Use ecl library version with recent bug fixes and enhancements.

[priseborough]

Bug Fixes:

PX4/PX4-ECL#586 - EKF: fix covariance and output filter buffer initialization
PX4/PX4-ECL#590 - EKF: Fix innovation in fuseDeclination()

Enhancements:

PX4/PX4-ECL#543 - ekf_helper: add more useful methods to interface with the covariances
PX4/PX4-ECL#588 - Add unit tests for DataValidator

[dagar]

Additional testing required?

[priseborough]

Reversion testing with FW and MC platforms is recommended. Individual bugfix changes have been tested, but not flown as a complete package.

[priseborough]

Build is failing - will investigate and fix.

[TSC21]

@priseborough we seem to have some trouble regarding #11092 - which brings usage to PX4/PX4-ECL#543.

[priseborough]

@TSC21 I will add the minimum changes to ekf2_main to handle the revised access to the state variances.

[priseborough]

@dagar and @tstellanova, PX4/PX4-ECL#588 appears to be causing the CI SITL ecl data validation tests to fail.

[priseborough]

Short flight on a multi-rotor (pixhawk cube) showed no issues with estimator performance or CPU load:

CPU Load:

Estimator time slip:

Magnetomer:

GPs velocity:

GPS Position:

Baro:

Quaternion variances:

Quaternion Reset Count:

[dagar]

Should be fixed now.

[jorge789]

Tested on Pixracer v4;

• Armed.
• Takeoff on position mode and flew as expected.
• Switched to altitude mode, a few seconds later vehicle made flipped and collapsed.

https://review.px4.io/plot_app?log=2ff0d9b0-58c5-4e2d-9993-2883e2d1fe7f

[Junkim3DR]

Tested on Pixhawk 4 v5; no issues were noted, good flight in general.
https://review.px4.io/plot_app?log=e0b0dbb2-c743-445e-a1fc-e17bc89c3d42
Master was tested as well; no noticeable differences.
https://review.px4.io/plot_app?log=c3e08940-4078-466e-aff1-853e28aad108

Tested on Pixhawk 4mini v5; no issues were noted, good flight in general.
https://review.px4.io/plot_app?log=dc3b8978-3879-4e5c-9f76-f059558fa7e7
Master was tested as well; no noticeable differences.
https://review.px4.io/plot_app?log=a6268987-ab5c-4d87-8bbf-e503b30964f1

[jorge789]

Tested on Pixhawk cube v2;

• Position, Altitude, Stabilized, Mission, RTL modes tested, no issues were noted during flight.
  Good flight in general.

https://review.px4.io/plot_app?log=27081981-026b-4c64-804a-cbad637f821e

[LorenzMeier]

@priseborough Sound like issues persist here.

[priseborough]

@jorge789 Your crash had nothing to do with the estimator. Innovations were within limits throughout.

Edit: Log finishes with no sign of abnormality when vehicle is flying so it looks like the autopilot shutdown/rebooted. Note that there was a battery voltage warning and voltage is dropping rapidly just before the log stops, eg:

CPU Load is stable and there are no other warning messages:

[dagar]

Tested on Pixracer v4;

• Armed.
• Takeoff on position mode and flew as expected.
• Switched to altitude mode, a few seconds later vehicle made flipped and collapsed.

https://review.px4.io/plot_app?log=2ff0d9b0-58c5-4e2d-9993-2883e2d1fe7f

I'm not seeing an obvious issue in this log. Did your battery die? Is your power module (current/voltage sensor) calibrated? https://docs.px4.io/en/config/battery.html

https://review.px4.io/plot_app?log=2ff0d9b0-58c5-4e2d-9993-2883e2d1fe7f#Nav-Power