dagar pushed a commit that referenced this pull request Jan 18, 2022
@PX4BuildBot @dagar
Update submodule mavlink to latest Tue Jan 18 00:39:07 UTC 2022
0bb9cce 
    - mavlink in PX4/Firmware (37e04f5): mavlink/mavlink@75204ad
    - mavlink current upstream: mavlink/mavlink@3d80920
    - Changes: mavlink/mavlink@75204ad...3d80920

    3d809200 2022-01-14 Hamish Willee - MAV_PROTOCOL_CAPABILITY_FLIGHT_INFORMATION - mark as reserved capability (#1775)
68ff649f 2022-01-13 Hamish Willee - MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT - deprecate (#1768)
ae531d97 2022-01-13 Peter Barker - Move "external" dialects to be normal dialects (#1761)
00a3f8ed 2022-01-12 Julian Oes - Revert "Delete unused cmake tree (#1760)" (#1782)
aa0764bd 2022-01-12 Hamish Willee - MAV_PROTOCOL_CAPABILITY_PARAM_UNION - rename/reserved (#1771)
c3b46620 2022-01-12 Hamish Willee - Update mavlink_udp.c example readme to use mavlink 2 (#1780)
0449a5ec 2022-01-12 Tatsuya Yamaguchi - add extended sensor status bits to MAVLink UDP example (#1778)
fc3539e1 2022-01-10 Josh Henderson - ardupilotmega: Sync to ArduPilot downstream 10-JAN-2022 (#1777)
27395aa7 2022-01-06 Julian Oes - pymavlink: update submodule to latest master (#1776)
2180611b 2022-01-06 Hamish Willee - MAV_WINCH_STATUS_CLUTCH_ENGAGED: Winch clutch is engaged allowing motor to move freely
7c6f104f 2022-01-05 Jacob Dahl - Extend WINCH_STATUS_FLAG and WINCH_ACTION (#1766)
dcb44e75 2022-01-06 Hamish Willee - Delete unused cmake tree (#1760)
5b8bec5b 2022-01-05 Hamish Willee - common.xml: AUTOTUNE_AXIS_YAW - fix value to correct one for bitmask (#1767)
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@jgoppert @LorenzMeier