Carl Olsson

Check magnetic table readout

6

There was[ a bug in ECL](https://github.com/PX4/ecl/pull/606) regarding the readout of the magnetic tables sometimes resulting in a large error in magnetic declination and inclination. We need to check that the...

Teensy SDR question

2

Dear Rich, I just came across your Teensy SDR platform, very impressing! I am currently researching the feasibility of a project that I would like to try. Just wanted to...

_gps_check_fail_status.flags.fix can never be true

1

This https://github.com/PX4/ecl/blob/066392ef0247e010d8d10fb33fc6b5da21476227/EKF/gps_checks.cpp#L119-L119 Can never be true because `collect_gps()` only runs if fix_type > 2 https://github.com/PX4/ecl/blob/066392ef0247e010d8d10fb33fc6b5da21476227/EKF/estimator_interface.cpp#L214-L214

EKF does not account for IMU->CoG offset when returning NED acceleration

6

From ekf2_main in PX4 firmware https://github.com/PX4/Firmware/blob/38da0f95aad2068645213d783e49663ab4105dbf/src/modules/ekf2/ekf2_main.cpp#L1296-L1301 ``` // Acceleration of body origin in local NED frame float vel_deriv[3]; _ekf.get_vel_deriv_ned(vel_deriv); lpos.ax = vel_deriv[0]; lpos.ay = vel_deriv[1]; lpos.az = vel_deriv[2]; ``` But...

EKF: tilt_align and uncertainty at high pitch angles

3

We declare `tilt_align = true` when the roll + pitch uncertainty is lower than 3 degrees. https://github.com/PX4/ecl/blob/c52f4bab1a1655f298778b9a815bbe3c70d91529/EKF/control.cpp#L61-L62 This does not work properly at high pitch angles in the same way...