mc_hover_thrust_estimator: small improvements and fixes #15370
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dagar
commented
Jul 18, 2020
src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
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- add valid flag to published status - only publish on actual updates or inactive - fix dt (previous timestamp wasn't being saved) - use local position timestamp (corresponding) to accel data rather then current time to avoid unnecessary timing jitter - check local position validity before using
…rollers - this ensures the hover thrust estimator runs after the position controller and uses the same vehicle_local_position data - running in lp_default was initially a precaution/small optimization, but each cycle is actually quite cheap
…d, but flag estimate as invalid
kamilritz
reviewed
Jul 29, 2020
src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
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src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
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src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
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src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
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src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
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src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
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src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.hpp
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src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
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…mate available and valid
bresch
previously approved these changes
Aug 3, 2020
| @@ -106,7 +106,11 @@ void MulticopterLandDetector::_update_topics() | |||
| hover_thrust_estimate_s hte; | |||
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| if (_hover_thrust_estimate_sub.update(&hte)) { | |||
| _params.hoverThrottle = hte.hover_thrust; | |||
| if (hte.valid) { | |||
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If the user switches from alt/pos mode to attitude, HTE will stop publishing, but _hover_thrust_estimate_valid might stay valid. I don't think it's a bit issue, but maybe we need to do something about it...
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Yes and it's actually a bit of an intentional hole that's assuming continuing to use the once valid hover thrust is going to be less wrong than reverting. Let me know if you have something else in mind.
kamilritz
requested changes
Aug 3, 2020
src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
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src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
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…timator.cpp Co-authored-by: kritz <[email protected]>
kamilritz
approved these changes
Aug 3, 2020
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This adds a valid flag to the hover thrust estimate. Along the way I discovered a couple minor bugs like the dt being set incorrectly as well as a few potential (but unlikely) things like hover thrust estimator running a cycle without a new valid local position.