Updated lpe for separate sensor source files, also made more quiet.

src/modules/local_position_estimator/sensors/lidar.cpp

@@ -0,0 +1,134 @@
+#include "../BlockLocalPositionEstimator.hpp"
+#include <systemlib/mavlink_log.h>
+#include <matrix/math.hpp>
+
+extern orb_advert_t mavlink_log_pub;
+
+// required number of samples for sensor
+// to initialize
+//
+static const uint32_t 		REQ_LIDAR_INIT_COUNT = 10;
+static const uint32_t 		LIDAR_TIMEOUT =   1000000; // 1.0 s
+
+void BlockLocalPositionEstimator::lidarInit()
+{
+	// measure
+	Vector<float, n_y_lidar> y;
+
+	if (lidarMeasure(y) != OK) {
+		_lidarStats.reset();
+	}
+
+	// if finished
+	if (_lidarStats.getCount() > REQ_LIDAR_INIT_COUNT) {
+		mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] lidar init: "
+					     "mean %d cm stddev %d cm",
+					     int(100 * _lidarStats.getMean()(0)),
+					     int(100 * _lidarStats.getStdDev()(0)));
+		_lidarInitialized = true;
+		_lidarFault = FAULT_NONE;
+	}
+}
+
+int BlockLocalPositionEstimator::lidarMeasure(Vector<float, n_y_lidar> &y)
+{
+	// measure
+	float d = _sub_lidar->get().current_distance + _lidar_z_offset.get();
+	warnx("d %10.2g, lidar z offset %10.2g\n", double(d), double(_lidar_z_offset.get()));
+	float eps = 0.01f;
+	float min_dist = _sub_lidar->get().min_distance + eps;
+	float max_dist = _sub_lidar->get().max_distance - eps;
+
+	// check for bad data
+	if (d > max_dist || d < min_dist) {
+		return -1;
+	}
+
+	// update stats
+	_lidarStats.update(Scalarf(d));
+	_time_last_lidar = _timeStamp;
+	y.setZero();
+	y(0) = d;
+	return OK;
+}
+
+void BlockLocalPositionEstimator::lidarCorrect()
+{
+	// measure lidar
+	Vector<float, n_y_lidar> y;
+
+	if (lidarMeasure(y) != OK) { return; }
+
+	// account for leaning
+	y(0) = y(0) *
+	       cosf(_sub_att.get().roll) *
+	       cosf(_sub_att.get().pitch);
+
+	// measurement matrix
+	Matrix<float, n_y_lidar, n_x> C;
+	C.setZero();
+	// y = -(z - tz)
+	// TODO could add trig to make this an EKF correction
+	C(Y_lidar_z, X_z) = -1; // measured altitude, negative down dir.
+	C(Y_lidar_z, X_tz) = 1; // measured altitude, negative down dir.
+
+	// use parameter covariance unless sensor provides reasonable value
+	Matrix<float, n_y_lidar, n_y_lidar> R;
+	R.setZero();
+	float cov = _sub_lidar->get().covariance;
+
+	if (cov < 1.0e-3f) {
+		R(0, 0) = _lidar_z_stddev.get() * _lidar_z_stddev.get();
+
+	} else {
+		R(0, 0) = cov;
+	}
+
+	// residual
+	Matrix<float, n_y_lidar, n_y_lidar> S_I = inv<float, n_y_lidar>((C * _P * C.transpose()) + R);
+	Vector<float, n_y_lidar> r = y - C * _x;
+
+	// fault detection
+	float beta = (r.transpose() * (S_I * r))(0, 0);
+
+	if (beta > BETA_TABLE[n_y_lidar]) {
+		if (_lidarFault < FAULT_MINOR) {
+			_lidarFault = FAULT_MINOR;
+			mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] lidar fault,  beta %5.2f", double(beta));
+		}
+
+		// abort correction
+		return;
+
+	} else if (_lidarFault) { // disable fault if ok
+		_lidarFault = FAULT_NONE;
+		//mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] lidar OK");
+	}
+
+	// kalman filter correction if no fault
+	if (_lidarFault < fault_lvl_disable) {
+		Matrix<float, n_x, n_y_lidar> K = _P * C.transpose() * S_I;
+		Vector<float, n_x> dx = K * r;
+
+		if (!_canEstimateXY) {
+			dx(X_x) = 0;
+			dx(X_y) = 0;
+			dx(X_vx) = 0;
+			dx(X_vy) = 0;
+		}
+
+		_x += dx;
+		_P -= K * C * _P;
+	}
+}
+
+void BlockLocalPositionEstimator::lidarCheckTimeout()
+{
+	if (_timeStamp - _time_last_lidar > LIDAR_TIMEOUT) {
+		if (_lidarInitialized) {
+			_lidarInitialized = false;
+			_lidarStats.reset();
+			mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] lidar timeout ");
+		}
+	}
+}