Field import: mru_transform (2026-06-27)#31
Merged
Merged
Conversation
NavigationSensors::updateLatest iterated sources in priority order but, when the highest-priority source was fresh yet had no sample newer than the global high-water mark, it fell through to the next source. A faster lower-priority source (FCU ~10 Hz) therefore out-voted a fresh but slower primary (SBG INS ~4 Hz), so position never followed the configured primary. Stop at the first fresh source in priority order: it owns the output and lower-priority sources are used only when higher-priority ones go stale past sensor_timeout. Extracted the decision into a pure, unit-tested selectNavigationSource() (new navigation_source_selection.hpp) with 9 gtest cases covering the regression, failover, recovery and boundaries. Validated live on BizzyBoat: nav/active_sensor/position flips fcu -> sbg with no base_link jump (~6 mm). Ref: unh_echoboats_project11#339 Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
rolker
marked this pull request as ready for review
June 27, 2026 20:07
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Imports the 2026-06-27 field fix for nav-source arbitration (see #30 for the full pre-review).
Part of rolker/unh_echoboats_project11#339 — the
mru_transformhalf of "SBG as primary nav source"; the bizzyboat config/URDF half is imported separately into that repo.Commit
cc0259bfix(nav): strict priority-preference source arbitrationStrict priority-preference: the highest-priority fresh source owns the fused output; lower-priority sources are used only when every higher-priority one goes stale past
sensor_timeout. Replaces "newest fresh sample wins", which let the faster FCU (~10 Hz) out-vote a fresh-but-slower SBG INS (~4 Hz). Extracts a pureselectNavigationSource()(navigation_source_selection.hpp) and rewiresNavigationSensors::updateLatest().Pre-review
Strong — ships 10 unit tests covering the regression, fail-over, recovery, timeout boundary, all-stale, single-source, empty-list. Verify (not blocking):
selectNavigationSource()assumes thesensorsvector is in descending-priority order matchingsensor_names; worth confirming that's how the vectors are populated.Branched directly from
gitcloud/jazzy(field SHA preserved, non-diverged).Closes #30
Authored-By:
Claude Code AgentModel:
Claude Opus 4.8 (1M context)