EKF2 split output predictor and publish attitude immediately #9832
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@bkueng @RomanBapst Would be great if you could review & quickly flight-test. |
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This lowers EKF2 cpu usage as well as other modules like position controllers driven by position publications. |
dagar
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src/modules/ekf2/ekf2_main.cpp
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| _ekf.get_control_mode(&control_status.value); | ||
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| // only publish position after successful alignment | ||
| if (control_status.flags.tilt_align && control_status.flags.yaw_align) { |
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Should only be gated on tilt align. yaw alignment can momentarily go false.
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Makes sense, I'll change it. Currently it's both in master. https://github.com/PX4/ecl/blob/b26c2d62b80d6bee148fbfe01eb36809bfa721ea/EKF/ekf.cpp#L134
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Replay testing is showing PX4/PX4-ECL#471 giving larger logged output observer tracking errors than ecl master so I will investigate further. |
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@dagar has fixed the difference so it should now be good to flight test provided we use PX4/PX4-ECL#471 at commit aaff047e5852761f8d15bc695c7a1ca70beeeeb1 |
dagar
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@priseborough @dagar px4/ecl commit aaff047e5852761f8d15bc695c7a1ca70beeeeb1 hasn't been merged yet, do we need to wait for that commit to be merged or can we test this pull request as it is right now? we use to download the firmware from Jenkins artifacts. |
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Yes in this case it's okay to use the artifacts directly from Jenkins, but it was a good thing to check when other submodules are involved. |
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a few flights on a pixracer (V4) full auto from take-off to landing stable flights; didn't run into any issues |
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For reference here's a close comparison from master (same vehicle, same flightplan, same day). CPU usage before CPU usage after |
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Wow! |
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Few flights with pixhawk 4 (V5). Good flights, no issues. few flights with pixhawk 2.1 (v3). Good flights, no issues. |
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test flight = pixhawk mini good flight pixhawk pro v4 good flight pixhack v5 great flight |
* EKF2 split output predictor and publish attitude immediately * ecl: incorporate magic number tidy up
Requires PX4/PX4-ECL#471
The EKF is updated to run the output predictor immediately after receiving new IMU data. Then PX4 side we publish vehicle_attitude immediately, and only publish positions at the EKF predication rate (every 8 milliseconds).