Daniel Agar

Other than a refactor eliminating the separate mag_3d_control.cpp this also rearranges things a bit so that we populate and publish `estimator_aid_src_mag` for every new mag sample.

change default update rate to 200 Hz

1

- this goes along with the change PX4 side https://github.com/PX4/Firmware/pull/14759

Jenkins add htmlproofer

1

@hamishwillee can you review what you want here and we'll get it added to Jenkins. -- htmlproofer ./_book --empty-alt-ignore true --check-external-hash true --http-status-ignore 503 --url-ignore 'https://img.shields.io/badge/discuss-px4-ff69b4.svg,https://img.shields.io/github/release/PX4/Firmware.svg,https://ninja-build.org/,https://github.com/torvalds/subsurface/blob/a48494d2fbed58c751e9b7e8fbff88582f9b2d02/README#L88-L115,https://download.libsodium.org/doc/,https://www.alfa.com.tw/products_show.php?pc=67&ps=241,http://www.qt.io/download-open-source/#section-6,http://gazebosim.org/tutorials?tut=ros_wrapper_versions#Gazebo7.xseries,https://github.com/PX4/Firmware/blob/master/launch/multi_uav_mavros_sitl.launch#L21-L28,https://github.com/PX4/Firmware/blob/master/launch/multi_uav_mavros_sitl.launch#L85-L93,https://support.intrinsyc.com/attachments/download/1515/Flight_3.1.3_qrlSDK.tgz'

EKF possible height reset bug

1

Multi-EKF in SITL (3 identical IMUs, 2 identical mags) All estimators experienced a baro hgt timeout, but due to timing some reset to GPS, some to baro. Of the 4...

EKF testing gaps

2

Overall test coverage is looking good, but there are still a number of gaping holes.  - airspeed_fusion.cpp 68.67% https://codecov.io/gh/PX4/ecl/src/master/EKF/airspeed_fusion.cpp - drag_fusion.cpp 0% https://codecov.io/gh/PX4/ecl/src/master/EKF/drag_fusion.cpp - mag_control.cpp 78.15%...

EKF minimize console output

2

Can we work on minimizing console output for the estimator? It gets a little absurd when running multiple instances of ecl/EKF (https://github.com/PX4/Firmware/pull/14650). ``` Console INFO [ecl/EKF] reset position to last...

- opening for discussion along with corresponding PX4-Autopilot changes

[RFC]: board_types.txt -> consolidated board_types.h

9

I propose we merge `board_types.txt` into a single sorted table with all additional fields necessary to maintain compatibility between PX4, Ardupilot, and anyone else wishing to adopt this bootloader. Note:...