ArduPilot/ardupilot

AP_DDS: Support IMU+gyro+accel data for rate control or offboard fusion

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#23,478 创建于 2023年4月14日

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 (12 评论) (0 反应) (1 负责人)C++ (9,336 star) (15,603 fork)batch import
EKFROSgood first issue

描述

From AP_AHRS, the data is filtered and good for rate control. This is the data after notch+low pass, phase lag and all. This goes on imu_filtered topic.

For offboard fusion, we can do it "badly". We would need delta angle, delta velocity, all the data products from INS that are not filtered. We have to know the lag to do delayed time fusion with lag on the GPS. This would be on imu_raw.

Current EKF does delayed time fusion (in delayed time) with forward propagation to the current time. Doesn't work as well in dynamic flight. Researchers want to do this.

Adding things like vision odometry back into ArduPilot (visual mavlink odometry) - this is preferred for performance so ArduPilot's EKF can fuse the data.

贡献者指南

技术栈
cpp
领域
backend
议题类型
feature
难度面向新贡献者的预计实现难度，1 表示很小改动，5 表示专家级工作。
5
预计时间有经验贡献者完成调查、实现、测试并准备 pull request 的粗略时间范围。
over 1 week
活动状态议题当前的可参与程度：新鲜、活跃、陈旧、阻塞或等待维护者输入。
active
清晰度议题是否清楚说明期望改动、验收标准和下一步。
mostly clear
前置要求
understanding of ArduPilot INS systemknowledge of DDS protocolfamiliarity with IMU filteringC++ programming experience
新手友好度1-100 的估计分数，表示该议题对首次贡献者的友好程度。
15
研究方向
The issue requests adding two IMU data topics to AP DDS: imu filtered (from AP AHRS) and imu raw (unfiltered data from INS). Research should start by examining the existing AP DDS implementation in the ardupilot repository, particularly how other sensor topics are published. The comments may contain further clarification on the delivery mechanism (e.g., whether to use existing MAVLink or DDS directly). Key considerations include handling time delays for offboard fusion and ensuring data consistency with the current EKF. Look at related files such as AP DDS Client.h and the INS library to understand the data structures involved.