sbgecom: Implement sbgECom INS driver #24137
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tolesam
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Hello @tolesam I have a question. Does this PR intend to be used with the Ellipse Series, Ellipse 2 Micro Series, or both? I'm interested in SBG products. |
Hello @saengphet, |
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Hi @dagar , Can you take a look at this PR please? Moreover, it seems the job "Build and Push Container" doesn't work on PRs, do you have any idea why? Thanks in advance. |
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Hello @bresch , |
src/modules/simulation/sensor_airspeed_sim/SensorAirspeedSim.cpp
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| @@ -318,11 +318,6 @@ bool VehicleIMU::UpdateAccel() | |||
| PX4_ERR("%d - accel %" PRIu32 " timestamp error timestamp_sample: %" PRIu64 ", previous timestamp_sample: %" PRIu64, | |||
| _instance, accel.device_id, accel.timestamp_sample, _accel_timestamp_sample_last); | |||
| } | |||
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| if (accel.timestamp < accel.timestamp_sample) { | |||
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When using an external INS that is not powered by the autopilot, if it is started beforehand, it causes errors.
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Right, but that shouldn't be fixed by ignoring the problem. From the point of view of the autopilot, it's not possible that the sample was received before it was created. If this is the case, it's because both systems are not time-synced.
If proper time-sync is not possible, I think we should rather override the timestamp_sample in the driver, as having an incorrect timestamp_sample is worse than assuming 0 delay between both timestamps.
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Ok, I understand. We can't have a proper time-sync for now so let's assume we have 0 delay between timestamps.
I 've pushed the change in the driver and revert the one in Vehicle_IMU.
| @@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y | |||
| CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y | |||
| CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y | |||
| CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y | |||
| CONFIG_COMMON_INS=y | |||
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This would break existing setups using the vector nav driver. I understand you cannot leave it enabled as both drivers won't fit flash but maybe add a note in the PR description for the release notes that users of external INS (vector nav and sbgecom) need to enable the drivers in the config.
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Ok, I revert it and change the PR description.
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@bresch By reverting this change the issue is I have 3 jobs that are failing due to flash overflowing.
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@dagar do we then just disable all INS drivers?
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@tolesam can you please rebase your pr with latest from main? I want to see if the failed CI tests are real |
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@mrpollo |
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Implement sbgECom messages handling to provide IMU sensors, GNSS and EKF data to the autopilot Be able to parametrize the serial port, baudrate and the communicating mode Clone sbgECom library only if sbgecom support is enabled and apply a patch Be able to send SBG Systems INS settings in several ways when starting sbgecom driver
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New Feature
Implement sbgECom messages handling to provide IMU sensors, GNSS and EKF data to the autopilot
Be able to parametrize the serial port, baudrate and the communicating mode
Clone sbgECom library only if sbgecom support is enabled and apply a patch
Be able to send SBG Systems INS settings in several ways when starting sbgecom driver
Bug Fixes
Fix sensor airspeed simulator units
Fix HIGHRES_IMU pressure unit
Remarks
Users of external INS (vectornav and sbgecom) need to enable the drivers in the config. As all external INS are currently enabled on some board config, CI is failing.