added base class for data storage

2026-06-27 15:10:34 +08:00 · 2015-11-19 18:08:04 +01:00
parent 83079e0e11
commit 144aa9c461
8 changed files with 1114 additions and 0 deletions
@@ -0,0 +1,98 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file ekf.cpp
+ * Definition of ekf attitude position estimator class.
+ *
+ * @author Roman Bast <bastroman@gmail.com>
+ *
+ */
+
+#include "ekf.h"
+
+Ekf::Ekf()
+{
+
+}
+
+
+Ekf::~Ekf()
+{
+
+}
+
+void Ekf::update()
+{
+	if (!_filter_initialised) {
+		_filter_initialised = initialiseFilter();
+	}
+
+	if (!_filter_initialised) {
+		return;
+	}
+
+	// prediction
+	if (_imu_updated) {
+		predictState();
+		predictCovariance();
+		_imu_updated = false;
+	}
+
+	// measurement updates
+	if (_mag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _mag_sample_delayed)) {
+		fuseMag();
+	}
+
+	if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _baro_sample_delayed)) {
+		_fuse_height = true;
+	}
+
+	if (_gps_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _gps_sample_delayed)) {
+		_fuse_pos = true;
+		_fuse_vel = true;
+	}
+
+	if (_fuse_height || _fuse_pos || _fuse_vel) {
+		fusePosVel();
+	}
+
+	if (_range_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _range_sample_delayed)) {
+		fuseRange();
+	}
+
+	if (_airspeed_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _airspeed_sample_delayed)) {
+		fuseAirspeed();
+	}
+
+}