Draft: Static Vision-based target esitmator (Kalman Filter)

ROMFS/px4fmu_common/init.d-posix/airframes/1011_gazebo-classic_iris_irlock

@@ -35,4 +35,7 @@ param set-default PLD_HACC_RAD 0.1
 param set-default RTL_PLD_MD 2
 
 # Start up Landing Target Estimator module
-landing_target_estimator start
+if param compare VTE_EN 0
+then
+	landing_target_estimator start
+fi

ROMFS/px4fmu_common/init.d/rc.mc_apps

@@ -25,6 +25,15 @@ then
 	mc_autotune_attitude_control start
 fi
 
+#
+# Start Vision Target Estimator.
+#
+
+if param greater -s VTE_EN 0
+then
+	vision_target_estimator start
+fi
+
 #
 # Start Multicopter Position Controller.
 #

ROMFS/px4fmu_common/init.d/rc.vtol_apps

@@ -25,6 +25,15 @@ then
 	mc_autotune_attitude_control start
 fi
 
+#
+# Start Vision Target Estimator.
+#
+
+if param greater -s VTE_EN 0
+then
+	vision_target_estimator start
+fi
+
 fw_rate_control start vtol
 fw_att_control start vtol
 fw_mode_manager start

boards/px4/fmu-v6c/visionTargetEst.px4board

@@ -0,0 +1,95 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_HEATER=y
+CONFIG_COMMON_INS=n
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
+CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_PX4IO=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+
+CONFIG_MAVLINK_DIALECT="development"
+CONFIG_MODULES_VISION_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
+CONFIG_MODULES_ROVER_POS_CONTROL=n
+CONFIG_MODULES_CAMERA_FEEDBACK=n
+CONFIG_MODULES_GIMBAL=n
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_UXRCE_DDS_CLIENT_SERIAL=n
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=n
+CONFIG_DRIVERS_IMU_BOSCH_BMI055=n
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y

boards/px4/sitl/default.px4board

@@ -28,7 +28,7 @@ CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
@@ -59,6 +59,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VISION_TARGET_ESTIMATOR=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
@@ -84,3 +85,4 @@ CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
 CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
 CONFIG_EXAMPLES_WORK_ITEM=y
 CONFIG_MODULES_SPACECRAFT=n
+CONFIG_MAVLINK_DIALECT="development"

docs/en/SUMMARY.md

@@ -20,6 +20,8 @@
       - [Offboard Mode (MC)](flight_modes_mc/offboard.md)
     - [Collision Prevention](computer_vision/collision_prevention.md)
     - [Precision Landing](advanced_features/precland.md)
+    - [Vision Target Estimator](advanced_features/vision_target_estimator.md)
+    - [Vision Target Estimator Deep Dive](advanced_features/vision_target_estimator_advanced.md)
     - [Terrain Following/Holding](flying/terrain_following_holding.md)
     - [Throw Launch](flight_modes_mc/throw_launch.md)
   - [Assembly](assembly/assembly_mc.md)