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EKF: move imu data processing code to estimator core

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This commit is contained in:
bugobliterator
2016-01-29 20:03:25 -08:00
parent 251996d387
commit 001d621eb1
3 changed files with 64 additions and 46 deletions
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EKF/ekf.cpp
+53
View File
@@ -254,6 +254,59 @@ void Ekf::predictState()
constrainStates();
}
bool Ekf::collect_imu(imuSample &imu)
{
imu.delta_ang(0) = imu.delta_ang(0) * _state.gyro_scale(0);
imu.delta_ang(1) = imu.delta_ang(1) * _state.gyro_scale(1);
imu.delta_ang(2) = imu.delta_ang(2) * _state.gyro_scale(2);
imu.delta_ang -= _state.gyro_bias * imu.delta_ang_dt / (_dt_imu_avg > 0 ? _dt_imu_avg : 0.01f);
imu.delta_vel(2) -= _state.accel_z_bias * imu.delta_vel_dt / (_dt_imu_avg > 0 ? _dt_imu_avg : 0.01f);;
// store the new sample for the complementary filter prediciton
_imu_sample_new = {
delta_ang : imu.delta_ang,
delta_vel : imu.delta_vel,
delta_ang_dt : imu.delta_ang_dt,
delta_vel_dt : imu.delta_vel_dt,
time_us : imu.time_us
};
_imu_down_sampled.delta_ang_dt += imu.delta_ang_dt;
_imu_down_sampled.delta_vel_dt += imu.delta_vel_dt;
Quaternion delta_q;
delta_q.rotate(imu.delta_ang);
_q_down_sampled = _q_down_sampled * delta_q;
_q_down_sampled.normalize();
matrix::Dcm<float> delta_R(delta_q.inversed());
_imu_down_sampled.delta_vel = delta_R * _imu_down_sampled.delta_vel;
_imu_down_sampled.delta_vel += imu.delta_vel;
if ((_dt_imu_avg * _imu_ticks >= (float)(FILTER_UPDATE_PERRIOD_MS) / 1000 && _start_predict_enabled) ||
_dt_imu_avg * _imu_ticks >= 0.02f){
_imu_sample_new = {
delta_ang : _q_down_sampled.to_axis_angle(),
delta_vel : _imu_down_sampled.delta_vel,
delta_ang_dt : _imu_down_sampled.delta_ang_dt,
delta_vel_dt : _imu_down_sampled.delta_vel_dt,
time_us : imu.time_us
};
_imu_down_sampled.delta_ang.setZero();
_imu_down_sampled.delta_vel.setZero();
_imu_down_sampled.delta_ang_dt = 0.0f;
_imu_down_sampled.delta_vel_dt = 0.0f;
_q_down_sampled(0) = 1.0f;
_q_down_sampled(1) = _q_down_sampled(2) = _q_down_sampled(3) = 0.0f;
return true;
}
return false;
}
void Ekf::calculateOutputStates()
{
imuSample imu_new = _imu_sample_new;
EKF/ekf.h
+2 -1
View File
@@ -79,8 +79,9 @@ public:
// get the diagonal elements of the covariance matrix
void get_covariances(float *covariances);
// ask estimator for sensor data collection decision, returns true if not defined
// ask estimator for sensor data collection decision and do any preprocessing if required, returns true if not defined
bool collect_gps(uint64_t time_usec, struct gps_message *gps);
bool collect_imu(imuSample &imu);
// bitmask containing filter control status
union filter_control_status_u {
EKF/estimator_base.cpp
+9 -45
View File
@@ -37,7 +37,7 @@
*
* @author Roman Bast <bapstroman@gmail.com>
* @author Paul Riseborough <p_riseborough@live.com.au>
*
* @author Siddharth B Purohit <siddharthbharatpurohit@gmail.com>
*/
#define __STDC_FORMAT_MACROS
@@ -57,8 +57,7 @@ EstimatorBase::~EstimatorBase()
}
// Accumulate imu data and store to buffer at desired rate
void EstimatorBase::setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, uint64_t delta_vel_dt, float *delta_ang,
float *delta_vel)
void EstimatorBase::setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, uint64_t delta_vel_dt, float *delta_ang, float *delta_vel)
{
if (!_initialised) {
initialiseVariables(time_usec);
@@ -75,62 +74,26 @@ void EstimatorBase::setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, uint64
if (_time_last_imu > 0) {
_dt_imu_avg = 0.8f * _dt_imu_avg + 0.2f * dt;
}
delta_ang_dt = delta_ang_dt / 1e6f;
delta_vel_dt = delta_vel_dt / 1e6f;
// copy data
imuSample imu_sample_new = {};
memcpy(&imu_sample_new.delta_ang._data[0], delta_ang, sizeof(imu_sample_new.delta_ang._data));
memcpy(&imu_sample_new.delta_vel._data[0], delta_vel, sizeof(imu_sample_new.delta_vel._data));
//convert time from us to secs
imu_sample_new.delta_ang_dt = delta_ang_dt / 1e6f;
imu_sample_new.delta_vel_dt = delta_vel_dt / 1e6f;
imu_sample_new.time_us = time_usec;
imu_sample_new.delta_ang(0) = imu_sample_new.delta_ang(0) * _state.gyro_scale(0);
imu_sample_new.delta_ang(1) = imu_sample_new.delta_ang(1) * _state.gyro_scale(1);
imu_sample_new.delta_ang(2) = imu_sample_new.delta_ang(2) * _state.gyro_scale(2);
imu_sample_new.delta_ang -= _state.gyro_bias * imu_sample_new.delta_ang_dt / (_dt_imu_avg > 0 ? _dt_imu_avg : 0.01f);
imu_sample_new.delta_vel(2) -= _state.accel_z_bias * imu_sample_new.delta_vel_dt / (_dt_imu_avg > 0 ? _dt_imu_avg : 0.01f);;
// store the new sample for the complementary filter prediciton
_imu_sample_new = imu_sample_new;
_imu_down_sampled.delta_ang_dt += imu_sample_new.delta_ang_dt;
_imu_down_sampled.delta_vel_dt += imu_sample_new.delta_vel_dt;
Quaternion delta_q;
delta_q.rotate(imu_sample_new.delta_ang);
_q_down_sampled = _q_down_sampled * delta_q;
_q_down_sampled.normalize();
matrix::Dcm<float> delta_R(delta_q.inversed());
_imu_down_sampled.delta_vel = delta_R * _imu_down_sampled.delta_vel;
_imu_down_sampled.delta_vel += imu_sample_new.delta_vel;
_imu_ticks++;
if ((_dt_imu_avg * _imu_ticks >= (float)(FILTER_UPDATE_PERRIOD_MS) / 1000 && _start_predict_enabled)
|| (_dt_imu_avg * _imu_ticks >= 0.02f)) {
_imu_down_sampled.delta_ang = _q_down_sampled.to_axis_angle();
_imu_down_sampled.time_us = time_usec;
_imu_buffer.push(_imu_down_sampled);
_imu_down_sampled.delta_ang.setZero();
_imu_down_sampled.delta_vel.setZero();
_imu_down_sampled.delta_ang_dt = 0.0f;
_imu_down_sampled.delta_vel_dt = 0.0f;
_q_down_sampled(0) = 1.0f;
_q_down_sampled(1) = _q_down_sampled(2) = _q_down_sampled(3) = 0.0f;
if (collect_imu(imu_sample_new)) {
_imu_buffer.push(imu_sample_new);
_imu_ticks = 0;
_imu_updated = true;
} else {
_imu_updated = false;
}
@@ -189,6 +152,7 @@ void EstimatorBase::setGpsData(uint64_t time_usec, struct gps_message *gps)
void EstimatorBase::setBaroData(uint64_t time_usec, float *data)
{
if (time_usec - _time_last_baro > 70000) {
baroSample baro_sample_new;
@@ -303,7 +267,7 @@ void EstimatorBase::initialiseVariables(uint64_t time_usec)
bool EstimatorBase::position_is_valid()
{
// return true if the position estimate is valid
// TOTO implement proper check based on published GPS accuracy, innovaton consistency checks and timeout status
// TODO implement proper check based on published GPS accuracy, innovaton consistency checks and timeout status
return _gps_initialised && (_time_last_imu - _time_last_gps) < 5e6;
}