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Draft: Vision-based target estimator (Kalman Filter) #22008
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c7d070f
move vision-based target estimator into its own module
4bae07a
update ci with new custom px4 boards: px4_*_visionTargetEst
0342a30
remove white space
4f848a6
add vision target est custom board to enable development mavlink msgs
a8b555a
reduce flash if CONSTRAINED_FLASH
4a224af
reduce flash if CONSTRAINED_FLASH 2
338851b
update orientation estimator with new params
7f79814
in PrecLand, control the orientation received from the VTE orientation
b1d49d3
Mavlink receiver, fix target GNSS conversion to deg
0082ed2
Only re-set position and bias when a secondary measurement is available
f5375de
handle moving targets
592c400
require UAV velocity estimate to start the position estimator
bd5ab70
simplify orientation estimator init
f441e47
If est times out, wait 3 seconds before restarting it (instead of 1s)
9adb8da
improve meas valid checks
76f53e5
remove un-necessary global var
5821a41
Clang Tidy
aed42bd
fmu v6, Custom board, remove camera feedback and gimbal to save flash…
a0a1b55
Remove unused global variable
9e00251
Set Normalized Innovation Squared (NIS) test threhsold as a param.
2ebd985
Refactor start/stop/set estimator to simplify its used for different …
7f8ae8b
explicitely set default modules in visionTargetEst.px4board
0e70fa8
precLandStatus only if flash not constrained
c969307
revert slew rate change
9263195
force an estimator reset before starting
28ff6bd
remove fusion enabled field from esttimatorAidSource1d
89abe46
update prec-land status for mission base and rtl direct
fbe4781
make format
2dc8aa5
prec land status only if not constrained flash
16e4d2d
prec land status only if not constrained flash 2
82e1cfb
prec land status only if not constrained flash 3
5939918
update documentation
32d3c2c
slight comment changes
0de540b
remove png from documentation
418f520
improve starting and stopping filter logic. Now properly considers or…
e12ea07
move task update topics into a function to simplify run()
93ff8ce
simplify estimator's starting condition
44197d2
move prec land status into prec land
9e14808
white space
177b226
update copyright date to 2023
17f5d5e
rename _covariance to _state_covariance
84d4372
publish precland status
86f993c
state as vector instead of matrix
91beb3e
include predict and sync state in KF python derivation for debug
fc409e0
use enum for KF states
7161c8e
format python derivation
e1bd8e5
minor comment change
0385c88
pass H matrix by ref
84f3583
SymForce python generation, fix path and keep std::pow
04266dc
meas matrix H as a vector
3c11455
Use Extended state enum for measurement matrix
b0e6468
delete pointer if failed init
01ba317
clean virtual class
5dcde7e
Refactor Position base KF class
9180404
Clean VisionTargetEst
7fb3b0e
Unify AugmentedState for Orientation filter
3787f9d
Unify AugmentedState for Position filter
4594ff9
Simplify fuse meas function
6b5d2a1
Fix upstream conflicts 2
8ef2a29
Fix rebase
6d3e859
Rename position filters
84f11d0
fix _publish_prec_land_status
a3b5d23
override virtual function
78d7ad1
Only aid ekf2 velocity if vision fused recently
6d9b63f
replace SEC2USEC by 1_s
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,109 @@ | ||
| CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" | ||
| CONFIG_BOARD_ARCHITECTURE="cortex-m4" | ||
| CONFIG_BOARD_CONSTRAINED_MEMORY=y | ||
| CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3" | ||
| CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1" | ||
| CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2" | ||
| CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6" | ||
| CONFIG_DRIVERS_ADC_ADS1115=y | ||
| CONFIG_DRIVERS_ADC_BOARD_ADC=y | ||
| CONFIG_COMMON_BAROMETERS=y | ||
| CONFIG_DRIVERS_BATT_SMBUS=y | ||
| CONFIG_DRIVERS_CAMERA_CAPTURE=y | ||
| CONFIG_DRIVERS_CAMERA_TRIGGER=y | ||
| CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y | ||
| CONFIG_COMMON_DISTANCE_SENSOR=y | ||
| CONFIG_DRIVERS_DSHOT=y | ||
| CONFIG_DRIVERS_GPS=y | ||
| CONFIG_DRIVERS_HEATER=y | ||
| CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y | ||
| CONFIG_DRIVERS_IMU_INVENSENSE_ICM20608G=y | ||
| CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y | ||
| CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y | ||
| CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y | ||
| CONFIG_DRIVERS_IMU_L3GD20=y | ||
| CONFIG_DRIVERS_IMU_LSM303D=y | ||
| CONFIG_COMMON_INS=y | ||
| CONFIG_DRIVERS_IRLOCK=y | ||
| CONFIG_COMMON_LIGHT=y | ||
| CONFIG_COMMON_MAGNETOMETER=y | ||
| CONFIG_COMMON_OPTICAL_FLOW=y | ||
| CONFIG_DRIVERS_PCA9685_PWM_OUT=y | ||
| CONFIG_DRIVERS_PWM_INPUT=y | ||
| CONFIG_DRIVERS_PWM_OUT=y | ||
| CONFIG_DRIVERS_PX4IO=y | ||
| CONFIG_DRIVERS_SMART_BATTERY_BATMON=y | ||
| CONFIG_COMMON_TELEMETRY=y | ||
| CONFIG_DRIVERS_TONE_ALARM=y | ||
| CONFIG_DRIVERS_UAVCAN=y | ||
| CONFIG_MODULES_AIRSPEED_SELECTOR=y | ||
| CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y | ||
| CONFIG_MODULES_BATTERY_STATUS=y | ||
| CONFIG_MODULES_CAMERA_FEEDBACK=y | ||
| CONFIG_MODULES_COMMANDER=y | ||
| CONFIG_MODULES_CONTROL_ALLOCATOR=y | ||
| CONFIG_MODULES_DATAMAN=y | ||
| CONFIG_MODULES_EKF2=y | ||
| CONFIG_MODULES_ESC_BATTERY=y | ||
| CONFIG_MODULES_EVENTS=y | ||
| CONFIG_MODULES_FLIGHT_MODE_MANAGER=y | ||
| CONFIG_MODULES_FW_ATT_CONTROL=y | ||
| CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y | ||
| CONFIG_MODULES_FW_POS_CONTROL=y | ||
| CONFIG_MODULES_FW_RATE_CONTROL=y | ||
| CONFIG_MODULES_GIMBAL=y | ||
| CONFIG_MODULES_GYRO_CALIBRATION=y | ||
| CONFIG_MODULES_GYRO_FFT=y | ||
| CONFIG_MODULES_LAND_DETECTOR=y | ||
| CONFIG_MODULES_LOAD_MON=y | ||
| CONFIG_MODULES_LOGGER=y | ||
| CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y | ||
| CONFIG_MODULES_MANUAL_CONTROL=y | ||
| CONFIG_MODULES_MAVLINK=y | ||
| CONFIG_MODULES_MC_ATT_CONTROL=y | ||
| CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y | ||
| CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y | ||
| CONFIG_MODULES_MC_POS_CONTROL=y | ||
| CONFIG_MODULES_MC_RATE_CONTROL=y | ||
| CONFIG_MODULES_NAVIGATOR=y | ||
| CONFIG_MODULES_RC_UPDATE=y | ||
| CONFIG_MODULES_SENSORS=y | ||
| CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y | ||
| CONFIG_MODULES_TEMPERATURE_COMPENSATION=y | ||
| CONFIG_MODULES_UXRCE_DDS_CLIENT=y | ||
| CONFIG_MODULES_VTOL_ATT_CONTROL=y | ||
| CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y | ||
| CONFIG_SYSTEMCMDS_BL_UPDATE=y | ||
| CONFIG_SYSTEMCMDS_BSONDUMP=y | ||
| CONFIG_SYSTEMCMDS_DUMPFILE=y | ||
| CONFIG_SYSTEMCMDS_GPIO=y | ||
| CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y | ||
| CONFIG_SYSTEMCMDS_I2CDETECT=y | ||
| CONFIG_SYSTEMCMDS_LED_CONTROL=y | ||
| CONFIG_SYSTEMCMDS_MFT=y | ||
| CONFIG_SYSTEMCMDS_MTD=y | ||
| CONFIG_SYSTEMCMDS_NSHTERM=y | ||
| CONFIG_SYSTEMCMDS_PARAM=y | ||
| CONFIG_SYSTEMCMDS_PERF=y | ||
| CONFIG_SYSTEMCMDS_REBOOT=y | ||
| CONFIG_SYSTEMCMDS_REFLECT=y | ||
| CONFIG_SYSTEMCMDS_SD_BENCH=y | ||
| CONFIG_SYSTEMCMDS_SD_STRESS=y | ||
| CONFIG_SYSTEMCMDS_SERIAL_TEST=y | ||
| CONFIG_SYSTEMCMDS_SYSTEM_TIME=y | ||
| CONFIG_SYSTEMCMDS_TOP=y | ||
| CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y | ||
| CONFIG_SYSTEMCMDS_TUNE_CONTROL=y | ||
| CONFIG_SYSTEMCMDS_UORB=y | ||
| CONFIG_SYSTEMCMDS_USB_CONNECTED=y | ||
| CONFIG_SYSTEMCMDS_VER=y | ||
| CONFIG_SYSTEMCMDS_WORK_QUEUE=y | ||
| CONFIG_EXAMPLES_FAKE_GPS=y | ||
|
|
||
| CONFIG_MAVLINK_DIALECT="development" | ||
| CONFIG_MODULES_VISION_TARGET_ESTIMATOR=y | ||
| CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n | ||
| CONFIG_MODULES_ROVER_POS_CONTROL=n | ||
| CONFIG_MODULES_UUV_ATT_CONTROL=n | ||
| CONFIG_MODULES_UUV_POS_CONTROL=n | ||
| CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n | ||
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,109 @@ | ||
| CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" | ||
| CONFIG_BOARD_ARCHITECTURE="cortex-m4" | ||
| CONFIG_BOARD_CONSTRAINED_MEMORY=y | ||
| CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3" | ||
| CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1" | ||
| CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2" | ||
| CONFIG_BOARD_SERIAL_WIFI="/dev/ttyS0" | ||
| CONFIG_DRIVERS_ADC_ADS1115=y | ||
| CONFIG_DRIVERS_ADC_BOARD_ADC=y | ||
| CONFIG_COMMON_BAROMETERS=y | ||
| CONFIG_DRIVERS_BATT_SMBUS=y | ||
| CONFIG_DRIVERS_CAMERA_CAPTURE=y | ||
| CONFIG_DRIVERS_CAMERA_TRIGGER=y | ||
| CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y | ||
| CONFIG_COMMON_DISTANCE_SENSOR=y | ||
| CONFIG_DRIVERS_DSHOT=y | ||
| CONFIG_DRIVERS_GPS=y | ||
| CONFIG_DRIVERS_HEATER=y | ||
| CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y | ||
| CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y | ||
| CONFIG_DRIVERS_IMU_INVENSENSE_ICM20608G=y | ||
| CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y | ||
| CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y | ||
| CONFIG_COMMON_INS=y | ||
| CONFIG_DRIVERS_IRLOCK=y | ||
| CONFIG_COMMON_LIGHT=y | ||
| CONFIG_COMMON_MAGNETOMETER=y | ||
| CONFIG_COMMON_OPTICAL_FLOW=y | ||
| CONFIG_DRIVERS_PCA9685_PWM_OUT=y | ||
| CONFIG_DRIVERS_POWER_MONITOR_INA226=y | ||
| CONFIG_DRIVERS_PWM_INPUT=y | ||
| CONFIG_DRIVERS_PWM_OUT=y | ||
| CONFIG_DRIVERS_RC_INPUT=y | ||
| CONFIG_DRIVERS_SAFETY_BUTTON=y | ||
| CONFIG_DRIVERS_SMART_BATTERY_BATMON=y | ||
| CONFIG_COMMON_TELEMETRY=y | ||
| CONFIG_DRIVERS_TONE_ALARM=y | ||
| CONFIG_DRIVERS_UAVCAN=y | ||
| CONFIG_BOARD_UAVCAN_INTERFACES=1 | ||
| CONFIG_MODULES_AIRSPEED_SELECTOR=y | ||
| CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y | ||
| CONFIG_MODULES_BATTERY_STATUS=y | ||
| CONFIG_MODULES_CAMERA_FEEDBACK=y | ||
| CONFIG_MODULES_COMMANDER=y | ||
| CONFIG_MODULES_CONTROL_ALLOCATOR=y | ||
| CONFIG_MODULES_DATAMAN=y | ||
| CONFIG_MODULES_EKF2=y | ||
| CONFIG_MODULES_ESC_BATTERY=y | ||
| CONFIG_MODULES_EVENTS=y | ||
| CONFIG_MODULES_FLIGHT_MODE_MANAGER=y | ||
| CONFIG_MODULES_FW_ATT_CONTROL=y | ||
| CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y | ||
| CONFIG_MODULES_FW_POS_CONTROL=y | ||
| CONFIG_MODULES_FW_RATE_CONTROL=y | ||
| CONFIG_MODULES_GIMBAL=y | ||
| CONFIG_MODULES_GYRO_CALIBRATION=y | ||
| CONFIG_MODULES_LAND_DETECTOR=y | ||
| CONFIG_MODULES_LOAD_MON=y | ||
| CONFIG_MODULES_LOGGER=y | ||
| CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y | ||
| CONFIG_MODULES_MANUAL_CONTROL=y | ||
| CONFIG_MODULES_MAVLINK=y | ||
| CONFIG_MODULES_MC_ATT_CONTROL=y | ||
| CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y | ||
| CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y | ||
| CONFIG_MODULES_MC_POS_CONTROL=y | ||
| CONFIG_MODULES_MC_RATE_CONTROL=y | ||
| CONFIG_MODULES_NAVIGATOR=y | ||
| CONFIG_MODULES_RC_UPDATE=y | ||
| CONFIG_MODULES_SENSORS=y | ||
| CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y | ||
| CONFIG_MODULES_TEMPERATURE_COMPENSATION=y | ||
| CONFIG_MODULES_UXRCE_DDS_CLIENT=y | ||
| CONFIG_MODULES_VTOL_ATT_CONTROL=y | ||
| CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y | ||
| CONFIG_SYSTEMCMDS_BL_UPDATE=y | ||
| CONFIG_SYSTEMCMDS_BSONDUMP=y | ||
| CONFIG_SYSTEMCMDS_DUMPFILE=y | ||
| CONFIG_SYSTEMCMDS_GPIO=y | ||
| CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y | ||
| CONFIG_SYSTEMCMDS_I2CDETECT=y | ||
| CONFIG_SYSTEMCMDS_LED_CONTROL=y | ||
| CONFIG_SYSTEMCMDS_MFT=y | ||
| CONFIG_SYSTEMCMDS_MTD=y | ||
| CONFIG_SYSTEMCMDS_NSHTERM=y | ||
| CONFIG_SYSTEMCMDS_PARAM=y | ||
| CONFIG_SYSTEMCMDS_PERF=y | ||
| CONFIG_SYSTEMCMDS_REBOOT=y | ||
| CONFIG_SYSTEMCMDS_REFLECT=y | ||
| CONFIG_SYSTEMCMDS_SD_BENCH=y | ||
| CONFIG_SYSTEMCMDS_SD_STRESS=y | ||
| CONFIG_SYSTEMCMDS_SERIAL_TEST=y | ||
| CONFIG_SYSTEMCMDS_SYSTEM_TIME=y | ||
| CONFIG_SYSTEMCMDS_TOP=y | ||
| CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y | ||
| CONFIG_SYSTEMCMDS_TUNE_CONTROL=y | ||
| CONFIG_SYSTEMCMDS_UORB=y | ||
| CONFIG_SYSTEMCMDS_USB_CONNECTED=y | ||
| CONFIG_SYSTEMCMDS_VER=y | ||
| CONFIG_SYSTEMCMDS_WORK_QUEUE=y | ||
| CONFIG_EXAMPLES_FAKE_GPS=y | ||
|
|
||
| CONFIG_MAVLINK_DIALECT="development" | ||
| CONFIG_MODULES_VISION_TARGET_ESTIMATOR=y | ||
| CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n | ||
| CONFIG_MODULES_ROVER_POS_CONTROL=n | ||
| CONFIG_MODULES_UUV_ATT_CONTROL=n | ||
| CONFIG_MODULES_UUV_POS_CONTROL=n | ||
| CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,105 @@ | ||
| CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" | ||
| CONFIG_BOARD_ARCHITECTURE="cortex-m4" | ||
| CONFIG_BOARD_CONSTRAINED_MEMORY=y | ||
| CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3" | ||
| CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1" | ||
| CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2" | ||
| CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS0" | ||
| CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6" | ||
| CONFIG_DRIVERS_ADC_ADS1115=y | ||
| CONFIG_DRIVERS_ADC_BOARD_ADC=y | ||
| CONFIG_COMMON_BAROMETERS=y | ||
| CONFIG_DRIVERS_BATT_SMBUS=y | ||
| CONFIG_DRIVERS_CAMERA_CAPTURE=y | ||
| CONFIG_DRIVERS_CAMERA_TRIGGER=y | ||
| CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y | ||
| CONFIG_COMMON_DISTANCE_SENSOR=y | ||
| CONFIG_DRIVERS_DSHOT=y | ||
| CONFIG_DRIVERS_GPS=y | ||
| CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y | ||
| CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y | ||
| CONFIG_DRIVERS_IMU_INVENSENSE_ICM20608G=y | ||
| CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y | ||
| CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y | ||
| CONFIG_DRIVERS_IRLOCK=y | ||
| CONFIG_COMMON_LIGHT=y | ||
| CONFIG_COMMON_MAGNETOMETER=y | ||
| CONFIG_COMMON_OPTICAL_FLOW=y | ||
| CONFIG_DRIVERS_PCA9685_PWM_OUT=y | ||
| CONFIG_DRIVERS_PWM_INPUT=y | ||
| CONFIG_DRIVERS_PWM_OUT=y | ||
| CONFIG_DRIVERS_PX4IO=y | ||
| CONFIG_DRIVERS_SMART_BATTERY_BATMON=y | ||
| CONFIG_COMMON_TELEMETRY=y | ||
| CONFIG_DRIVERS_TONE_ALARM=y | ||
| CONFIG_DRIVERS_UAVCAN=y | ||
| CONFIG_MODULES_AIRSPEED_SELECTOR=y | ||
| CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y | ||
| CONFIG_MODULES_BATTERY_STATUS=y | ||
| CONFIG_MODULES_CAMERA_FEEDBACK=y | ||
| CONFIG_MODULES_COMMANDER=y | ||
| CONFIG_MODULES_CONTROL_ALLOCATOR=y | ||
| CONFIG_MODULES_DATAMAN=y | ||
| CONFIG_MODULES_EKF2=y | ||
| CONFIG_MODULES_ESC_BATTERY=y | ||
| CONFIG_MODULES_EVENTS=y | ||
| CONFIG_MODULES_FLIGHT_MODE_MANAGER=y | ||
| CONFIG_MODULES_FW_ATT_CONTROL=y | ||
| CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y | ||
| CONFIG_MODULES_FW_POS_CONTROL=y | ||
| CONFIG_MODULES_FW_RATE_CONTROL=y | ||
| CONFIG_MODULES_GIMBAL=y | ||
| CONFIG_MODULES_GYRO_CALIBRATION=y | ||
| CONFIG_MODULES_GYRO_FFT=y | ||
| CONFIG_MODULES_LAND_DETECTOR=y | ||
| CONFIG_MODULES_LOAD_MON=y | ||
| CONFIG_MODULES_LOGGER=y | ||
| CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y | ||
| CONFIG_MODULES_MANUAL_CONTROL=y | ||
| CONFIG_MODULES_MAVLINK=y | ||
| CONFIG_MODULES_MC_ATT_CONTROL=y | ||
| CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y | ||
| CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y | ||
| CONFIG_MODULES_MC_POS_CONTROL=y | ||
| CONFIG_MODULES_MC_RATE_CONTROL=y | ||
| CONFIG_MODULES_NAVIGATOR=y | ||
| CONFIG_MODULES_RC_UPDATE=y | ||
| CONFIG_MODULES_SENSORS=y | ||
| CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y | ||
| CONFIG_MODULES_TEMPERATURE_COMPENSATION=y | ||
| CONFIG_MODULES_UXRCE_DDS_CLIENT=y | ||
| CONFIG_MODULES_VTOL_ATT_CONTROL=y | ||
| CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y | ||
| CONFIG_SYSTEMCMDS_BL_UPDATE=y | ||
| CONFIG_SYSTEMCMDS_BSONDUMP=y | ||
| CONFIG_SYSTEMCMDS_DUMPFILE=y | ||
| CONFIG_SYSTEMCMDS_GPIO=y | ||
| CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y | ||
| CONFIG_SYSTEMCMDS_I2CDETECT=y | ||
| CONFIG_SYSTEMCMDS_LED_CONTROL=y | ||
| CONFIG_SYSTEMCMDS_MFT=y | ||
| CONFIG_SYSTEMCMDS_MTD=y | ||
| CONFIG_SYSTEMCMDS_NSHTERM=y | ||
| CONFIG_SYSTEMCMDS_PARAM=y | ||
| CONFIG_SYSTEMCMDS_PERF=y | ||
| CONFIG_SYSTEMCMDS_REBOOT=y | ||
| CONFIG_SYSTEMCMDS_REFLECT=y | ||
| CONFIG_SYSTEMCMDS_SD_BENCH=y | ||
| CONFIG_SYSTEMCMDS_SD_STRESS=y | ||
| CONFIG_SYSTEMCMDS_SYSTEM_TIME=y | ||
| CONFIG_SYSTEMCMDS_TOP=y | ||
| CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y | ||
| CONFIG_SYSTEMCMDS_TUNE_CONTROL=y | ||
| CONFIG_SYSTEMCMDS_UORB=y | ||
| CONFIG_SYSTEMCMDS_USB_CONNECTED=y | ||
| CONFIG_SYSTEMCMDS_VER=y | ||
| CONFIG_SYSTEMCMDS_WORK_QUEUE=y | ||
| CONFIG_EXAMPLES_FAKE_GPS=y | ||
|
|
||
| CONFIG_MAVLINK_DIALECT="development" | ||
| CONFIG_MODULES_VISION_TARGET_ESTIMATOR=y | ||
| CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n | ||
| CONFIG_MODULES_ROVER_POS_CONTROL=n | ||
| CONFIG_MODULES_UUV_ATT_CONTROL=n | ||
| CONFIG_MODULES_UUV_POS_CONTROL=n | ||
| CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n |
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This is kind of specific to your own project. You can simply keep that locally or just change it in menuconfig before building the firmware
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Due to the stack size limitations, I've had to disable certain modules to be able to build the frame. This custom frame is here to make sure that future implementations do not break the vision-target-estimator.
Note that eventually the goal is to keep the common Mavlink dialect (once the new Mavlink messages (target_relative and target_absolute) are moved from dev to common).