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EPIC: Time-varying sensor fusion

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評価

難易度
5/5
見積もり時間
1週間以上
初心者へのやさしさ
20/100
issue の種類
機能追加
明瞭さ
説明が足りない
活発さ
活発
技術スタック
c, matlab
領域
embedded-iot

調査の方向性

Start by reading the existing sensor pipeline and the sensor interrupt handlers; the issue does not name specific files or tests. Before implementation, agree on a smaller task and define the filter state, data-timing behavior, and acceptance criteria. Done should mean the chosen task has clear criteria and can be verified without relying on stale sensor data.

索引モデルが issue の本文から書いたものです。

説明

enhancement

Version: 2.8.0 maybe

Describe the feature you'd like
We can write an Extended Kalman Filter to process our sensor data in a way that doesn't reuse stale data. Our current sensor pipeline processes and logs data mostly all at once, which is fine for just logging, but we get different data rates from our sensors:

IMU: super fast, like 1000 Hz
GPS: around 10 Hz, but we get different types of messages with different data
Mag: up to 30 Hz
Baro: about 200 Hz

If we try to combine all the data during each sensor dump like we do now, we use old data that doesn't necessarily reflect the current state of the FC, especially GPS. We could set up our interrupt handlers for the sensors to set a flag that the data is ready along with a timestamp, then only process data that's ready when we do a sensor dump.

There are a lot of options on what the state vector of the filter will actually contain, but at a bare minimum, for example, something for vertical translation should output position, velocity, and acceleration. We can also track sensor bias, but this will make the filter expensive pretty fast for a 3-axis sensor. For orientation, there is the multiplicative extended kalman filter (MEKF), which can output quaternions.

It might be desirable to write a complicated filter like this in MATLAB because otherwise we will need some solution to how to do linear algebra in our code. Other things, like interrupt service routine changes can be done in smaller tasks.

Describe alternatives you've considered
Leave most things the way they are and check if previous data is duplicated
CMSIS has linear algebra support, but we don't have SIMD so it wouldn't be super beneficial.

Additional context
I might update this with resources, but I think Phil's Lab has some stuff of this type of filtering.

Points of Contact
Firmware Lead/Sensor SME: @NArmistead
Avionics Lead/ISR SME: @ETSells

主要言語
C
スター
8
フォーク
6
平均マージ
5日 6時間
マージ済み PR（30日）
5

環境構築

  • Dockerfile・Docker Compose ファイルなし
  • プルリクエストのテンプレートあり
  • コントリビューションガイドなし

はじめの一歩

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  3. リポジトリをフォークし、ブランチを切って変更します。
  4. issue 番号を参照したプルリクエストを送ります。

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