Estimator reset handling and generic estimator design

ctu-mrs / mrs_uav_managers

High-level UAV managers in ROS, part of the "mrs_uav_core" package.

https://github.com/ctu-mrs/mrs_uav_core

BSD 3-Clause "New" or "Revised" License

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Estimator reset handling and generic estimator design #14

Open Pallav1299 opened 1 week ago

Pallav1299 commented 1 week ago

Hey @klaxalk, I hope I'm not overwhelming you with too many questions recently.

I could understand from code that custom estimator plugins handle Soft Resets via implementation in StateGeneric. Are you able to handle estimator Hard Resets(estimator outpur reinitializes from 0) as well? If yes, could you help me know how?

Thanks

petrlmat commented 6 days ago

Hi @Pallav1299 , estimator reset is possible but there should be another estimator that can be used for feedback control while the reset is in progress. E.g. you want to reset your VIO estimator, so you should have a second estimator (for example LIO or GPS) that can be used during the reset. If there is no other estimator, the UAV cannot be stabilized and will perform a failsafe land (gradual decrease of thrust while keeping horizontal attitude using IMU data only).