feat(ekf2): publish acceleration in VehicleOdometry by evannsmc · Pull Request #26944 · PX4/PX4-Autopilot

evannsmc · 2026-04-01T18:06:16Z

Summary

extend VehicleOdometry to v1 with NED acceleration
read the accumulated velocity derivative once per EKF2 update, reuse it for both vehicle_local_position and vehicle_odometry, then reset once
preserve ROS 2 interoperability by archiving VehicleOdometry v0 in px4_msgs_old and adding a translation_node v0<->v1 translator

Why

This follows the prior review direction from #25507 to extend VehicleOdometry instead of introducing a separate VehicleFullState topic. Sharing a single publish-window derivative sample avoids mixed-rate aliasing and double consumption.

Testing

make px4_sitl_default -j4
colcon build --packages-select px4_msgs
colcon build --packages-select px4_msgs_old translation_node
colcon test --packages-select translation_node --ctest-args -R translation_node_unit_tests

Notes

v0 -> v1 translation fills acceleration with NaN
v1 -> v0 translation drops acceleration

Changes: extend VehicleOdometry.msg to v1 with float32[3] acceleration in NED, defined as the derivative of NED velocity averaged over the odometry publish interval read _ekf.getVelocityDerivative() once in EKF2::Run(), pass it to PublishLocalPosition() and PublishOdometry(), and reset the accumulation once after both publishers consume it archive VehicleOdometryV0.msg in px4_msgs_old and add VehicleOdometryV1Translation to translation_node preserve ROS 2 interoperability between v0 and v1 clients: v0 -> v1 fills acceleration with NaN, and v1 -> v0 drops it This avoids mixed-rate aliasing or double consumption of the velocity derivative and enables one clean message with everything control theorists need for their work. Tested: make px4_sitl_default -j4 colcon build --packages-select px4_msgs colcon build --packages-select px4_msgs_old translation_node colcon test --packages-select translation_node --ctest-args -R translation_node_unit_tests Signed-off-by: evannsmc <evannsmcuadrado@gmail.com>

github-actions · 2026-04-09T18:23:44Z

🔎 FLASH Analysis

px4_fmu-v5x [Total VM Diff: 120 byte (0.01 %)]

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 --------------  -------------- 
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    +8.5%     +32  +8.5%     +32    ucdr_serialize_vehicle_odometry()
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px4_fmu-v6x [Total VM Diff: 120 byte (0.01 %)]

    FILE SIZE        VM SIZE    
 --------------  -------------- 
  +0.0%    +120  +0.0%    +120    .text
    +0.9%     +32  +0.9%     +32    EKF2::Run()
    +8.5%     +32  +8.5%     +32    ucdr_serialize_vehicle_odometry()
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Updated: 2026-04-10T19:38:55

The translation_node is a standalone ROS 2 package that depends on px4_msgs_old headers generated only in a colcon ROS build — they are not available in the px4_sitl_default-clang environment used by clang-tidy CI. All translation headers share this dependency; the new file triggers the error only because it is the sole diff entry. Add msg/translation_node to the exclude lists in three places so that no translation-node file is analysed in the SITL context: • CLANG_TIDY_EXCLUDE_EXTRA in Makefile (make clang-tidy) • EXCLUDE_EXTRA in Tools/ci/run-clang-tidy-pr.py (PR incremental run) • git diff pathspec in clang-tidy.yml (clang-tidy-diff-18 pr-review step) The translation_node already has dedicated CI coverage via ros_translation_node.yml (builds and tests under ROS 2 humble + jazzy).

…lishLocalPosition The previous commit added vel_deriv as a function parameter, changing the mangled C++ names and breaking ITCM linker-script entries on v6xrt, nxp_mr-tropic, and nxp_tropic-community (itcm_check CI failures). Use a member variable _vel_deriv instead: - compute once in Run() via _ekf.getVelocityDerivative() - read in PublishLocalPosition() and PublishOdometry() via _vel_deriv Original function signatures are preserved: PublishLocalPosition(const hrt_abstime &) PublishOdometry(const hrt_abstime &, const imuSample &) The single-sample-per-update sharing of the velocity derivative (to avoid mixed-rate aliasing between vehicle_local_position and vehicle_odometry) is maintained.

evannsmc force-pushed the pr-vehicle-odometry-v1-final branch from 174d8cc to b1fe920 Compare April 1, 2026 18:12

evannsmc force-pushed the pr-vehicle-odometry-v1-final branch from b1fe920 to 8ffa2c1 Compare April 1, 2026 18:12

evannsmc changed the title ~~ekf2/odometry: add VehicleOdometry acceleration and ROS 2 translation for control pipelines~~ feat(ekf2): publish acceleration in VehicleOdometry Apr 1, 2026

dakejahl requested review from Jaeyoung-Lim and bresch April 1, 2026 20:28

Merge branch 'main' into pr-vehicle-odometry-v1-final

2e22ed3

github-actions Bot requested changes Apr 9, 2026

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Comment thread msg/translation_node/translations/translation_vehicle_odometry_v1.h

evannsmc added 3 commits April 9, 2026 17:24

Merge branch 'main' into pr-vehicle-odometry-v1-final

5c89e16

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feat(ekf2): publish acceleration in VehicleOdometry#26944

feat(ekf2): publish acceleration in VehicleOdometry#26944
evannsmc wants to merge 5 commits intoPX4:mainfrom
evannsmc:pr-vehicle-odometry-v1-final

evannsmc commented Apr 1, 2026 •

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