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Merge remote-tracking branch 'px4/ekf_params' into navigator_cleanup_ekf_home_init

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Conflicts:
	src/drivers/gps/gps.cpp
This commit is contained in:
Julian Oes 2014-04-27 11:41:34 +02:00
commit 03d87c2660
5 changed files with 70 additions and 36 deletions
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6
src/drivers/gps/gps.cpp
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@ -276,14 +276,14 @@ GPS::task_main()
_report.timestamp_position = hrt_absolute_time();
_report.lat = (int32_t)47.378301e7f;
_report.lon = (int32_t)8.538777e7f;
_report.alt = (int32_t)400e3f;
_report.alt = (int32_t)1200e3f;
_report.timestamp_variance = hrt_absolute_time();
_report.s_variance_m_s = 10.0f;
_report.p_variance_m = 10.0f;
_report.c_variance_rad = 0.1f;
_report.fix_type = 3;
_report.eph = 3.0f;
_report.epv = 7.0f;
_report.eph = 0.9f;
_report.epv = 1.8f;
_report.timestamp_velocity = hrt_absolute_time();
_report.vel_n_m_s = 0.0f;
_report.vel_e_m_s = 0.0f;

2
src/modules/commander/commander.cpp
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@ -117,7 +117,7 @@ extern struct system_load_s system_load;
#define STICK_ON_OFF_HYSTERESIS_TIME_MS 1000
#define STICK_ON_OFF_COUNTER_LIMIT (STICK_ON_OFF_HYSTERESIS_TIME_MS*COMMANDER_MONITORING_LOOPSPERMSEC)
#define POSITION_TIMEOUT 30000 /**< consider the local or global position estimate invalid after 30ms */
#define POSITION_TIMEOUT 50000 /**< consider the local or global position estimate invalid after 50ms */
#define RC_TIMEOUT 500000
#define DIFFPRESS_TIMEOUT 2000000

2
src/modules/ekf_att_pos_estimator/estimator.cpp
View File

@ -2307,7 +2307,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) {
if (!isfinite(states[i])) {
err_report->statesNaN = true;
ekf_debug("states NaN: i: %u val: %f", i, states[i]);
ekf_debug("states NaN: i: %u val: %f", i, (double)states[i]);
err = true;
goto out;
} // state matrix

85
src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
View File

@ -191,6 +191,7 @@ private:
perf_counter_t _perf_airspeed; ///<local performance counter for airspeed updates
bool _initialized;
bool _baro_init;
bool _gps_initialized;
uint64_t _gps_start_time;
@ -214,6 +215,7 @@ private:
float mage_pnoise;
float magb_pnoise;
float eas_noise;
float pos_stddev_threshold;
} _parameters; /**< local copies of interesting parameters */
struct {
@ -234,6 +236,7 @@ private:
param_t mage_pnoise;
param_t magb_pnoise;
param_t eas_noise;
param_t pos_stddev_threshold;
} _parameter_handles; /**< handles for interesting parameters */
AttPosEKF *_ekf;
@ -340,6 +343,7 @@ FixedwingEstimator::FixedwingEstimator() :
/* states */
_initialized(false),
_baro_init(false),
_gps_initialized(false),
_mavlink_fd(-1),
_ekf(nullptr),
@ -367,6 +371,7 @@ FixedwingEstimator::FixedwingEstimator() :
_parameter_handles.mage_pnoise = param_find("PE_MAGE_PNOISE");
_parameter_handles.magb_pnoise = param_find("PE_MAGB_PNOISE");
_parameter_handles.eas_noise = param_find("PE_EAS_NOISE");
_parameter_handles.pos_stddev_threshold = param_find("PE_POSDEV_INIT");
/* fetch initial parameter values */
parameters_update();
@ -455,6 +460,7 @@ FixedwingEstimator::parameters_update()
param_get(_parameter_handles.mage_pnoise, &(_parameters.mage_pnoise));
param_get(_parameter_handles.magb_pnoise, &(_parameters.magb_pnoise));
param_get(_parameter_handles.eas_noise, &(_parameters.eas_noise));
param_get(_parameter_handles.pos_stddev_threshold, &(_parameters.pos_stddev_threshold));
if (_ekf) {
// _ekf->yawVarScale = 1.0f;
@ -575,18 +581,10 @@ FixedwingEstimator::task_main()
#endif
bool newDataGps = false;
bool newHgtData = false;
bool newAdsData = false;
bool newDataMag = false;
// Reset relevant structs
_gps = {};
#ifndef SENSOR_COMBINED_SUB
_gyro = {};
#else
_sensor_combined = {};
#endif
while (!_task_should_exit) {
/* wait for up to 500ms for data */
@ -618,6 +616,7 @@ FixedwingEstimator::task_main()
if (fds[1].revents & POLLIN) {
/* check vehicle status for changes to publication state */
bool prev_hil = (_vstatus.hil_state == HIL_STATE_ON);
vehicle_status_poll();
bool accel_updated;
@ -625,6 +624,12 @@ FixedwingEstimator::task_main()
perf_count(_perf_gyro);
/* Reset baro reference if switching to HIL */
if (!prev_hil && (_vstatus.hil_state == HIL_STATE_ON)) {
_baro_init = false;
_gps_initialized = false;
}
/**
* PART ONE: COLLECT ALL DATA
**/
@ -820,10 +825,17 @@ FixedwingEstimator::task_main()
if (baro_updated) {
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
_ekf->baroHgt = _baro.altitude - _baro_ref;
_ekf->baroHgt = _baro.altitude;
// Could use a blend of GPS and baro alt data if desired
_ekf->hgtMea = 1.0f * _ekf->baroHgt + 0.0f * _ekf->gpsHgt;
if (!_baro_init) {
_baro_ref = _baro.altitude;
_baro_init = true;
warnx("ALT REF INIT");
}
newHgtData = true;
} else {
newHgtData = false;
}
#ifndef SENSOR_COMBINED_SUB
@ -911,9 +923,9 @@ FixedwingEstimator::task_main()
}
}
// XXX trap for testing
// warn on fatal resets
if (check == 1) {
errx(1, "NUMERIC ERROR IN FILTER");
warnx("NUMERIC ERROR IN FILTER");
}
// If non-zero, we got a filter reset
@ -967,7 +979,7 @@ FixedwingEstimator::task_main()
// struct home_position_s home;
// orb_copy(ORB_ID(home_position), _home_sub, &home);
if (!_gps_initialized && _gps.fix_type > 2) {
if (!_gps_initialized && _gps.fix_type > 2 && _gps.eph_m < _parameters.pos_stddev_threshold && _gps.epv_m < _parameters.pos_stddev_threshold) {
_ekf->velNED[0] = _gps.vel_n_m_s;
_ekf->velNED[1] = _gps.vel_e_m_s;
_ekf->velNED[2] = _gps.vel_d_m_s;
@ -975,26 +987,37 @@ FixedwingEstimator::task_main()
// GPS is in scaled integers, convert
double lat = _gps.lat / 1.0e7;
double lon = _gps.lon / 1.0e7;
float alt = _gps.alt / 1e3f;
float gps_alt = _gps.alt / 1e3f;
_ekf->InitialiseFilter(_ekf->velNED, math::radians(lat), math::radians(lon) - M_PI, alt);
// Set up height correctly
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
_baro_gps_offset = gps_alt - _baro.altitude;
_ekf->baroHgt = _baro.altitude;
_ekf->hgtMea = 1.0f * (_ekf->baroHgt - _baro_ref);
// Set up position variables correctly
_ekf->GPSstatus = _gps.fix_type;
_ekf->velNED[0] = _gps.vel_n_m_s;
_ekf->velNED[1] = _gps.vel_e_m_s;
_ekf->velNED[2] = _gps.vel_d_m_s;
_ekf->gpsLat = math::radians(_gps.lat / (double)1e7);
_ekf->gpsLon = math::radians(_gps.lon / (double)1e7) - M_PI;
_ekf->gpsHgt = _gps.alt / 1e3f;
_ekf->InitialiseFilter(_ekf->velNED, math::radians(lat), math::radians(lon) - M_PI, gps_alt);
// Initialize projection
_local_pos.ref_lat = _gps.lat;
_local_pos.ref_lon = _gps.alt;
_local_pos.ref_alt = alt;
_local_pos.ref_alt = _baro_ref + _baro_gps_offset;
_local_pos.ref_timestamp = _gps.timestamp_position;
// Store
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
_baro_ref = _baro.altitude;
_ekf->baroHgt = _baro.altitude - _baro_ref;
_baro_gps_offset = _baro_ref - _local_pos.ref_alt;
map_projection_init(&_pos_ref, lat, lon);
mavlink_log_info(_mavlink_fd, "[ekf] ref: LA %.4f,LO %.4f,ALT %.2f", lat, lon, (double)alt);
warnx("[ekf] HOME/REF: LA %8.4f,LO %8.4f,ALT %8.2f V: %8.4f %8.4f %8.4f", lat, lon, (double)alt,
mavlink_log_info(_mavlink_fd, "[ekf] ref: LA %.4f,LO %.4f,ALT %.2f", lat, lon, (double)gps_alt);
warnx("HOME/REF: LA %8.4f,LO %8.4f,ALT %8.2f V: %8.4f %8.4f %8.4f", lat, lon, (double)gps_alt,
(double)_ekf->velNED[0], (double)_ekf->velNED[1], (double)_ekf->velNED[2]);
warnx("GPS: eph: %8.4f, epv: %8.4f", (double)_gps.eph_m, (double)_gps.epv_m);
_gps_initialized = true;
@ -1096,9 +1119,9 @@ FixedwingEstimator::task_main()
_ekf->fusePosData = false;
}
if (newAdsData && _ekf->statesInitialised) {
if (newHgtData && _ekf->statesInitialised) {
// Could use a blend of GPS and baro alt data if desired
_ekf->hgtMea = 1.0f * _ekf->baroHgt + 0.0f * _ekf->gpsHgt;
_ekf->hgtMea = 1.0f * (_ekf->baroHgt - _baro_ref);
_ekf->fuseHgtData = true;
// recall states stored at time of measurement after adjusting for delays
_ekf->RecallStates(_ekf->statesAtHgtTime, (IMUmsec - _parameters.height_delay_ms));
@ -1187,7 +1210,7 @@ FixedwingEstimator::task_main()
_local_pos.timestamp = last_sensor_timestamp;
_local_pos.x = _ekf->states[7];
_local_pos.y = _ekf->states[8];
_local_pos.z = _ekf->states[9];
_local_pos.z = _ekf->states[9] + _baro_gps_offset;
_local_pos.vx = _ekf->states[4];
_local_pos.vy = _ekf->states[5];
@ -1236,8 +1259,8 @@ FixedwingEstimator::task_main()
_global_pos.lat = est_lat;
_global_pos.lon = est_lon;
_global_pos.time_gps_usec = _gps.time_gps_usec;
_global_pos.eph = _gps.eph;
_global_pos.epv = _gps.epv;
_global_pos.eph = _gps.eph_m;
_global_pos.epv = _gps.epv_m;
}
if (_local_pos.v_xy_valid) {

11
src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c
View File

@ -258,3 +258,14 @@ PARAM_DEFINE_FLOAT(PE_MAGE_PNOISE, 0.0003f);
*/
PARAM_DEFINE_FLOAT(PE_MAGB_PNOISE, 0.0003f);
/**
* Threshold for filter initialization.
*
* If the standard deviation of the GPS position estimate is below this threshold
* in meters, the filter will initialize.
*
* @min 0.3
* @max 10.0
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_POSDEV_INIT, 5.0f);