fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'failsafe_sbus_cleanup' into rc_timeout

Browse Source
This commit is contained in:
Anton Babushkin 2014-04-05 15:29:46 +04:00
commit 0b45e01db9
12 changed files with 568 additions and 596 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

24
src/drivers/px4io/px4io.cpp
View File

@ -944,8 +944,23 @@ PX4IO::task_main()
int pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_VBATT_SCALE, &scaling, 1);
if (pret != OK) {
log("voltage scaling upload failed");
log("vscale upload failed");
}
/* send RC throttle failsafe value to IO */
int32_t failsafe_param_val;
param_t failsafe_param = param_find("RC_FAILS_THR");
if (failsafe_param > 0)
param_get(failsafe_param, &failsafe_param_val);
uint16_t failsafe_thr = failsafe_param_val;
pret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_RC_THR_FAILSAFE_US, &failsafe_thr, 1);
if (pret != OK) {
log("failsafe upload failed");
}
}
}
}
@ -1479,10 +1494,11 @@ PX4IO::io_publish_raw_rc()
} else {
rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN;
/* we do not know the RC input, only publish if RC OK flag is set */
/* if no raw RC, just don't publish */
if (!(_status & PX4IO_P_STATUS_FLAGS_RC_OK))
/* only keep publishing RC input if we ever got a valid input */
if (_rc_last_valid == 0) {
/* we have never seen valid RC signals, abort */
return OK;
}
}
/* lazily advertise on first publication */

2
src/modules/commander/commander.cpp
View File

@ -1121,7 +1121,7 @@ int commander_thread_main(int argc, char *argv[])
}
/* start RC input check */
if (!status.rc_input_blocked && !sp_man.signal_lost && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) {
if (!status.rc_input_blocked && sp_man.timestamp != 0 && hrt_absolute_time() < sp_man.timestamp + RC_TIMEOUT) {
/* handle the case where RC signal was regained */
if (!status.rc_signal_found_once) {
status.rc_signal_found_once = true;

198
src/modules/fw_att_pos_estimator/estimator.cpp
View File

@ -2,85 +2,6 @@
#include <string.h>
// Global variables
float KH[n_states][n_states]; // intermediate result used for covariance updates
float KHP[n_states][n_states]; // intermediate result used for covariance updates
float P[n_states][n_states]; // covariance matrix
float Kfusion[n_states]; // Kalman gains
float states[n_states]; // state matrix
Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad)
Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s)
float accNavMag; // magnitude of navigation accel (- used to adjust GPS obs variance (m/s^2)
Vector3f earthRateNED; // earths angular rate vector in NED (rad/s)
Vector3f angRate; // angular rate vector in XYZ body axes measured by the IMU (rad/s)
Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2)
Vector3f dVelIMU;
Vector3f dAngIMU;
float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec)
uint8_t fusionModeGPS = 0; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
float innovVelPos[6]; // innovation output
float varInnovVelPos[6]; // innovation variance output
float velNED[3]; // North, East, Down velocity obs (m/s)
float posNE[2]; // North, East position obs (m)
float hgtMea; // measured height (m)
float posNED[3]; // North, East Down position (m)
float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement
float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time
float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time
float innovMag[3]; // innovation output
float varInnovMag[3]; // innovation variance output
Vector3f magData; // magnetometer flux radings in X,Y,Z body axes
float innovVtas; // innovation output
float varInnovVtas; // innovation variance output
float VtasMeas; // true airspeed measurement (m/s)
float latRef; // WGS-84 latitude of reference point (rad)
float lonRef; // WGS-84 longitude of reference point (rad)
float hgtRef; // WGS-84 height of reference point (m)
Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes
uint8_t covSkipCount = 0; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction
float EAS2TAS = 1.0f; // ratio f true to equivalent airspeed
// GPS input data variables
float gpsCourse;
float gpsVelD;
float gpsLat;
float gpsLon;
float gpsHgt;
uint8_t GPSstatus;
float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps
uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored
// Baro input
float baroHgt;
bool statesInitialised = false;
bool fuseVelData = false; // this boolean causes the posNE and velNED obs to be fused
bool fusePosData = false; // this boolean causes the posNE and velNED obs to be fused
bool fuseHgtData = false; // this boolean causes the hgtMea obs to be fused
bool fuseMagData = false; // boolean true when magnetometer data is to be fused
bool fuseVtasData = false; // boolean true when airspeed data is to be fused
bool onGround = true; ///< boolean true when the flight vehicle is on the ground (not flying)
bool staticMode = true; ///< boolean true if no position feedback is fused
bool useAirspeed = true; ///< boolean true if airspeed data is being used
bool useCompass = true; ///< boolean true if magnetometer data is being used
struct ekf_status_report current_ekf_state;
struct ekf_status_report last_ekf_error;
bool numericalProtection = true;
static unsigned storeIndex = 0;
float Vector3f::length(void) const
{
return sqrt(x*x + y*y + z*z);
@ -185,7 +106,16 @@ void swap_var(float &d1, float &d2)
d2 = tmp;
}
void UpdateStrapdownEquationsNED()
AttPosEKF::AttPosEKF()
{
}
AttPosEKF::~AttPosEKF()
{
}
void AttPosEKF::UpdateStrapdownEquationsNED()
{
Vector3f delVelNav;
float q00;
@ -247,7 +177,7 @@ void UpdateStrapdownEquationsNED()
qUpdated[3] = states[0]*deltaQuat[3] + states[3]*deltaQuat[0] + states[1]*deltaQuat[2] - states[2]*deltaQuat[1];
// Normalise the quaternions and update the quaternion states
quatMag = sqrt(sq(qUpdated[0]) + sq(qUpdated[1]) + sq(qUpdated[2]) + sq(qUpdated[3]));
quatMag = sqrtf(sq(qUpdated[0]) + sq(qUpdated[1]) + sq(qUpdated[2]) + sq(qUpdated[3]));
if (quatMag > 1e-16f)
{
float quatMagInv = 1.0f/quatMag;
@ -312,7 +242,7 @@ void UpdateStrapdownEquationsNED()
ConstrainStates();
}
void CovariancePrediction(float dt)
void AttPosEKF::CovariancePrediction(float dt)
{
// scalars
float windVelSigma;
@ -953,7 +883,7 @@ void CovariancePrediction(float dt)
ConstrainVariances();
}
void FuseVelposNED()
void AttPosEKF::FuseVelposNED()
{
// declare variables used by fault isolation logic
@ -999,8 +929,8 @@ void FuseVelposNED()
observation[5] = -(hgtMea);
// Estimate the GPS Velocity, GPS horiz position and height measurement variances.
velErr = 0.2*accNavMag; // additional error in GPS velocities caused by manoeuvring
posErr = 0.2*accNavMag; // additional error in GPS position caused by manoeuvring
velErr = 0.2f*accNavMag; // additional error in GPS velocities caused by manoeuvring
posErr = 0.2f*accNavMag; // additional error in GPS position caused by manoeuvring
R_OBS[0] = 0.04f + sq(velErr);
R_OBS[1] = R_OBS[0];
R_OBS[2] = 0.08f + sq(velErr);
@ -1026,7 +956,7 @@ void FuseVelposNED()
varInnovVelPos[i] = P[stateIndex][stateIndex] + R_OBS[i];
}
// apply a 5-sigma threshold
current_ekf_state.velHealth = (sq(velInnov[0]) + sq(velInnov[1]) + sq(velInnov[2])) < 25.0*(varInnovVelPos[0] + varInnovVelPos[1] + varInnovVelPos[2]);
current_ekf_state.velHealth = (sq(velInnov[0]) + sq(velInnov[1]) + sq(velInnov[2])) < 25.0f * (varInnovVelPos[0] + varInnovVelPos[1] + varInnovVelPos[2]);
current_ekf_state.velTimeout = (millis() - current_ekf_state.velFailTime) > horizRetryTime;
if (current_ekf_state.velHealth || current_ekf_state.velTimeout)
{
@ -1175,7 +1105,7 @@ void FuseVelposNED()
//printf("velh: %s, posh: %s, hgth: %s\n", ((velHealth) ? "OK" : "FAIL"), ((posHealth) ? "OK" : "FAIL"), ((hgtHealth) ? "OK" : "FAIL"));
}
void FuseMagnetometer()
void AttPosEKF::FuseMagnetometer()
{
uint8_t obsIndex;
uint8_t indexLimit;
@ -1482,7 +1412,7 @@ void FuseMagnetometer()
ConstrainVariances();
}
void FuseAirspeed()
void AttPosEKF::FuseAirspeed()
{
float vn;
float ve;
@ -1503,14 +1433,14 @@ void FuseAirspeed()
// Need to check that it is flying before fusing airspeed data
// Calculate the predicted airspeed
VtasPred = sqrt((ve - vwe)*(ve - vwe) + (vn - vwn)*(vn - vwn) + vd*vd);
VtasPred = sqrtf((ve - vwe)*(ve - vwe) + (vn - vwn)*(vn - vwn) + vd*vd);
// Perform fusion of True Airspeed measurement
if (useAirspeed && fuseVtasData && (VtasPred > 1.0) && (VtasMeas > 8.0))
if (useAirspeed && fuseVtasData && (VtasPred > 1.0f) && (VtasMeas > 8.0f))
{
// Calculate observation jacobians
SH_TAS[0] = 1/(sqrt(sq(ve - vwe) + sq(vn - vwn) + sq(vd)));
SH_TAS[1] = (SH_TAS[0]*(2*ve - 2*vwe))/2;
SH_TAS[2] = (SH_TAS[0]*(2*vn - 2*vwn))/2;
SH_TAS[1] = (SH_TAS[0]*(2.0f*ve - 2*vwe))/2.0f;
SH_TAS[2] = (SH_TAS[0]*(2.0f*vn - 2*vwn))/2.0f;
float H_TAS[21];
for (uint8_t i=0; i<=20; i++) H_TAS[i] = 0.0f;
@ -1611,7 +1541,7 @@ void FuseAirspeed()
ConstrainVariances();
}
void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last)
void AttPosEKF::zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last)
{
uint8_t row;
uint8_t col;
@ -1624,7 +1554,7 @@ void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last)
}
}
void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last)
void AttPosEKF::zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last)
{
uint8_t row;
uint8_t col;
@ -1637,13 +1567,13 @@ void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last)
}
}
float sq(float valIn)
float AttPosEKF::sq(float valIn)
{
return valIn*valIn;
}
// Store states in a history array along with time stamp
void StoreStates(uint64_t timestamp_ms)
void AttPosEKF::StoreStates(uint64_t timestamp_ms)
{
for (unsigned i=0; i<n_states; i++)
storedStates[i][storeIndex] = states[i];
@ -1653,7 +1583,7 @@ void StoreStates(uint64_t timestamp_ms)
storeIndex = 0;
}
void ResetStoredStates()
void AttPosEKF::ResetStoredStates()
{
// reset all stored states
memset(&storedStates[0][0], 0, sizeof(storedStates));
@ -1674,7 +1604,7 @@ void ResetStoredStates()
}
// Output the state vector stored at the time that best matches that specified by msec
int RecallStates(float statesForFusion[n_states], uint64_t msec)
int AttPosEKF::RecallStates(float statesForFusion[n_states], uint64_t msec)
{
int ret = 0;
@ -1723,7 +1653,7 @@ int RecallStates(float statesForFusion[n_states], uint64_t msec)
return ret;
}
void quat2Tnb(Mat3f &Tnb, const float (&quat)[4])
void AttPosEKF::quat2Tnb(Mat3f &Tnb, const float (&quat)[4])
{
// Calculate the nav to body cosine matrix
float q00 = sq(quat[0]);
@ -1748,7 +1678,7 @@ void quat2Tnb(Mat3f &Tnb, const float (&quat)[4])
Tnb.y.z = 2*(q23 + q01);
}
void quat2Tbn(Mat3f &Tbn, const float (&quat)[4])
void AttPosEKF::quat2Tbn(Mat3f &Tbn, const float (&quat)[4])
{
// Calculate the body to nav cosine matrix
float q00 = sq(quat[0]);
@ -1773,7 +1703,7 @@ void quat2Tbn(Mat3f &Tbn, const float (&quat)[4])
Tbn.z.y = 2*(q23 + q01);
}
void eul2quat(float (&quat)[4], const float (&eul)[3])
void AttPosEKF::eul2quat(float (&quat)[4], const float (&eul)[3])
{
float u1 = cos(0.5f*eul[0]);
float u2 = cos(0.5f*eul[1]);
@ -1787,35 +1717,35 @@ void eul2quat(float (&quat)[4], const float (&eul)[3])
quat[3] = u1*u2*u6-u4*u5*u3;
}
void quat2eul(float (&y)[3], const float (&u)[4])
void AttPosEKF::quat2eul(float (&y)[3], const float (&u)[4])
{
y[0] = atan2((2.0*(u[2]*u[3]+u[0]*u[1])) , (u[0]*u[0]-u[1]*u[1]-u[2]*u[2]+u[3]*u[3]));
y[1] = -asin(2.0*(u[1]*u[3]-u[0]*u[2]));
y[2] = atan2((2.0*(u[1]*u[2]+u[0]*u[3])) , (u[0]*u[0]+u[1]*u[1]-u[2]*u[2]-u[3]*u[3]));
y[0] = atan2f((2.0f*(u[2]*u[3]+u[0]*u[1])) , (u[0]*u[0]-u[1]*u[1]-u[2]*u[2]+u[3]*u[3]));
y[1] = -asinf(2.0f*(u[1]*u[3]-u[0]*u[2]));
y[2] = atan2f((2.0f*(u[1]*u[2]+u[0]*u[3])) , (u[0]*u[0]+u[1]*u[1]-u[2]*u[2]-u[3]*u[3]));
}
void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD)
void AttPosEKF::calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD)
{
velNED[0] = gpsGndSpd*cos(gpsCourse);
velNED[1] = gpsGndSpd*sin(gpsCourse);
velNED[0] = gpsGndSpd*cosf(gpsCourse);
velNED[1] = gpsGndSpd*sinf(gpsCourse);
velNED[2] = gpsVelD;
}
void calcposNED(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef)
void AttPosEKF::calcposNED(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef)
{
posNED[0] = earthRadius * (lat - latRef);
posNED[1] = earthRadius * cos(latRef) * (lon - lonRef);
posNED[2] = -(hgt - hgtRef);
}
void calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef)
void AttPosEKF::calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef)
{
lat = latRef + posNED[0] * earthRadiusInv;
lon = lonRef + posNED[1] * earthRadiusInv / cos(latRef);
hgt = hgtRef - posNED[2];
}
void OnGroundCheck()
void AttPosEKF::OnGroundCheck()
{
onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 8.0f));
if (staticMode) {
@ -1823,7 +1753,7 @@ void OnGroundCheck()
}
}
void calcEarthRateNED(Vector3f &omega, float latitude)
void AttPosEKF::calcEarthRateNED(Vector3f &omega, float latitude)
{
//Define Earth rotation vector in the NED navigation frame
omega.x = earthRate*cosf(latitude);
@ -1831,13 +1761,13 @@ void calcEarthRateNED(Vector3f &omega, float latitude)
omega.z = -earthRate*sinf(latitude);
}
void CovarianceInit()
void AttPosEKF::CovarianceInit()
{
// Calculate the initial covariance matrix P
P[0][0] = 0.25f*sq(1.0f*deg2rad);
P[1][1] = 0.25f*sq(1.0f*deg2rad);
P[2][2] = 0.25f*sq(1.0f*deg2rad);
P[3][3] = 0.25f*sq(10.0f*deg2rad);
P[0][0] = 0.25f * sq(1.0f*deg2rad);
P[1][1] = 0.25f * sq(1.0f*deg2rad);
P[2][2] = 0.25f * sq(1.0f*deg2rad);
P[3][3] = 0.25f * sq(10.0f*deg2rad);
P[4][4] = sq(0.7);
P[5][5] = P[4][4];
P[6][6] = sq(0.7);
@ -1857,12 +1787,12 @@ void CovarianceInit()
P[20][20] = P[18][18];
}
float ConstrainFloat(float val, float min, float max)
float AttPosEKF::ConstrainFloat(float val, float min, float max)
{
return (val > max) ? max : ((val < min) ? min : val);
}
void ConstrainVariances()
void AttPosEKF::ConstrainVariances()
{
if (!numericalProtection) {
return;
@ -1914,7 +1844,7 @@ void ConstrainVariances()
}
void ConstrainStates()
void AttPosEKF::ConstrainStates()
{
if (!numericalProtection) {
return;
@ -1971,7 +1901,7 @@ void ConstrainStates()
}
void ForceSymmetry()
void AttPosEKF::ForceSymmetry()
{
if (!numericalProtection) {
return;
@ -1989,7 +1919,7 @@ void ForceSymmetry()
}
}
bool FilterHealthy()
bool AttPosEKF::FilterHealthy()
{
if (!statesInitialised) {
return false;
@ -2012,7 +1942,7 @@ bool FilterHealthy()
* This resets the position to the last GPS measurement
* or to zero in case of static position.
*/
void ResetPosition(void)
void AttPosEKF::ResetPosition(void)
{
if (staticMode) {
states[7] = 0;
@ -2030,7 +1960,7 @@ void ResetPosition(void)
*
* This resets the height state with the last altitude measurements
*/
void ResetHeight(void)
void AttPosEKF::ResetHeight(void)
{
// write to the state vector
states[9] = -hgtMea;
@ -2039,7 +1969,7 @@ void ResetHeight(void)
/**
* Reset the velocity state.
*/
void ResetVelocity(void)
void AttPosEKF::ResetVelocity(void)
{
if (staticMode) {
states[4] = 0.0f;
@ -2054,7 +1984,7 @@ void ResetVelocity(void)
}
void FillErrorReport(struct ekf_status_report *err)
void AttPosEKF::FillErrorReport(struct ekf_status_report *err)
{
for (int i = 0; i < n_states; i++)
{
@ -2069,7 +1999,7 @@ void FillErrorReport(struct ekf_status_report *err)
err->hgtTimeout = current_ekf_state.hgtTimeout;
}
bool StatesNaN(struct ekf_status_report *err_report) {
bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) {
bool err = false;
// check all states and covariance matrices
@ -2122,7 +2052,7 @@ bool StatesNaN(struct ekf_status_report *err_report) {
* updated, but before any of the fusion steps are
* executed.
*/
int CheckAndBound()
int AttPosEKF::CheckAndBound()
{
// Store the old filter state
@ -2164,7 +2094,7 @@ int CheckAndBound()
return 0;
}
void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float *initQuat)
void AttPosEKF::AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float *initQuat)
{
float initialRoll, initialPitch;
float cosRoll, sinRoll, cosPitch, sinPitch;
@ -2200,7 +2130,7 @@ void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, fl
initQuat[3] = cosRoll * cosPitch * sinHeading - sinRoll * sinPitch * cosHeading;
}
void InitializeDynamic(float (&initvelNED)[3])
void AttPosEKF::InitializeDynamic(float (&initvelNED)[3])
{
// Clear the init flag
@ -2254,7 +2184,7 @@ void InitializeDynamic(float (&initvelNED)[3])
summedDelVel.z = 0.0f;
}
void InitialiseFilter(float (&initvelNED)[3])
void AttPosEKF::InitialiseFilter(float (&initvelNED)[3])
{
//store initial lat,long and height
latRef = gpsLat;
@ -2266,7 +2196,7 @@ void InitialiseFilter(float (&initvelNED)[3])
InitializeDynamic(initvelNED);
}
void ZeroVariables()
void AttPosEKF::ZeroVariables()
{
// Do the data structure init
for (unsigned i = 0; i < n_states; i++) {
@ -2292,12 +2222,12 @@ void ZeroVariables()
memset(&current_ekf_state, 0, sizeof(current_ekf_state));
}
void GetFilterState(struct ekf_status_report *state)
void AttPosEKF::GetFilterState(struct ekf_status_report *state)
{
memcpy(state, &current_ekf_state, sizeof(state));
}
void GetLastErrorState(struct ekf_status_report *last_error)
void AttPosEKF::GetLastErrorState(struct ekf_status_report *last_error)
{
memcpy(last_error, &last_ekf_error, sizeof(last_error));
}

190
src/modules/fw_att_pos_estimator/estimator.h
View File

@ -48,85 +48,10 @@ void swap_var(float &d1, float &d2);
const unsigned int n_states = 21;
const unsigned int data_buffer_size = 50;
extern uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored
extern Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
extern Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
extern Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad)
extern Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s)
extern float accNavMag; // magnitude of navigation accel (- used to adjust GPS obs variance (m/s^2)
extern Vector3f earthRateNED; // earths angular rate vector in NED (rad/s)
extern Vector3f angRate; // angular rate vector in XYZ body axes measured by the IMU (rad/s)
extern Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2)
extern Vector3f dVelIMU;
extern Vector3f dAngIMU;
extern float P[n_states][n_states]; // covariance matrix
extern float Kfusion[n_states]; // Kalman gains
extern float states[n_states]; // state matrix
extern float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps
extern Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
extern Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
extern Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad)
extern Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s)
extern float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec)
extern bool onGround; // boolean true when the flight vehicle is on the ground (not flying)
extern bool useAirspeed; // boolean true if airspeed data is being used
extern bool useCompass; // boolean true if magnetometer data is being used
extern uint8_t fusionModeGPS ; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
extern float innovVelPos[6]; // innovation output
extern float varInnovVelPos[6]; // innovation variance output
extern bool fuseVelData; // this boolean causes the posNE and velNED obs to be fused
extern bool fusePosData; // this boolean causes the posNE and velNED obs to be fused
extern bool fuseHgtData; // this boolean causes the hgtMea obs to be fused
extern bool fuseMagData; // boolean true when magnetometer data is to be fused
extern float velNED[3]; // North, East, Down velocity obs (m/s)
extern float posNE[2]; // North, East position obs (m)
extern float hgtMea; // measured height (m)
extern float posNED[3]; // North, East Down position (m)
extern float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
extern float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
extern float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement
extern float innovMag[3]; // innovation output
extern float varInnovMag[3]; // innovation variance output
extern Vector3f magData; // magnetometer flux radings in X,Y,Z body axes
extern float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time
extern float innovVtas; // innovation output
extern float varInnovVtas; // innovation variance output
extern bool fuseVtasData; // boolean true when airspeed data is to be fused
extern float VtasMeas; // true airspeed measurement (m/s)
extern float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time
extern float latRef; // WGS-84 latitude of reference point (rad)
extern float lonRef; // WGS-84 longitude of reference point (rad)
extern float hgtRef; // WGS-84 height of reference point (m)
extern Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes
extern uint8_t covSkipCount; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction
extern float EAS2TAS; // ratio f true to equivalent airspeed
// GPS input data variables
extern float gpsCourse;
extern float gpsVelD;
extern float gpsLat;
extern float gpsLon;
extern float gpsHgt;
extern uint8_t GPSstatus;
// Baro input
extern float baroHgt;
extern bool statesInitialised;
extern bool numericalProtection;
const float covTimeStepMax = 0.07f; // maximum time allowed between covariance predictions
const float covDelAngMax = 0.02f; // maximum delta angle between covariance predictions
extern bool staticMode;
// extern bool staticMode;
enum GPS_FIX {
GPS_FIX_NOFIX = 0,
@ -150,6 +75,93 @@ struct ekf_status_report {
bool kalmanGainsNaN;
};
class AttPosEKF {
public:
AttPosEKF();
~AttPosEKF();
// Global variables
float KH[n_states][n_states]; // intermediate result used for covariance updates
float KHP[n_states][n_states]; // intermediate result used for covariance updates
float P[n_states][n_states]; // covariance matrix
float Kfusion[n_states]; // Kalman gains
float states[n_states]; // state matrix
float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps
uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored
float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement
float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time
float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time
Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad)
Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s)
float accNavMag; // magnitude of navigation accel (- used to adjust GPS obs variance (m/s^2)
Vector3f earthRateNED; // earths angular rate vector in NED (rad/s)
Vector3f angRate; // angular rate vector in XYZ body axes measured by the IMU (rad/s)
Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2)
Vector3f dVelIMU;
Vector3f dAngIMU;
float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec)
uint8_t fusionModeGPS = 0; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
float innovVelPos[6]; // innovation output
float varInnovVelPos[6]; // innovation variance output
float velNED[3]; // North, East, Down velocity obs (m/s)
float posNE[2]; // North, East position obs (m)
float hgtMea; // measured height (m)
float posNED[3]; // North, East Down position (m)
float innovMag[3]; // innovation output
float varInnovMag[3]; // innovation variance output
Vector3f magData; // magnetometer flux radings in X,Y,Z body axes
float innovVtas; // innovation output
float varInnovVtas; // innovation variance output
float VtasMeas; // true airspeed measurement (m/s)
float latRef; // WGS-84 latitude of reference point (rad)
float lonRef; // WGS-84 longitude of reference point (rad)
float hgtRef; // WGS-84 height of reference point (m)
Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes
uint8_t covSkipCount = 0; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction
float EAS2TAS = 1.0f; // ratio f true to equivalent airspeed
// GPS input data variables
float gpsCourse;
float gpsVelD;
float gpsLat;
float gpsLon;
float gpsHgt;
uint8_t GPSstatus;
// Baro input
float baroHgt;
bool statesInitialised = false;
bool fuseVelData = false; // this boolean causes the posNE and velNED obs to be fused
bool fusePosData = false; // this boolean causes the posNE and velNED obs to be fused
bool fuseHgtData = false; // this boolean causes the hgtMea obs to be fused
bool fuseMagData = false; // boolean true when magnetometer data is to be fused
bool fuseVtasData = false; // boolean true when airspeed data is to be fused
bool onGround = true; ///< boolean true when the flight vehicle is on the ground (not flying)
bool staticMode = true; ///< boolean true if no position feedback is fused
bool useAirspeed = true; ///< boolean true if airspeed data is being used
bool useCompass = true; ///< boolean true if magnetometer data is being used
struct ekf_status_report current_ekf_state;
struct ekf_status_report last_ekf_error;
bool numericalProtection = true;
unsigned storeIndex = 0;
void UpdateStrapdownEquationsNED();
void CovariancePrediction(float dt);
@ -164,8 +176,6 @@ void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
float sq(float valIn);
void quatNorm(float (&quatOut)[4], const float quatIn[4]);
// store staes along with system time stamp in msces
@ -190,15 +200,19 @@ void quat2Tbn(Mat3f &Tbn, const float (&quat)[4]);
void calcEarthRateNED(Vector3f &omega, float latitude);
void eul2quat(float (&quat)[4], const float (&eul)[3]);
static void eul2quat(float (&quat)[4], const float (&eul)[3]);
void quat2eul(float (&eul)[3], const float (&quat)[4]);
static void quat2eul(float (&eul)[3], const float (&quat)[4]);
void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD);
static void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD);
void calcposNED(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef);
static void calcposNED(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef);
void calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef);
static void calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef);
static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]);
static float sq(float valIn);
void OnGroundCheck();
@ -231,5 +245,15 @@ void FillErrorReport(struct ekf_status_report *err);
void InitializeDynamic(float (&initvelNED)[3]);
protected:
bool FilterHealthy();
void ResetHeight(void);
void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float *initQuat);
};
uint32_t millis();

384
src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
View File

@ -124,6 +124,16 @@ public:
*/
int start();
/**
* Print the current status.
*/
void print_status();
/**
* Trip the filter by feeding it NaN values.
*/
int trip_nan();
private:
bool _task_should_exit; /**< if true, sensor task should exit */
@ -199,6 +209,7 @@ private:
param_t tas_delay_ms;
} _parameter_handles; /**< handles for interesting parameters */
AttPosEKF *_ekf;
/**
* Update our local parameter cache.
@ -280,7 +291,8 @@ FixedwingEstimator::FixedwingEstimator() :
/* states */
_initialized(false),
_gps_initialized(false),
_mavlink_fd(-1)
_mavlink_fd(-1),
_ekf(nullptr)
{
_mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
@ -384,6 +396,12 @@ void
FixedwingEstimator::task_main()
{
_ekf = new AttPosEKF();
if (!_ekf) {
errx(1, "failed allocating EKF filter - out of RAM!");
}
/*
* do subscriptions
*/
@ -414,23 +432,23 @@ FixedwingEstimator::task_main()
parameters_update();
/* set initial filter state */
fuseVelData = false;
fusePosData = false;
fuseHgtData = false;
fuseMagData = false;
fuseVtasData = false;
statesInitialised = false;
_ekf->fuseVelData = false;
_ekf->fusePosData = false;
_ekf->fuseHgtData = false;
_ekf->fuseMagData = false;
_ekf->fuseVtasData = false;
_ekf->statesInitialised = false;
/* initialize measurement data */
VtasMeas = 0.0f;
_ekf->VtasMeas = 0.0f;
Vector3f lastAngRate = {0.0f, 0.0f, 0.0f};
Vector3f lastAccel = {0.0f, 0.0f, -9.81f};
dVelIMU.x = 0.0f;
dVelIMU.y = 0.0f;
dVelIMU.z = 0.0f;
dAngIMU.x = 0.0f;
dAngIMU.y = 0.0f;
dAngIMU.z = 0.0f;
_ekf->dVelIMU.x = 0.0f;
_ekf->dVelIMU.y = 0.0f;
_ekf->dVelIMU.z = 0.0f;
_ekf->dAngIMU.x = 0.0f;
_ekf->dAngIMU.y = 0.0f;
_ekf->dAngIMU.z = 0.0f;
/* wakeup source(s) */
struct pollfd fds[2];
@ -509,7 +527,7 @@ FixedwingEstimator::task_main()
}
last_sensor_timestamp = _gyro.timestamp;
IMUmsec = _gyro.timestamp / 1e3f;
_ekf.IMUmsec = _gyro.timestamp / 1e3f;
float deltaT = (_gyro.timestamp - last_run) / 1e6f;
last_run = _gyro.timestamp;
@ -521,20 +539,20 @@ FixedwingEstimator::task_main()
// Always store data, independent of init status
/* fill in last data set */
dtIMU = deltaT;
_ekf->dtIMU = deltaT;
angRate.x = _gyro.x;
angRate.y = _gyro.y;
angRate.z = _gyro.z;
_ekf->angRate.x = _gyro.x;
_ekf->angRate.y = _gyro.y;
_ekf->angRate.z = _gyro.z;
accel.x = _accel.x;
accel.y = _accel.y;
accel.z = _accel.z;
_ekf->accel.x = _accel.x;
_ekf->accel.y = _accel.y;
_ekf->accel.z = _accel.z;
dAngIMU = 0.5f * (angRate + lastAngRate) * dtIMU;
lastAngRate = angRate;
dVelIMU = 0.5f * (accel + lastAccel) * dtIMU;
lastAccel = accel;
_ekf->dAngIMU = 0.5f * (angRate + lastAngRate) * dtIMU;
_ekf->lastAngRate = angRate;
_ekf->dVelIMU = 0.5f * (accel + lastAccel) * dtIMU;
_ekf->lastAccel = accel;
#else
@ -563,20 +581,20 @@ FixedwingEstimator::task_main()
// Always store data, independent of init status
/* fill in last data set */
dtIMU = deltaT;
_ekf->dtIMU = deltaT;
angRate.x = _sensor_combined.gyro_rad_s[0];
angRate.y = _sensor_combined.gyro_rad_s[1];
angRate.z = _sensor_combined.gyro_rad_s[2];
_ekf->angRate.x = _sensor_combined.gyro_rad_s[0];
_ekf->angRate.y = _sensor_combined.gyro_rad_s[1];
_ekf->angRate.z = _sensor_combined.gyro_rad_s[2];
accel.x = _sensor_combined.accelerometer_m_s2[0];
accel.y = _sensor_combined.accelerometer_m_s2[1];
accel.z = _sensor_combined.accelerometer_m_s2[2];
_ekf->accel.x = _sensor_combined.accelerometer_m_s2[0];
_ekf->accel.y = _sensor_combined.accelerometer_m_s2[1];
_ekf->accel.z = _sensor_combined.accelerometer_m_s2[2];
dAngIMU = 0.5f * (angRate + lastAngRate) * dtIMU;
lastAngRate = angRate;
dVelIMU = 0.5f * (accel + lastAccel) * dtIMU;
lastAccel = accel;
_ekf->dAngIMU = 0.5f * (_ekf->angRate + lastAngRate) * _ekf->dtIMU;
lastAngRate = _ekf->angRate;
_ekf->dVelIMU = 0.5f * (_ekf->accel + lastAccel) * _ekf->dtIMU;
lastAccel = _ekf->accel;
if (last_mag != _sensor_combined.magnetometer_timestamp) {
mag_updated = true;
@ -597,7 +615,7 @@ FixedwingEstimator::task_main()
orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed);
perf_count(_perf_airspeed);
VtasMeas = _airspeed.true_airspeed_m_s;
_ekf->VtasMeas = _airspeed.true_airspeed_m_s;
newAdsData = true;
} else {
@ -622,24 +640,24 @@ FixedwingEstimator::task_main()
/* check if we had a GPS outage for a long time */
if (hrt_elapsed_time(&last_gps) > 5 * 1000 * 1000) {
ResetPosition();
ResetVelocity();
ResetStoredStates();
_ekf->ResetPosition();
_ekf->ResetVelocity();
_ekf->ResetStoredStates();
}
/* fuse GPS updates */
//_gps.timestamp / 1e3;
GPSstatus = _gps.fix_type;
velNED[0] = _gps.vel_n_m_s;
velNED[1] = _gps.vel_e_m_s;
velNED[2] = _gps.vel_d_m_s;
_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;
// warnx("GPS updated: status: %d, vel: %8.4f %8.4f %8.4f", (int)GPSstatus, velNED[0], velNED[1], velNED[2]);
gpsLat = math::radians(_gps.lat / (double)1e7);
gpsLon = math::radians(_gps.lon / (double)1e7) - M_PI;
gpsHgt = _gps.alt / 1e3f;
_ekf->gpsLat = math::radians(_gps.lat / (double)1e7);
_ekf->gpsLon = math::radians(_gps.lon / (double)1e7) - M_PI;
_ekf->gpsHgt = _gps.alt / 1e3f;
newDataGps = true;
}
@ -652,10 +670,10 @@ FixedwingEstimator::task_main()
if (baro_updated) {
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
baroHgt = _baro.altitude - _baro_ref;
_ekf->baroHgt = _baro.altitude - _baro_ref;
// Could use a blend of GPS and baro alt data if desired
hgtMea = 1.0f * baroHgt + 0.0f * gpsHgt;
_ekf->hgtMea = 1.0f * _ekf->baroHgt + 0.0f * _ekf->gpsHgt;
}
#ifndef SENSOR_COMBINED_SUB
@ -671,27 +689,27 @@ FixedwingEstimator::task_main()
// XXX we compensate the offsets upfront - should be close to zero.
// 0.001f
magData.x = _mag.x;
magBias.x = 0.000001f; // _mag_offsets.x_offset
_ekf->magData.x = _mag.x;
_ekf->magBias.x = 0.000001f; // _mag_offsets.x_offset
magData.y = _mag.y;
magBias.y = 0.000001f; // _mag_offsets.y_offset
_ekf->magData.y = _mag.y;
_ekf->magBias.y = 0.000001f; // _mag_offsets.y_offset
magData.z = _mag.z;
magBias.z = 0.000001f; // _mag_offsets.y_offset
_ekf->magData.z = _mag.z;
_ekf->magBias.z = 0.000001f; // _mag_offsets.y_offset
#else
// XXX we compensate the offsets upfront - should be close to zero.
// 0.001f
magData.x = _sensor_combined.magnetometer_ga[0];
magBias.x = 0.000001f; // _mag_offsets.x_offset
_ekf->magData.x = _sensor_combined.magnetometer_ga[0];
_ekf->magBias.x = 0.000001f; // _mag_offsets.x_offset
magData.y = _sensor_combined.magnetometer_ga[1];
magBias.y = 0.000001f; // _mag_offsets.y_offset
_ekf->magData.y = _sensor_combined.magnetometer_ga[1];
_ekf->magBias.y = 0.000001f; // _mag_offsets.y_offset
magData.z = _sensor_combined.magnetometer_ga[2];
magBias.z = 0.000001f; // _mag_offsets.y_offset
_ekf->magData.z = _sensor_combined.magnetometer_ga[2];
_ekf->magBias.z = 0.000001f; // _mag_offsets.y_offset
#endif
@ -705,7 +723,7 @@ FixedwingEstimator::task_main()
/**
* CHECK IF THE INPUT DATA IS SANE
*/
int check = CheckAndBound();
int check = _ekf->CheckAndBound();
switch (check) {
case 0:
@ -739,7 +757,7 @@ FixedwingEstimator::task_main()
struct ekf_status_report ekf_report;
GetLastErrorState(&ekf_report);
_ekf->GetLastErrorState(&ekf_report);
struct estimator_status_report rep;
memset(&rep, 0, sizeof(rep));
@ -779,16 +797,16 @@ FixedwingEstimator::task_main()
if (hrt_elapsed_time(&start_time) > 100000) {
if (!_gps_initialized && (GPSstatus == 3)) {
velNED[0] = _gps.vel_n_m_s;
velNED[1] = _gps.vel_e_m_s;
velNED[2] = _gps.vel_d_m_s;
if (!_gps_initialized && (_ekf->GPSstatus == 3)) {
_ekf->velNED[0] = _gps.vel_n_m_s;
_ekf->velNED[1] = _gps.vel_e_m_s;
_ekf->velNED[2] = _gps.vel_d_m_s;
double lat = _gps.lat * 1e-7;
double lon = _gps.lon * 1e-7;
float alt = _gps.alt * 1e-3;
InitialiseFilter(velNED);
_ekf->InitialiseFilter(_ekf->velNED);
// Initialize projection
_local_pos.ref_lat = _gps.lat;
@ -799,7 +817,7 @@ FixedwingEstimator::task_main()
// Store
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
_baro_ref = _baro.altitude;
baroHgt = _baro.altitude - _baro_ref;
_ekf->baroHgt = _baro.altitude - _baro_ref;
_baro_gps_offset = _baro_ref - _local_pos.ref_alt;
// XXX this is not multithreading safe
@ -808,24 +826,24 @@ FixedwingEstimator::task_main()
_gps_initialized = true;
} else if (!statesInitialised) {
velNED[0] = 0.0f;
velNED[1] = 0.0f;
velNED[2] = 0.0f;
posNED[0] = 0.0f;
posNED[1] = 0.0f;
posNED[2] = 0.0f;
} else if (!_ekf->statesInitialised) {
_ekf->velNED[0] = 0.0f;
_ekf->velNED[1] = 0.0f;
_ekf->velNED[2] = 0.0f;
_ekf->posNED[0] = 0.0f;
_ekf->posNED[1] = 0.0f;
_ekf->posNED[2] = 0.0f;
posNE[0] = posNED[0];
posNE[1] = posNED[1];
InitialiseFilter(velNED);
_ekf->posNE[0] = _ekf->posNED[0];
_ekf->posNE[1] = _ekf->posNED[1];
_ekf->InitialiseFilter(_ekf->velNED);
}
}
// If valid IMU data and states initialised, predict states and covariances
if (statesInitialised) {
if (_ekf->statesInitialised) {
// Run the strapdown INS equations every IMU update
UpdateStrapdownEquationsNED();
_ekf->UpdateStrapdownEquationsNED();
#if 0
// debug code - could be tunred into a filter mnitoring/watchdog function
float tempQuat[4];
@ -842,20 +860,20 @@ FixedwingEstimator::task_main()
#endif
// store the predicted states for subsequent use by measurement fusion
StoreStates(IMUmsec);
_ekf->StoreStates(IMUmsec);
// Check if on ground - status is used by covariance prediction
OnGroundCheck();
_ekf->OnGroundCheck();
// sum delta angles and time used by covariance prediction
summedDelAng = summedDelAng + correctedDelAng;
summedDelVel = summedDelVel + dVelIMU;
dt += dtIMU;
_ekf->summedDelAng = _ekf->summedDelAng + _ekf->correctedDelAng;
_ekf->summedDelVel = _ekf->summedDelVel + _ekf->dVelIMU;
dt += _ekf->dtIMU;
// perform a covariance prediction if the total delta angle has exceeded the limit
// or the time limit will be exceeded at the next IMU update
if ((dt >= (covTimeStepMax - dtIMU)) || (summedDelAng.length() > covDelAngMax)) {
CovariancePrediction(dt);
summedDelAng = summedDelAng.zero();
summedDelVel = summedDelVel.zero();
if ((dt >= (covTimeStepMax - _ekf->dtIMU)) || (_ekf->summedDelAng.length() > covDelAngMax)) {
_ekf->CovariancePrediction(dt);
_ekf->summedDelAng = _ekf->summedDelAng.zero();
_ekf->summedDelVel = _ekf->summedDelVel.zero();
dt = 0.0f;
}
@ -865,79 +883,79 @@ FixedwingEstimator::task_main()
// Fuse GPS Measurements
if (newDataGps && _gps_initialized) {
// Convert GPS measurements to Pos NE, hgt and Vel NED
velNED[0] = _gps.vel_n_m_s;
velNED[1] = _gps.vel_e_m_s;
velNED[2] = _gps.vel_d_m_s;
calcposNED(posNED, gpsLat, gpsLon, gpsHgt, latRef, lonRef, hgtRef);
_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->calcposNED(_ekf->posNED, _ekf->gpsLat, _ekf->gpsLon, _ekf->gpsHgt, _ekf->latRef, _ekf->lonRef, _ekf->hgtRef);
posNE[0] = posNED[0];
posNE[1] = posNED[1];
_ekf->posNE[0] = _ekf->posNED[0];
_ekf->posNE[1] = _ekf->posNED[1];
// set fusion flags
fuseVelData = true;
fusePosData = true;
_ekf->fuseVelData = true;
_ekf->fusePosData = true;
// recall states stored at time of measurement after adjusting for delays
RecallStates(statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms));
RecallStates(statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms));
_ekf->RecallStates(_ekf->statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms));
_ekf->RecallStates(_ekf->statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms));
// run the fusion step
FuseVelposNED();
_ekf->FuseVelposNED();
} else if (statesInitialised) {
} else if (_ekf->statesInitialised) {
// Convert GPS measurements to Pos NE, hgt and Vel NED
velNED[0] = 0.0f;
velNED[1] = 0.0f;
velNED[2] = 0.0f;
posNED[0] = 0.0f;
posNED[1] = 0.0f;
posNED[2] = 0.0f;
_ekf->velNED[0] = 0.0f;
_ekf->velNED[1] = 0.0f;
_ekf->velNED[2] = 0.0f;
_ekf->posNED[0] = 0.0f;
_ekf->posNED[1] = 0.0f;
_ekf->posNED[2] = 0.0f;
posNE[0] = posNED[0];
posNE[1] = posNED[1];
_ekf->posNE[0] = _ekf->posNED[0];
_ekf->posNE[1] = _ekf->posNED[1];
// set fusion flags
fuseVelData = true;
fusePosData = true;
_ekf->fuseVelData = true;
_ekf->fusePosData = true;
// recall states stored at time of measurement after adjusting for delays
RecallStates(statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms));
RecallStates(statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms));
_ekf->RecallStates(_ekf->statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms));
_ekf->RecallStates(_ekf->statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms));
// run the fusion step
FuseVelposNED();
_ekf->FuseVelposNED();
} else {
fuseVelData = false;
fusePosData = false;
_ekf->fuseVelData = false;
_ekf->fusePosData = false;
}
if (newAdsData && statesInitialised) {
if (newAdsData && _ekf->statesInitialised) {
// Could use a blend of GPS and baro alt data if desired
hgtMea = 1.0f * baroHgt + 0.0f * gpsHgt;
fuseHgtData = true;
_ekf->hgtMea = 1.0f * _ekf->baroHgt + 0.0f * _ekf->gpsHgt;
_ekf->fuseHgtData = true;
// recall states stored at time of measurement after adjusting for delays
RecallStates(statesAtHgtTime, (IMUmsec - _parameters.height_delay_ms));
_ekf->RecallStates(_ekf->statesAtHgtTime, (IMUmsec - _parameters.height_delay_ms));
// run the fusion step
FuseVelposNED();
_ekf->FuseVelposNED();
} else {
fuseHgtData = false;
_ekf->fuseHgtData = false;
}
// Fuse Magnetometer Measurements
if (newDataMag && statesInitialised) {
fuseMagData = true;
RecallStates(statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms)); // Assume 50 msec avg delay for magnetometer data
if (newDataMag && _ekf->statesInitialised) {
_ekf->fuseMagData = true;
_ekf->RecallStates(_ekf->statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms)); // Assume 50 msec avg delay for magnetometer data
} else {
fuseMagData = false;
_ekf->fuseMagData = false;
}
if (statesInitialised) FuseMagnetometer();
if (_ekf->statesInitialised) _ekf->FuseMagnetometer();
// Fuse Airspeed Measurements
if (newAdsData && statesInitialised && VtasMeas > 8.0f) {
fuseVtasData = true;
RecallStates(statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data
FuseAirspeed();
if (newAdsData && _ekf->statesInitialised && _ekf->VtasMeas > 8.0f) {
_ekf->fuseVtasData = true;
_ekf->RecallStates(_ekf->statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data
_ekf->FuseAirspeed();
} else {
fuseVtasData = false;
_ekf->fuseVtasData = false;
}
// Publish results
@ -954,7 +972,7 @@ FixedwingEstimator::task_main()
// 15-17: Earth Magnetic Field Vector - milligauss (North, East, Down)
// 18-20: Body Magnetic Field Vector - milligauss (X,Y,Z)
math::Quaternion q(states[0], states[1], states[2], states[3]);
math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]);
math::Matrix<3, 3> R = q.to_dcm();
math::Vector<3> euler = R.to_euler();
@ -962,10 +980,10 @@ FixedwingEstimator::task_main()
_att.R[i][j] = R(i, j);
_att.timestamp = last_sensor_timestamp;
_att.q[0] = states[0];
_att.q[1] = states[1];
_att.q[2] = states[2];
_att.q[3] = states[3];
_att.q[0] = _ekf->states[0];
_att.q[1] = _ekf->states[1];
_att.q[2] = _ekf->states[2];
_att.q[3] = _ekf->states[3];
_att.q_valid = true;
_att.R_valid = true;
@ -974,13 +992,13 @@ FixedwingEstimator::task_main()
_att.pitch = euler(1);
_att.yaw = euler(2);
_att.rollspeed = angRate.x - states[10];
_att.pitchspeed = angRate.y - states[11];
_att.yawspeed = angRate.z - states[12];
_att.rollspeed = _ekf->angRate.x - _ekf->states[10];
_att.pitchspeed = _ekf->angRate.y - _ekf->states[11];
_att.yawspeed = _ekf->angRate.z - _ekf->states[12];
// gyro offsets
_att.rate_offsets[0] = states[10];
_att.rate_offsets[1] = states[11];
_att.rate_offsets[2] = states[12];
_att.rate_offsets[0] = _ekf->states[10];
_att.rate_offsets[1] = _ekf->states[11];
_att.rate_offsets[2] = _ekf->states[12];
/* lazily publish the attitude only once available */
if (_att_pub > 0) {
@ -993,20 +1011,15 @@ FixedwingEstimator::task_main()
}
}
if (!isfinite(states[0])) {
print_status();
_exit(0);
}
if (_gps_initialized) {
_local_pos.timestamp = last_sensor_timestamp;
_local_pos.x = states[7];
_local_pos.y = states[8];
_local_pos.z = states[9];
_local_pos.x = _ekf->states[7];
_local_pos.y = _ekf->states[8];
_local_pos.z = _ekf->states[9];
_local_pos.vx = states[4];
_local_pos.vy = states[5];
_local_pos.vz = states[6];
_local_pos.vx = _ekf->states[4];
_local_pos.vy = _ekf->states[5];
_local_pos.vz = _ekf->states[6];
_local_pos.xy_valid = _gps_initialized;
_local_pos.z_valid = true;
@ -1107,9 +1120,10 @@ FixedwingEstimator::start()
return OK;
}
void print_status()
void
FixedwingEstimator::print_status()
{
math::Quaternion q(states[0], states[1], states[2], states[3]);
math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]);
math::Matrix<3, 3> R = q.to_dcm();
math::Vector<3> euler = R.to_euler();
@ -1125,30 +1139,30 @@ void print_status()
// 15-17: Earth Magnetic Field Vector - gauss (North, East, Down)
// 18-20: Body Magnetic Field Vector - gauss (X,Y,Z)
printf("dtIMU: %8.6f dt: %8.6f IMUmsec: %d\n", dtIMU, dt, (int)IMUmsec);
printf("dvel: %8.6f %8.6f %8.6f accel: %8.6f %8.6f %8.6f\n", (double)dVelIMU.x, (double)dVelIMU.y, (double)dVelIMU.z, (double)accel.x, (double)accel.y, (double)accel.z);
printf("dang: %8.4f %8.4f %8.4f dang corr: %8.4f %8.4f %8.4f\n" , (double)dAngIMU.x, (double)dAngIMU.y, (double)dAngIMU.z, (double)correctedDelAng.x, (double)correctedDelAng.y, (double)correctedDelAng.z);
printf("states (quat) [1-4]: %8.4f, %8.4f, %8.4f, %8.4f\n", (double)states[0], (double)states[1], (double)states[2], (double)states[3]);
printf("states (vel m/s) [5-7]: %8.4f, %8.4f, %8.4f\n", (double)states[4], (double)states[5], (double)states[6]);
printf("states (pos m) [8-10]: %8.4f, %8.4f, %8.4f\n", (double)states[7], (double)states[8], (double)states[9]);
printf("states (delta ang) [11-13]: %8.4f, %8.4f, %8.4f\n", (double)states[10], (double)states[11], (double)states[12]);
printf("states (wind) [14-15]: %8.4f, %8.4f\n", (double)states[13], (double)states[14]);
printf("states (earth mag) [16-18]: %8.4f, %8.4f, %8.4f\n", (double)states[15], (double)states[16], (double)states[17]);
printf("states (body mag) [19-21]: %8.4f, %8.4f, %8.4f\n", (double)states[18], (double)states[19], (double)states[20]);
printf("dtIMU: %8.6f dt: %8.6f IMUmsec: %d\n", _ekf->dtIMU, dt, (int)IMUmsec);
printf("dvel: %8.6f %8.6f %8.6f accel: %8.6f %8.6f %8.6f\n", (double)_ekf->dVelIMU.x, (double)_ekf->dVelIMU.y, (double)_ekf->dVelIMU.z, (double)_ekf->accel.x, (double)_ekf->accel.y, (double)_ekf->accel.z);
printf("dang: %8.4f %8.4f %8.4f dang corr: %8.4f %8.4f %8.4f\n" , (double)_ekf->dAngIMU.x, (double)_ekf->dAngIMU.y, (double)_ekf->dAngIMU.z, (double)_ekf->correctedDelAng.x, (double)_ekf->correctedDelAng.y, (double)_ekf->correctedDelAng.z);
printf("states (quat) [1-4]: %8.4f, %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[0], (double)_ekf->states[1], (double)_ekf->states[2], (double)_ekf->states[3]);
printf("states (vel m/s) [5-7]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[4], (double)_ekf->states[5], (double)_ekf->states[6]);
printf("states (pos m) [8-10]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[7], (double)_ekf->states[8], (double)_ekf->states[9]);
printf("states (delta ang) [11-13]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[10], (double)_ekf->states[11], (double)_ekf->states[12]);
printf("states (wind) [14-15]: %8.4f, %8.4f\n", (double)_ekf->states[13], (double)_ekf->states[14]);
printf("states (earth mag) [16-18]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[15], (double)_ekf->states[16], (double)_ekf->states[17]);
printf("states (body mag) [19-21]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[18], (double)_ekf->states[19], (double)_ekf->states[20]);
printf("states: %s %s %s %s %s %s %s %s %s %s\n",
(statesInitialised) ? "INITIALIZED" : "NON_INIT",
(onGround) ? "ON_GROUND" : "AIRBORNE",
(fuseVelData) ? "FUSE_VEL" : "INH_VEL",
(fusePosData) ? "FUSE_POS" : "INH_POS",
(fuseHgtData) ? "FUSE_HGT" : "INH_HGT",
(fuseMagData) ? "FUSE_MAG" : "INH_MAG",
(fuseVtasData) ? "FUSE_VTAS" : "INH_VTAS",
(useAirspeed) ? "USE_AIRSPD" : "IGN_AIRSPD",
(useCompass) ? "USE_COMPASS" : "IGN_COMPASS",
(staticMode) ? "STATIC_MODE" : "DYNAMIC_MODE");
(_ekf->statesInitialised) ? "INITIALIZED" : "NON_INIT",
(_ekf->onGround) ? "ON_GROUND" : "AIRBORNE",
(_ekf->fuseVelData) ? "FUSE_VEL" : "INH_VEL",
(_ekf->fusePosData) ? "FUSE_POS" : "INH_POS",
(_ekf->fuseHgtData) ? "FUSE_HGT" : "INH_HGT",
(_ekf->fuseMagData) ? "FUSE_MAG" : "INH_MAG",
(_ekf->fuseVtasData) ? "FUSE_VTAS" : "INH_VTAS",
(_ekf->useAirspeed) ? "USE_AIRSPD" : "IGN_AIRSPD",
(_ekf->useCompass) ? "USE_COMPASS" : "IGN_COMPASS",
(_ekf->staticMode) ? "STATIC_MODE" : "DYNAMIC_MODE");
}
int trip_nan() {
int FixedwingEstimator::trip_nan() {
int ret = 0;
@ -1166,7 +1180,7 @@ int trip_nan() {
float nan_val = 0.0f / 0.0f;
warnx("system not armed, tripping state vector with NaN values");
states[5] = nan_val;
_ekf->states[5] = nan_val;
usleep(100000);
// warnx("tripping covariance #1 with NaN values");
@ -1178,15 +1192,15 @@ int trip_nan() {
// usleep(100000);
warnx("tripping covariance #3 with NaN values");
P[3][3] = nan_val; // covariance matrix
_ekf->P[3][3] = nan_val; // covariance matrix
usleep(100000);
warnx("tripping Kalman gains with NaN values");
Kfusion[0] = nan_val; // Kalman gains
_ekf->Kfusion[0] = nan_val; // Kalman gains
usleep(100000);
warnx("tripping stored states[0] with NaN values");
storedStates[0][0] = nan_val;
_ekf->storedStates[0][0] = nan_val;
usleep(100000);
warnx("\nDONE - FILTER STATE:");
@ -1234,7 +1248,7 @@ int fw_att_pos_estimator_main(int argc, char *argv[])
if (estimator::g_estimator) {
warnx("running");
print_status();
estimator::g_estimator->print_status();
exit(0);
@ -1245,7 +1259,7 @@ int fw_att_pos_estimator_main(int argc, char *argv[])
if (!strcmp(argv[1], "trip")) {
if (estimator::g_estimator) {
int ret = trip_nan();
int ret = estimator::g_estimator->trip_nan();
exit(ret);

178
src/modules/px4iofirmware/controls.c
View File

@ -134,8 +134,6 @@ controls_tick() {
perf_begin(c_gather_sbus);
bool sbus_status = (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS);
bool sbus_failsafe, sbus_frame_drop;
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &sbus_failsafe, &sbus_frame_drop, PX4IO_RC_INPUT_CHANNELS);
@ -201,94 +199,104 @@ controls_tick() {
/* update RC-received timestamp */
system_state.rc_channels_timestamp_received = hrt_absolute_time();
/* do not command anything in failsafe, kick in the RC loss counter */
if (!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {
/* update RC-received timestamp */
system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received;
/* update RC-received timestamp */
system_state.rc_channels_timestamp_valid = system_state.rc_channels_timestamp_received;
/* map raw inputs to mapped inputs */
/* XXX mapping should be atomic relative to protocol */
for (unsigned i = 0; i < r_raw_rc_count; i++) {
/* map raw inputs to mapped inputs */
/* XXX mapping should be atomic relative to protocol */
for (unsigned i = 0; i < r_raw_rc_count; i++) {
/* map the input channel */
uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE];
/* map the input channel */
uint16_t *conf = &r_page_rc_input_config[i * PX4IO_P_RC_CONFIG_STRIDE];
if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) {
uint16_t raw = r_raw_rc_values[i];
uint16_t raw = r_raw_rc_values[i];
int16_t scaled;
int16_t scaled;
/*
* 1) Constrain to min/max values, as later processing depends on bounds.
*/
if (raw < conf[PX4IO_P_RC_CONFIG_MIN])
raw = conf[PX4IO_P_RC_CONFIG_MIN];
if (raw > conf[PX4IO_P_RC_CONFIG_MAX])
raw = conf[PX4IO_P_RC_CONFIG_MAX];
/*
* 1) Constrain to min/max values, as later processing depends on bounds.
*/
if (raw < conf[PX4IO_P_RC_CONFIG_MIN])
raw = conf[PX4IO_P_RC_CONFIG_MIN];
if (raw > conf[PX4IO_P_RC_CONFIG_MAX])
raw = conf[PX4IO_P_RC_CONFIG_MAX];
/*
* 2) Scale around the mid point differently for lower and upper range.
*
* This is necessary as they don't share the same endpoints and slope.
*
* First normalize to 0..1 range with correct sign (below or above center),
* then scale to 20000 range (if center is an actual center, -10000..10000,
* if parameters only support half range, scale to 10000 range, e.g. if
* center == min 0..10000, if center == max -10000..0).
*
* As the min and max bounds were enforced in step 1), division by zero
* cannot occur, as for the case of center == min or center == max the if
* statement is mutually exclusive with the arithmetic NaN case.
*
* DO NOT REMOVE OR ALTER STEP 1!
*/
if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
/*
* 2) Scale around the mid point differently for lower and upper range.
*
* This is necessary as they don't share the same endpoints and slope.
*
* First normalize to 0..1 range with correct sign (below or above center),
* then scale to 20000 range (if center is an actual center, -10000..10000,
* if parameters only support half range, scale to 10000 range, e.g. if
* center == min 0..10000, if center == max -10000..0).
*
* As the min and max bounds were enforced in step 1), division by zero
* cannot occur, as for the case of center == min or center == max the if
* statement is mutually exclusive with the arithmetic NaN case.
*
* DO NOT REMOVE OR ALTER STEP 1!
*/
if (raw > (conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_MAX] - conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE]));
} else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
} else if (raw < (conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE])) {
scaled = 10000.0f * ((raw - conf[PX4IO_P_RC_CONFIG_CENTER] + conf[PX4IO_P_RC_CONFIG_DEADZONE]) / (float)(conf[PX4IO_P_RC_CONFIG_CENTER] - conf[PX4IO_P_RC_CONFIG_DEADZONE] - conf[PX4IO_P_RC_CONFIG_MIN]));
} else {
/* in the configured dead zone, output zero */
scaled = 0;
}
} else {
/* in the configured dead zone, output zero */
scaled = 0;
}
/* invert channel if requested */
if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) {
scaled = -scaled;
}
/* invert channel if requested */
if (conf[PX4IO_P_RC_CONFIG_OPTIONS] & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE)
/* and update the scaled/mapped version */
unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
if (mapped < PX4IO_CONTROL_CHANNELS) {
/* invert channel if pitch - pulling the lever down means pitching up by convention */
if (mapped == 1) {
/* roll, pitch, yaw, throttle, override is the standard order */
scaled = -scaled;
/* and update the scaled/mapped version */
unsigned mapped = conf[PX4IO_P_RC_CONFIG_ASSIGNMENT];
if (mapped < PX4IO_CONTROL_CHANNELS) {
/* invert channel if pitch - pulling the lever down means pitching up by convention */
if (mapped == 1) /* roll, pitch, yaw, throttle, override is the standard order */
scaled = -scaled;
r_rc_values[mapped] = SIGNED_TO_REG(scaled);
assigned_channels |= (1 << mapped);
}
if (mapped == 3 && r_setup_rc_thr_failsafe) {
/* throttle failsafe detection */
if (((raw < conf[PX4IO_P_RC_CONFIG_MIN]) && (raw < r_setup_rc_thr_failsafe)) ||
((raw > conf[PX4IO_P_RC_CONFIG_MAX]) && (raw > r_setup_rc_thr_failsafe))) {
r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE;
} else {
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
}
}
r_rc_values[mapped] = SIGNED_TO_REG(scaled);
assigned_channels |= (1 << mapped);
}
}
}
/* set un-assigned controls to zero */
for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) {
if (!(assigned_channels & (1 << i)))
r_rc_values[i] = 0;
/* set un-assigned controls to zero */
for (unsigned i = 0; i < PX4IO_CONTROL_CHANNELS; i++) {
if (!(assigned_channels & (1 << i))) {
r_rc_values[i] = 0;
}
}
/* set RC OK flag, as we got an update */
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK;
/* set RC OK flag, as we got an update */
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK;
/* if we have enough channels (5) to control the vehicle, the mapping is ok */
if (assigned_channels > 4) {
r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK;
} else {
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK);
}
/* if we have enough channels (5) to control the vehicle, the mapping is ok */
if (assigned_channels > 4) {
r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_MAPPING_OK;
} else {
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK);
}
/*
@ -316,8 +324,13 @@ controls_tick() {
* Handle losing RC input
*/
/* this kicks in if the receiver is gone or the system went to failsafe */
if (rc_input_lost || (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {
/* if we are in failsafe, clear the override flag */
if (r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE) {
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
}
/* this kicks in if the receiver is gone, but there is not on failsafe (indicated by separate flag) */
if (rc_input_lost) {
/* Clear the RC input status flag, clear manual override flag */
r_status_flags &= ~(
PX4IO_P_STATUS_FLAGS_OVERRIDE |
@ -326,27 +339,24 @@ controls_tick() {
/* Mark all channels as invalid, as we just lost the RX */
r_rc_valid = 0;
/* Set raw channel count to zero */
r_raw_rc_count = 0;
/* Set the RC_LOST alarm */
r_status_alarms |= PX4IO_P_STATUS_ALARMS_RC_LOST;
}
/* this kicks in if the receiver is completely gone */
if (rc_input_lost) {
/* Set channel count to zero */
r_raw_rc_count = 0;
}
/*
* Check for manual override.
*
* The PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK flag must be set, and we
* must have R/C input.
* must have R/C input (NO FAILSAFE!).
* Override is enabled if either the hardcoded channel / value combination
* is selected, or the AP has requested it.
*/
if ((r_setup_arming & PX4IO_P_SETUP_ARMING_MANUAL_OVERRIDE_OK) &&
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK)) {
(r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) &&
!(r_raw_rc_flags & PX4IO_P_RAW_RC_FLAGS_FAILSAFE)) {
bool override = false;
@ -369,10 +379,10 @@ controls_tick() {
mixer_tick();
} else {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
}
} else {
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_OVERRIDE;
r_status_flags &= ~(PX4IO_P_STATUS_FLAGS_OVERRIDE);
}
}

28
src/modules/px4iofirmware/protocol.h
View File

@ -164,10 +164,10 @@
/* setup page */
#define PX4IO_PAGE_SETUP 50
#define PX4IO_P_SETUP_FEATURES 0
#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) /* enable S.Bus v1 output */
#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /* enable S.Bus v2 output */
#define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /* enable PWM RSSI parsing */
#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /* enable ADC RSSI parsing */
#define PX4IO_P_SETUP_FEATURES_SBUS1_OUT (1 << 0) /**< enable S.Bus v1 output */
#define PX4IO_P_SETUP_FEATURES_SBUS2_OUT (1 << 1) /**< enable S.Bus v2 output */
#define PX4IO_P_SETUP_FEATURES_PWM_RSSI (1 << 2) /**< enable PWM RSSI parsing */
#define PX4IO_P_SETUP_FEATURES_ADC_RSSI (1 << 3) /**< enable ADC RSSI parsing */
#define PX4IO_P_SETUP_ARMING 1 /* arming controls */
#define PX4IO_P_SETUP_ARMING_IO_ARM_OK (1 << 0) /* OK to arm the IO side */
@ -201,13 +201,15 @@ enum { /* DSM bind states */
dsm_bind_send_pulses,
dsm_bind_reinit_uart
};
/* 8 */
#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */
/* 8 */
#define PX4IO_P_SETUP_SET_DEBUG 9 /* debug level for IO board */
#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */
#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */
#define PX4IO_P_SETUP_REBOOT_BL 10 /* reboot IO into bootloader */
#define PX4IO_REBOOT_BL_MAGIC 14662 /* required argument for reboot (random) */
#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */
#define PX4IO_P_SETUP_CRC 11 /* get CRC of IO firmware */
/* 12 occupied by CRC */
#define PX4IO_P_SETUP_RC_THR_FAILSAFE_US 13 /**< the throttle failsafe pulse length in microseconds */
/* autopilot control values, -10000..10000 */
#define PX4IO_PAGE_CONTROLS 51 /**< actuator control groups, one after the other, 8 wide */
@ -217,10 +219,10 @@ enum { /* DSM bind states */
#define PX4IO_P_CONTROLS_GROUP_3 (PX4IO_PROTOCOL_MAX_CONTROL_COUNT * 3) /**< 0..PX4IO_PROTOCOL_MAX_CONTROL_COUNT - 1 */
#define PX4IO_P_CONTROLS_GROUP_VALID 64
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /* group 0 is valid / received */
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /* group 1 is valid / received */
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /* group 2 is valid / received */
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /* group 3 is valid / received */
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP0 (1 << 0) /**< group 0 is valid / received */
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP1 (1 << 1) /**< group 1 is valid / received */
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP2 (1 << 2) /**< group 2 is valid / received */
#define PX4IO_P_CONTROLS_GROUP_VALID_GROUP3 (1 << 3) /**< group 3 is valid / received */
/* raw text load to the mixer parser - ignores offset */
#define PX4IO_PAGE_MIXERLOAD 52

1
src/modules/px4iofirmware/px4io.h
View File

@ -108,6 +108,7 @@ extern uint16_t r_page_servo_disarmed[]; /* PX4IO_PAGE_DISARMED_PWM */
#ifdef CONFIG_ARCH_BOARD_PX4IO_V1
#define r_setup_relays r_page_setup[PX4IO_P_SETUP_RELAYS]
#endif
#define r_setup_rc_thr_failsafe r_page_setup[PX4IO_P_SETUP_RC_THR_FAILSAFE_US];
#define r_control_values (&r_page_controls[0])

1
src/modules/px4iofirmware/registers.c
View File

@ -169,6 +169,7 @@ volatile uint16_t r_page_setup[] =
[PX4IO_P_SETUP_SET_DEBUG] = 0,
[PX4IO_P_SETUP_REBOOT_BL] = 0,
[PX4IO_P_SETUP_CRC ... (PX4IO_P_SETUP_CRC+1)] = 0,
[PX4IO_P_SETUP_RC_THR_FAILSAFE_US] = 0,
};
#ifdef CONFIG_ARCH_BOARD_PX4IO_V2

12
src/modules/sdlog2/sdlog2_messages.h
View File

@ -303,12 +303,19 @@ struct log_PARM_s {
/* --- ESTM - ESTIMATOR STATUS --- */
#define LOG_ESTM_MSG 132
struct log_ESTM_s {
float s[32];
float s[10];
uint8_t n_states;
uint8_t states_nan;
uint8_t covariance_nan;
uint8_t kalman_gain_nan;
};
// struct log_ESTM_s {
// float s[32];
// uint8_t n_states;
// uint8_t states_nan;
// uint8_t covariance_nan;
// uint8_t kalman_gain_nan;
// };
#pragma pack(pop)
@ -342,7 +349,8 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(TIME, "Q", "StartTime"),
LOG_FORMAT(VER, "NZ", "Arch,FwGit"),
LOG_FORMAT(PARM, "Nf", "Name,Value"),
LOG_FORMAT(ESTM, "ffffffffffffffffffffffffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27,s28,s29,s30,s31,n_states,states_nan,cov_nan,kgain_nan"),
LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,n_states,states_nan,cov_nan,kgain_nan"),
//LOG_FORMAT(ESTM, "ffffffffffffffffffffffffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27,s28,s29,s30,s31,n_states,states_nan,cov_nan,kgain_nan"),
};
static const int log_formats_num = sizeof(log_formats) / sizeof(struct log_format_s);

27
src/modules/sensors/sensor_params.c
View File

@ -647,32 +647,11 @@ PARAM_DEFINE_INT32(RC_MAP_AUX2, 0); /**< default function: camera roll */
PARAM_DEFINE_INT32(RC_MAP_AUX3, 0);
/**
* Failsafe channel mapping.
*
* @min 0
* @max 18
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_FS_CH, 0);
/**
* Failsafe channel mode.
*
* 0 = too low means signal loss,
* 1 = too high means signal loss
*
* @min 0
* @max 1
* @group Radio Calibration
*/
PARAM_DEFINE_INT32(RC_FS_MODE, 0);
/**
* Failsafe channel PWM threshold.
*
* @min 0
* @max 1
* @min 800
* @max 2200
* @group Radio Calibration
*/
PARAM_DEFINE_FLOAT(RC_FS_THR, 800);
PARAM_DEFINE_INT32(RC_FAILS_THR, 0);

119
src/modules/sensors/sensors.cpp
View File

@ -267,9 +267,7 @@ private:
int rc_map_aux4;
int rc_map_aux5;
int rc_fs_ch;
int rc_fs_mode;
float rc_fs_thr;
int32_t rc_fs_thr;
float battery_voltage_scaling;
float battery_current_scaling;
@ -312,8 +310,6 @@ private:
param_t rc_map_aux4;
param_t rc_map_aux5;
param_t rc_fs_ch;
param_t rc_fs_mode;
param_t rc_fs_thr;
param_t battery_voltage_scaling;
@ -539,9 +535,7 @@ Sensors::Sensors() :
_parameter_handles.rc_map_aux5 = param_find("RC_MAP_AUX5");
/* RC failsafe */
_parameter_handles.rc_fs_ch = param_find("RC_FS_CH");
_parameter_handles.rc_fs_mode = param_find("RC_FS_MODE");
_parameter_handles.rc_fs_thr = param_find("RC_FS_THR");
_parameter_handles.rc_fs_thr = param_find("RC_FAILS_THR");
/* gyro offsets */
_parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF");
@ -693,8 +687,6 @@ Sensors::parameters_update()
param_get(_parameter_handles.rc_map_aux3, &(_parameters.rc_map_aux3));
param_get(_parameter_handles.rc_map_aux4, &(_parameters.rc_map_aux4));
param_get(_parameter_handles.rc_map_aux5, &(_parameters.rc_map_aux5));
param_get(_parameter_handles.rc_fs_ch, &(_parameters.rc_fs_ch));
param_get(_parameter_handles.rc_fs_mode, &(_parameters.rc_fs_mode));
param_get(_parameter_handles.rc_fs_thr, &(_parameters.rc_fs_thr));
/* update RC function mappings */
@ -1293,7 +1285,7 @@ Sensors::get_rc_value(enum RC_CHANNELS_FUNCTION func, float min_value, float max
return value;
}
} else {
return NAN;
return 0.0f;
}
}
@ -1325,30 +1317,21 @@ Sensors::rc_poll()
if (rc_updated) {
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
struct rc_input_values rc_input;
_manual.signal_lost = true;
struct rc_input_values rc_input;
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
/* detect RC signal loss */
bool signal_lost = true;
/* check flags and require at least four channels to consider the signal valid */
if (!(rc_input.rc_lost || rc_input.rc_failsafe || rc_input.channel_count < 4)) {
/* signal looks good */
_manual.signal_lost = false;
/* check for throttle failsafe */
if (_parameters.rc_fs_ch != 0) {
if (_parameters.rc_fs_mode == 0) {
if (rc_input.values[_parameters.rc_fs_ch - 1] < _parameters.rc_fs_thr) {
_manual.signal_lost = true;
}
} else if (_parameters.rc_fs_mode == 1) {
if (rc_input.values[_parameters.rc_fs_ch - 1] > _parameters.rc_fs_thr) {
_manual.signal_lost = true;
}
}
/* signal looks good, but check for throttle failsafe */
if (_parameters.rc_fs_thr == 0 ||
!((_parameters.rc_fs_thr < _parameters.min[i] && rc_input.values[_rc.function[THROTTLE]] < _parameters.rc_fs_thr) ||
(_parameters.rc_fs_thr > _parameters.max[i] && rc_input.values[_rc.function[THROTTLE]] > _parameters.rc_fs_thr))) {
/* valid signal, throttle failsafe not configured or not triggered */
signal_lost = false;
}
}
@ -1405,33 +1388,55 @@ Sensors::rc_poll()
_rc.chan_count = rc_input.channel_count;
_rc.rssi = rc_input.rssi;
_rc.signal_lost = _manual.signal_lost;
_rc.signal_lost = signal_lost;
_rc.timestamp = rc_input.timestamp_last_signal;
/* publish rc_channels topic even if signal is invalid, for debug */
if (_rc_pub > 0) {
orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
} else {
_rc_pub = orb_advertise(ORB_ID(rc_channels), &_rc);
}
if (!signal_lost) {
struct manual_control_setpoint_s manual;
memset(&manual, 0 , sizeof(manual));
if (!_manual.signal_lost) {
/* fill values in manual_control_setpoint topic only if signal is valid */
_manual.timestamp = rc_input.timestamp_last_signal;
_rc.timestamp = rc_input.timestamp_last_signal;
manual.timestamp = rc_input.timestamp_last_signal;
/* limit controls */
_manual.roll = get_rc_value(ROLL, -1.0, 1.0);
_manual.pitch = get_rc_value(PITCH, -1.0, 1.0);
_manual.yaw = get_rc_value(YAW, -1.0, 1.0);
_manual.throttle = get_rc_value(THROTTLE, 0.0, 1.0);
_manual.flaps = get_rc_value(FLAPS, -1.0, 1.0);
_manual.aux1 = get_rc_value(AUX_1, -1.0, 1.0);
_manual.aux2 = get_rc_value(AUX_2, -1.0, 1.0);
_manual.aux3 = get_rc_value(AUX_3, -1.0, 1.0);
_manual.aux4 = get_rc_value(AUX_4, -1.0, 1.0);
_manual.aux5 = get_rc_value(AUX_5, -1.0, 1.0);
manual.roll = get_rc_value(ROLL, -1.0, 1.0);
manual.pitch = get_rc_value(PITCH, -1.0, 1.0);
manual.yaw = get_rc_value(YAW, -1.0, 1.0);
manual.throttle = get_rc_value(THROTTLE, 0.0, 1.0);
manual.flaps = get_rc_value(FLAPS, -1.0, 1.0);
manual.aux1 = get_rc_value(AUX_1, -1.0, 1.0);
manual.aux2 = get_rc_value(AUX_2, -1.0, 1.0);
manual.aux3 = get_rc_value(AUX_3, -1.0, 1.0);
manual.aux4 = get_rc_value(AUX_4, -1.0, 1.0);
manual.aux5 = get_rc_value(AUX_5, -1.0, 1.0);
/* mode switches */
_manual.mode_switch = get_rc_switch_position(MODE);
_manual.assisted_switch = get_rc_switch_position(ASSISTED);
_manual.mission_switch = get_rc_switch_position(MISSION);
_manual.return_switch = get_rc_switch_position(RETURN);
manual.mode_switch = get_rc_switch_position(MODE);
manual.assisted_switch = get_rc_switch_position(ASSISTED);
manual.mission_switch = get_rc_switch_position(MISSION);
manual.return_switch = get_rc_switch_position(RETURN);
/* publish manual_control_setpoint topic */
if (_manual_control_pub > 0) {
orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &_manual);
} else {
_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &_manual);
}
/* copy from mapped manual control to control group 3 */
struct actuator_controls_s actuator_group_3;
memset(&actuator_group_3, 0 , sizeof(actuator_group_3));
actuator_group_3.timestamp = rc_input.timestamp_publication;
actuator_group_3.control[0] = _manual.roll;
actuator_group_3.control[1] = _manual.pitch;
@ -1442,7 +1447,7 @@ Sensors::rc_poll()
actuator_group_3.control[6] = _manual.aux2;
actuator_group_3.control[7] = _manual.aux3;
/* publish actuator_controls_3 topic only if control signal is valid */
/* publish actuator_controls_3 topic */
if (_actuator_group_3_pub > 0) {
orb_publish(ORB_ID(actuator_controls_3), _actuator_group_3_pub, &actuator_group_3);
@ -1450,25 +1455,7 @@ Sensors::rc_poll()
_actuator_group_3_pub = orb_advertise(ORB_ID(actuator_controls_3), &actuator_group_3);
}
}
/* publish rc_channels topic even if signal is invalid, for debug */
if (_rc_pub > 0) {
orb_publish(ORB_ID(rc_channels), _rc_pub, &_rc);
} else {
/* advertise the rc topic */
_rc_pub = orb_advertise(ORB_ID(rc_channels), &_rc);
}
/* publish manual_control_setpoint topic even if signal is not valid to update 'signal_lost' flag */
if (_manual_control_pub > 0) {
orb_publish(ORB_ID(manual_control_setpoint), _manual_control_pub, &_manual);
} else {
_manual_control_pub = orb_advertise(ORB_ID(manual_control_setpoint), &_manual);
}
}
}
void