Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

SIH: Publish Aux Global Positon #24051

Draft
wants to merge 16 commits into
base: main
Choose a base branch
from
Draft

SIH: Publish Aux Global Positon #24051

wants to merge 16 commits into from
+659 −121

Conversation

bresch
Copy link
Member

@bresch bresch commented Nov 28, 2024

Solved Problem

I need to test Aux Global Position (AGP) in sim.

Solution

Implement SensorAgpSim to publish AGP based on groundtruth data.

image

bresch and others added 16 commits November 26, 2024 18:11
@bresch
SIH: do not assume being a tailsitter when creating airspeed measurement
124ffbc
@bresch
SIH-FW: fix aileron and elevator signs
6b9258a 
This broken when changing from mixer files to the control allocation module.
@bresch
SIH-FW: allow pitching up during takeoff
2bb3fa2 
Otherwise difficult to get lift
@bresch
SIH-plane: fix actuator mapping
76e9cf8
@haumarco @bresch
SIH: ellipsoidal earth model
35d3c17 
SIH: use projection functions and constants from geo lib

SIH: remove unnecessary member variable

SIH: clarify names of rotation matrices and frames

SIH: do not store DCM corresponding to quaternion attitude

Using DCM is more efficient when more than 1 rotation needs to be done,
which is not the case here.

SIH: don't store local variable as member

SIH: use Wgs84 constants everywhere

SIH: do not store delta_quaternion

Converting an AxisAngle to a Quaternion uses the exponenial

SIH: organise ECEF member variables

SIH: add earth spin rate to gyro data
@bresch
matrix: allow casting float<->double
4a456f7
@bresch
SIH: refactor MC ground contact
c6790fd
@bresch
SIH: rework FW ground contact
8ae563c
@bresch
lla: add functions to convert from and to ECEF
03d6bff
@bresch
lla: move to lib directory
14bd64d
@bresch
lla: add gravity constant at equator
2c8d4ac
@bresch
SIH: use LatLonAlt class
05786d0
@bresch
SIH: add transport rate acceleration to local acceleration
9fa3626
@bresch
SIH: set GNSS delay to 0 as delay is not simulated
cd2abc3
@bresch
SIH: lower IMU noise before takeoff
237fbf5 
This speeds-up the EKF alignment
@bresch
add SensorAgpSim to generate Aux Global Position data
ef7654a
@bresch bresch added the Sim: SITL software in the loop simulation label Nov 28, 2024
@bresch bresch requested a review from dagar November 28, 2024 15:35
@bresch bresch self-assigned this Nov 28, 2024
@github-actions GitHub Actions
Copy link

FLASH Analysis

px4_fmu-v5x 
    FILE SIZE        VM SIZE    
--------------  -------------- 
+0.2% +43.1Ki  [ = ]       0    .debug_info
  [NEW] +41.6Ki  [ = ]       0    ../../src/modules/simulation/sensor_agp_sim/SensorAgpSim.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/batt_smbus/batt_smbus.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/cdcacm_autostart/cdcacm_autostart.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/dshot/DShot.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/heater/heater.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/lights/rgbled/rgbled.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/lights/rgbled_is31fl3195/rgbled_is31fl3195.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/lights/rgbled_lp5562/rgbled_lp5562.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/lights/rgbled_ncp5623c/rgbled_ncp5623c.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/osd/msp_osd/msp_osd.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/power_monitor/ina226/ina226.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/power_monitor/ina226/ina226_main.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/power_monitor/ina228/ina228.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/power_monitor/ina228/ina228_main.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/power_monitor/ina238/ina238.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/power_monitor/ina238/ina238_main.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/power_monitor/pm_selector_auterion/PowerMonitorSelectorAuterion.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/pwm_out/PWMOut.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/px4io/px4io.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/rc/crsf_rc/CrsfRc.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/rc/dsm_rc/DsmRc.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/rc/ghst_rc/GhstRc.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/rc/sbus_rc/SbusRc.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/rc_input/RCInput.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/smart_battery/batmon/batmon.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/uavcan/actuators/esc.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/uavcan/actuators/servo.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/uavcan/remoteid.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/uavcan/rgbled.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/uavcan/sensors/battery.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/uavcan/sensors/sensor_bridge.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/uavcan/uavcan_main.cpp
  +0.0%      +8  [ = ]       0    ../../src/drivers/uavcan/uavcan_servers.cpp
  +0.0%      +8  [ = ]       0    ../../src/lib/avoidance/ObstacleAvoidance.cpp
  +0.0%      +8  [ = ]       0    ../../src/lib/battery/battery.cpp
  +0.0%      +8  [ = ]       0    ../../src/lib/collision_prevention/CollisionPrevention.cpp
  +0.0%      +8  [ = ]       0    ../../src/lib/fw_performance_model/PerformanceModel.cpp
  +0.0%      +8  [ = ]       0    ../../src/lib/led/led.cpp
  +0.0%      +8  [ = ]       0    ../../src/lib/mixer_module/mixer_module.cpp
  +0.0%      +8  [ = ]       0    ../../src/lib/parameters/parameters.cpp
  +0.0%      +8  [ = ]       0    ../../src/lib/rtl/rtl_time_estimator.cpp
  +0.0%      +8  [ = ]       0    ../../src/lib/weather_vane/WeatherVane.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/airspeed_selector/airspeed_selector_main.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/battery_status/analog_battery.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/battery_status/battery_status.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/camera_feedback/CameraFeedback.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/Commander.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/Common.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecks.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/accelerometerCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/armPermissionCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/baroCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/cpuResourceCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/distanceSensorChecks.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/escCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/externalChecks.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/failureDetectorCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/flightTimeCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/geofenceCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/gyroCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/homePositionCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/imuConsistencyCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/loggerCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/magnetometerCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/manualControlCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/missionCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/modeCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/navigatorCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/offboardCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/openDroneIDCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/parachuteCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/powerCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/rcAndDataLinkCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/rcCalibrationCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/sdcardCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/systemCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/vtolCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/HealthAndArmingChecks/checks/windCheck.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/ModeManagement.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/MulticopterThrowLaunch/MulticopterThrowLaunch.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/UserModeIntention.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/failsafe/failsafe.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/failsafe/framework.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/commander/failure_detector/FailureDetector.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessControlSurfaces.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessCustom.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessFixedWing.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopter.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessHelicopterCoaxial.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMCTilt.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessMultirotor.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessRotors.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessStandardVTOL.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTailsitterVTOL.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTilts.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessUUV.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/control_allocator/ControlAllocation/ControlAllocationSequentialDesaturation.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/control_allocator/ControlAllocator.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/esc_battery/EscBattery.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/events/send_event.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/flight_mode_manager/FlightModeManager.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Auto/FlightTaskAuto.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/AutoFollowTarget/FlightTaskAutoFollowTarget.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/AutoFollowTarget/follow_target_estimator/TargetEstimator.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Descend/FlightTaskDescend.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Failsafe/FlightTaskFailsafe.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/FlightTask/FlightTask.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/ManualAcceleration/FlightTaskManualAcceleration.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/ManualAccelerationSlow/FlightTaskManualAccelerationSlow.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/ManualAltitude/FlightTaskManualAltitude.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/ManualAltitudeSmoothVel/FlightTaskManualAltitudeSmoothVel.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/ManualPosition/FlightTaskManualPosition.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Transition/FlightTaskTransition.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Utility/StickAccelerationXY.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Utility/StickTiltXY.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Utility/StickYaw.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Utility/Sticks.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/fw_att_control/FixedwingAttitudeControl.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/fw_pos_control/FixedwingPositionControl.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/fw_pos_control/launchdetection/LaunchDetector.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/fw_pos_control/runway_takeoff/RunwayTakeoff.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/fw_rate_control/FixedwingRateControl.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/gyro_calibration/GyroCalibration.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/land_detector/AirshipLandDetector.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/land_detector/FixedwingLandDetector.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/land_detector/LandDetector.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/land_detector/MulticopterLandDetector.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/land_detector/RoverLandDetector.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/land_detector/VtolLandDetector.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/land_detector/land_detector_main.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/load_mon/LoadMon.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/logger/logger.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/mag_bias_estimator/MagBiasEstimator.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/manual_control/ManualControl.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/mc_att_control/mc_att_control_main.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/mc_autotune_attitude_control/mc_autotune_attitude_control.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/mc_hover_thrust_estimator/MulticopterHoverThrustEstimator.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/mc_pos_control/MulticopterPositionControl.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/mc_rate_control/MulticopterRateControl.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/navigator/GeofenceBreachAvoidance/geofence_breach_avoidance.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/navigator/geofence.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/navigator/land.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/navigator/loiter.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/navigator/mission.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/navigator/mission_base.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/navigator/mission_block.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/navigator/mission_feasibility_checker.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/navigator/navigator_main.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/navigator/navigator_mode.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/navigator/precland.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/navigator/rtl.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/navigator/rtl_direct.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/navigator/rtl_direct_mission_land.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/navigator/rtl_mission_fast.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/navigator/rtl_mission_fast_reverse.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/navigator/takeoff.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/navigator/vtol_takeoff.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/payload_deliverer/payload_deliverer.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/rc_update/rc_update.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/sensors/sensors.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/sensors/vehicle_air_data/VehicleAirData.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/sensors/vehicle_gps_position/VehicleGPSPosition.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/sensors/vehicle_imu/VehicleIMU.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/sensors/voted_sensors_update.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/simulation/pwm_out_sim/PWMSim.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/simulation/sensor_baro_sim/SensorBaroSim.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/simulation/sensor_mag_sim/SensorMagSim.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/simulation/simulator_sih/sih.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/temperature_compensation/TemperatureCompensationModule.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/uxrce_dds_client/uxrce_dds_client.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/vtol_att_control/standard.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/vtol_att_control/tailsitter.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/vtol_att_control/tiltrotor.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/vtol_att_control/vtol_att_control_main.cpp
  +0.0%      +8  [ = ]       0    ../../src/modules/vtol_att_control/vtol_type.cpp
  +0.0%      +8  [ = ]       0    src/modules/ekf2/modules__ekf2_unity.cpp
  +0.0%      +8  [ = ]       0    src/modules/flight_mode_manager/FlightTasks_generated.cpp
  +0.0%      +8  [ = ]       0    src/modules/mavlink/modules__mavlink_unity.cpp
+0.1% +4.86Ki  [ = ]       0    .debug_line
  [NEW] +4.86Ki  [ = ]       0    ../../src/modules/simulation/sensor_agp_sim/SensorAgpSim.cpp
  -0.0%      -1  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+0.1% +4.12Ki  [ = ]       0    .debug_loc
  [NEW] +3.08Ki  [ = ]       0    ../../src/modules/simulation/sensor_agp_sim/SensorAgpSim.cpp
  +0.1% +1.22Ki  [ = ]       0    [section .debug_loc]
  +1.0%     +42  [ = ]       0    ../../src/modules/control_allocator/ActuatorEffectiveness/ActuatorEffectivenessTiltrotorVTOL.cpp
  +0.1%     +14  [ = ]       0    ../../src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control.cpp
  +0.2%     +13  [ = ]       0    ../../src/modules/camera_feedback/CameraFeedback.cpp
  +0.5%     +13  [ = ]       0    ../../src/modules/land_detector/RoverLandDetector.cpp
  +0.1%     +13  [ = ]       0    ../../src/modules/mag_bias_estimator/MagBiasEstimator.cpp
  +0.1%     +13  [ = ]       0    ../../src/modules/sensors/vehicle_optical_flow/VehicleOpticalFlow.cpp
  -0.0%      -3  [ = ]       0    ../../src/modules/sensors/vehicle_imu/VehicleIMU.cpp
  -0.1%     -13  [ = ]       0    ../../src/drivers/px4io/px4io.cpp
  -0.1%     -13  [ = ]       0    ../../src/lib/collision_prevention/CollisionPrevention.cpp
  -0.1%     -13  [ = ]       0    ../../src/modules/navigator/mission_base.cpp
  -0.1%     -13  [ = ]       0    ../../src/modules/navigator/navigator_main.cpp
  -0.1%     -13  [ = ]       0    ../../src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
  -0.0%     -58  [ = ]       0    src/modules/ekf2/modules__ekf2_unity.cpp
  -0.6%    -162  [ = ]       0    ../../src/modules/flight_mode_manager/tasks/Orbit/FlightTaskOrbit.cpp
+0.2% +3.12Ki  [ = ]       0    .debug_abbrev
  +0.2% +3.12Ki  [ = ]       0    armv7-m/arm_vectors.c
+0.1% +2.05Ki  [ = ]       0    .debug_str
  [NEW] +2.93Ki  [ = ]       0    ../../src/modules/simulation/sensor_agp_sim/SensorAgpSim.cpp
  +0.1%     +54  [ = ]       0    [section .debug_str]
  +0.0%     +14  [ = ]       0    ../../src/drivers/batt_smbus/batt_smbus.cpp
  -0.1%      -2  [ = ]       0    ../../src/modules/simulation/pwm_out_sim/PWMSim.cpp
  -0.3%     -12  [ = ]       0    ../../src/modules/simulation/sensor_baro_sim/SensorBaroSim.cpp
  -0.1%     -23  [ = ]       0    ../../src/modules/uxrce_dds_client/uxrce_dds_client.cpp
 -30.7%    -930  [ = ]       0    ../../src/modules/simulation/sensor_gps_sim/SensorGpsSim.cpp
+0.1% +2.04Ki  +0.1% +2.04Ki    .text
  [NEW] +1.82Ki  [NEW] +1.82Ki    ../../src/modules/simulation/sensor_agp_sim/SensorAgpSim.cpp
  +0.1%    +174  +0.1%    +174    [section .text]
  +0.0%     +24  +0.0%     +24    ROMFS/nsh_romfsimg.c
  +0.7%     +16  +0.7%     +16    builtin_list.c
  +0.0%      +8  +0.0%      +8    ../../src/lib/parameters/parameters.cpp
+0.2% +1.42Ki  [ = ]       0    .symtab
  [NEW] +1.28Ki  [ = ]       0    ../../src/modules/simulation/sensor_agp_sim/SensorAgpSim.cpp
  +0.1%    +144  [ = ]       0    [section .symtab]
+0.1% +1.36Ki  [ = ]       0    .debug_ranges
  [NEW]    +872  [ = ]       0    ../../src/modules/simulation/sensor_agp_sim/SensorAgpSim.cpp
  +0.2%    +520  [ = ]       0    [section .debug_ranges]
+0.2% +1.28Ki  [ = ]       0    .strtab
  [NEW] +1.17Ki  [ = ]       0    ../../src/modules/simulation/sensor_agp_sim/SensorAgpSim.cpp
  +0.1%    +112  [ = ]       0    [section .strtab]
+0.2%    +816  [ = ]       0    .debug_frame
+0.2%    +280  [ = ]       0    .debug_aranges
+0.2%      +8  +0.2%      +8    .data
  [NEW]      +5  [NEW]      +5    ../../src/modules/simulation/sensor_agp_sim/SensorAgpSim.cpp
  +7.1%      +3  +7.1%      +3    [section .data]
+0.9%      +4  +1.0%      +4    .init_section
-15.6% -2.04Ki  [ = ]       0    [Unmapped]
+0.1% +62.4Ki  +0.1% +2.05Ki    TOTAL
px4_fmu-v6x 
    FILE SIZE        VM SIZE    
--------------  -------------- 
+0.0%      +8  +0.0%      +8    .text
  +0.0%      +5  +0.0%      +5    ROMFS/nsh_romfsimg.c
  +0.0%      +3  +0.0%      +3    [section .text]
-0.0%      -8  [ = ]       0    [Unmapped]
[ = ]       0  +0.0%      +8    TOTAL

Updated: 2024-11-28T15:41:03

Base automatically changed from pr_ekf2_ellipsoidal_sih to main November 29, 2024 13:21
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@dagar dagar Awaiting requested review from dagar

At least 1 approving review is required to merge this pull request.

Assignees

@bresch bresch

Labels
Sim: SITL software in the loop simulation
Projects
None yet
Milestone
No milestone
Development

Successfully merging this pull request may close these issues.
2 participants
@bresch @haumarco