unicore: extract vertical velocity and velocity accuracy #171
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It looks like vertical velocity is not available using NMEA, so we extract it from the Unicore ACRICA message instead.
dagar
reviewed
Aug 26, 2024
This switches over all velocity fields to the Unicore message (if available) and also adds the velocity accuracy (variance).
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Data from a flight test looks sane:
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julianoes
changed the title
dagar
reviewed
Oct 1, 2024
| (_unicore_parser.agrica().stddev_velocity_north_m_s * _unicore_parser.agrica().stddev_velocity_north_m_s + | ||
| _unicore_parser.agrica().stddev_velocity_east_m_s * _unicore_parser.agrica().stddev_velocity_east_m_s + | ||
| _unicore_parser.agrica().stddev_velocity_up_m_s * _unicore_parser.agrica().stddev_velocity_up_m_s) | ||
| / 3.0f; |
There was a problem hiding this comment.
Not sure, it's called variance...
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This pull request has been mentioned on Discussion Forum for PX4, Pixhawk, QGroundControl, MAVSDK, MAVLink. There might be relevant details there: https://discuss.px4.io/t/um982-isnt-providing-heading-data/35195/26 |
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It looks like vertical velocity, and velocity accuracy is not available using NMEA, so we extract them from the Unicore ACRICA message instead.