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[WIP] ekf2: GPS always on delayed time horizon
This commit is contained in:
Daniel Agar
@@ -119,24 +119,6 @@ enum SensorFusionMask : uint16_t {
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USE_EXT_VIS_VEL = (1<<8) ///< set to true to use external vision velocity data
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};
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struct gpsMessage {
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uint64_t time_usec{};
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int32_t lat{}; ///< Latitude in 1E-7 degrees
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int32_t lon{}; ///< Longitude in 1E-7 degrees
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int32_t alt{}; ///< Altitude in 1E-3 meters (millimeters) above MSL
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float yaw{}; ///< yaw angle. NaN if not set (used for dual antenna GPS), (rad, [-PI, PI])
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float yaw_offset{}; ///< Heading/Yaw offset for dual antenna GPS - refer to description for GPS_YAW_OFFSET
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uint8_t fix_type{}; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic
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float eph{}; ///< GPS horizontal position accuracy in m
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float epv{}; ///< GPS vertical position accuracy in m
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float sacc{}; ///< GPS speed accuracy in m/s
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float vel_m_s{}; ///< GPS ground speed (m/sec)
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Vector3f vel_ned{}; ///< GPS ground speed NED
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bool vel_ned_valid{}; ///< GPS ground speed is valid
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uint8_t nsats{}; ///< number of satellites used
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float pdop{}; ///< position dilution of precision
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};
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struct outputSample {
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uint64_t time_us{}; ///< timestamp of the measurement (uSec)
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Quatf quat_nominal{}; ///< nominal quaternion describing vehicle attitude
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@@ -162,13 +144,23 @@ struct imuSample {
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struct gpsSample {
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uint64_t time_us{}; ///< timestamp of the measurement (uSec)
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Vector2f pos{}; ///< NE earth frame gps horizontal position measurement (m)
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float hgt{}; ///< gps height measurement (m)
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Vector3f vel{}; ///< NED earth frame gps velocity measurement (m/sec)
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float yaw{}; ///< yaw angle. NaN if not set (used for dual antenna GPS), (rad, [-PI, PI])
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double lat{};
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double lon{};
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float alt{}; ///< gps height measurement (m)
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Vector3f vel{}; ///< NED earth frame gps velocity measurement (m/sec)
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float hacc{}; ///< 1-std horizontal position error (m)
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float vacc{}; ///< 1-std vertical position error (m)
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float sacc{}; ///< 1-std speed error (m/sec)
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float yaw{}; ///< yaw angle. NaN if not set (used for dual antenna GPS), (rad, [-PI, PI])
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float yaw_accuracy{};
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float yaw_offset{}; ///< Heading/Yaw offset for dual antenna GPS - refer to description for GPS_YAW_OFFSET
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float pdop{}; ///< position dilution of precision
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uint8_t fix_type{}; ///< 0-1: no fix, 2: 2D fix, 3: 3D fix, 4: RTCM code differential, 5: Real-Time Kinematic
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uint8_t nsats{}; ///< number of satellites used
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};
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struct magSample {
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@@ -89,13 +89,13 @@ void Ekf::controlFusionModes()
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// check for intermittent data
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_baro_hgt_intermittent = !isRecent(_time_last_baro, 2 * BARO_MAX_INTERVAL);
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const uint64_t baro_time_prev = _baro_sample_delayed.time_us;
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const uint64_t time_prev = _baro_sample_delayed.time_us;
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_baro_data_ready = _baro_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed);
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// if we have a new baro sample save the delta time between this sample and the last sample which is
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// used below for baro offset calculations
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if (_baro_data_ready && baro_time_prev != 0) {
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_delta_time_baro_us = _baro_sample_delayed.time_us - baro_time_prev;
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if (_baro_data_ready && time_prev != 0) {
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_delta_time_baro_us = _baro_sample_delayed.time_us - time_prev;
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}
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}
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@@ -104,22 +104,21 @@ void Ekf::controlFusionModes()
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_gps_intermittent = !isRecent(_time_last_gps, 2 * GPS_MAX_INTERVAL);
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// check for arrival of new sensor data at the fusion time horizon
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_time_prev_gps_us = _gps_sample_delayed.time_us;
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const uint64_t time_prev = _gps_sample_delayed.time_us;
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_gps_data_ready = _gps_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &_gps_sample_delayed);
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if (_gps_data_ready) {
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// correct velocity for offset relative to IMU
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const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body;
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const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body;
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const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body;
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_gps_sample_delayed.vel -= vel_offset_earth;
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if (time_prev) {
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// if we have a new sample save the delta time between this sample and the last sample which is
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// used below for height offset calculations
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_delta_time_gnss_us = _gps_sample_delayed.time_us - time_prev;
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}
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// correct position and height for offset relative to IMU
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const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
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_gps_sample_delayed.pos -= pos_offset_earth.xy();
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_gps_sample_delayed.hgt += pos_offset_earth(2);
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_gps_data_ready = collect_gps(_gps_sample_delayed);
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_gps_sample_delayed.sacc = fmaxf(_gps_sample_delayed.sacc, _params.gps_vel_noise);
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if (_gps_data_ready) {
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_time_prev_gps_us = _gps_sample_delayed.time_us;
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}
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}
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}
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@@ -554,7 +553,7 @@ void Ekf::resetOnGroundMotionForOpticalFlowChecks()
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_time_good_motion_us = _imu_sample_delayed.time_us;
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}
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void Ekf::controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing)
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void Ekf::controlGpsYawFusion(const gpsSample &gps_sample, bool gps_checks_passing, bool gps_checks_failing)
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{
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if (!(_params.fusion_mode & SensorFusionMask::USE_GPS_YAW)
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|| _control_status.flags.gps_yaw_fault) {
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@@ -563,7 +562,7 @@ void Ekf::controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing)
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return;
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}
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const bool is_new_data_available = PX4_ISFINITE(_gps_sample_delayed.yaw);
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const bool is_new_data_available = PX4_ISFINITE(gps_sample.yaw);
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if (is_new_data_available) {
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@@ -583,14 +582,14 @@ void Ekf::controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing)
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if (continuing_conditions_passing) {
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fuseGpsYaw();
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fuseGpsYaw(gps_sample);
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const bool is_fusion_failing = isTimedOut(_time_last_gps_yaw_fuse, _params.reset_timeout_max);
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if (is_fusion_failing) {
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if (_nb_gps_yaw_reset_available > 0) {
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// Data seems good, attempt a reset
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resetYawToGps();
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resetYawToGps(gps_sample);
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if (_control_status.flags.in_air) {
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_nb_gps_yaw_reset_available--;
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@@ -619,7 +618,7 @@ void Ekf::controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing)
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} else {
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if (starting_conditions_passing) {
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// Try to activate GPS yaw fusion
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startGpsYawFusion();
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startGpsYawFusion(gps_sample);
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if (_control_status.flags.gps_yaw) {
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_nb_gps_yaw_reset_available = 1;
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@@ -761,7 +760,7 @@ void Ekf::controlHeightSensorTimeouts()
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// Also reset the vertical velocity
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if (_control_status.flags.gps && !_gps_intermittent && _gps_checks_passed) {
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resetVerticalVelocityToGps(_gps_sample_delayed);
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resetVerticalVelocityToGps();
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} else {
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resetVerticalVelocityToZero();
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@@ -915,7 +914,7 @@ void Ekf::controlHeightFusion()
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case VerticalHeightSensor::GPS:
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// NOTE: emergency fallback due to extended loss of currently selected sensor data or failure
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// to pass innovation cinsistency checks is handled elsewhere in Ekf::controlHeightSensorTimeouts.
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// to pass innovation consistency checks is handled elsewhere in Ekf::controlHeightSensorTimeouts.
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// Do switching between GPS and rangefinder if using range finder as a height source when close
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// to ground and moving slowly. Also handle switch back from emergency Baro sensor when GPS recovers.
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if (do_range_aid) {
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@@ -949,10 +948,24 @@ void Ekf::controlHeightFusion()
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}
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updateBaroHgtBias();
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updateBaroHgtOffset();
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updateGroundEffect();
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if (_baro_data_ready) {
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if (!_control_status.flags.baro_hgt) {
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// calculate a filtered offset between the baro origin and local NED origin if we are not
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// using the baro as a height reference
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if (_delta_time_baro_us != 0) {
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const float local_time_step = math::constrain(1e-6f * _delta_time_baro_us, 0.0f, 1.0f);
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// apply a 10 second first order low pass filter to baro offset
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const float unbiased_baro = _baro_sample_delayed.hgt - _baro_b_est.getBias();
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const float offset_rate_correction = 0.1f * (unbiased_baro + _state.pos(2) - _baro_hgt_offset);
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_baro_hgt_offset += local_time_step * math::constrain(offset_rate_correction, -0.1f, 0.1f);
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}
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}
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updateBaroHgt(_baro_sample_delayed, _aid_src_baro_hgt);
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if (_control_status.flags.baro_hgt && !_baro_hgt_faulty) {
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@@ -73,7 +73,7 @@ void Ekf::initialiseCovariance()
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P(9,9) = sq(fmaxf(_params.range_noise, 0.01f));
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} else if (_control_status.flags.gps_hgt) {
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P(9,9) = getGpsHeightVariance();
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P(9,9) = sq(fmaxf(1.5f * _params.gps_pos_noise, 0.01f));
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} else {
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P(9,9) = sq(fmaxf(_params.baro_noise, 0.01f));
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+12
-12
@@ -167,7 +167,7 @@ public:
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matrix::SquareMatrix<float, 3> position_covariances() const { return P.slice<3, 3>(7, 7); }
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// ask estimator for sensor data collection decision and do any preprocessing if required, returns true if not defined
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bool collect_gps(const gpsMessage &gps) override;
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bool collect_gps(const gpsSample &gps);
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// get the ekf WGS-84 origin position and height and the system time it was last set
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// return true if the origin is valid
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@@ -425,6 +425,8 @@ private:
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uint64_t _time_acc_bias_check{0}; ///< last time the accel bias check passed (uSec)
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uint64_t _delta_time_baro_us{0}; ///< delta time between two consecutive delayed baro samples from the buffer (uSec)
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uint64_t _delta_time_gnss_us{0}; ///< delta time between two consecutive delayed GNSS samples from the buffer (uSec)
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uint64_t _delta_time_ev_us{0}; ///< delta time between two consecutive delayed EV samples from the buffer (uSec)
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Vector3f _earth_rate_NED{}; ///< earth rotation vector (NED) in rad/s
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@@ -629,11 +631,11 @@ private:
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const Vector4f &yaw_jacobian);
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// fuse the yaw angle obtained from a dual antenna GPS unit
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void fuseGpsYaw();
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void fuseGpsYaw(const gpsSample &gps_sample);
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// reset the quaternions states using the yaw angle obtained from a dual antenna GPS unit
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// return true if the reset was successful
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bool resetYawToGps();
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bool resetYawToGps(const gpsSample& gps_sample);
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// fuse magnetometer declination measurement
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// argument passed in is the declination uncertainty in radians
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@@ -683,7 +685,7 @@ private:
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void resetHeightToRng();
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void resetHeightToEv();
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void resetVerticalVelocityToGps(const gpsSample &gps_sample_delayed);
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void resetVerticalVelocityToGps();
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void resetVerticalVelocityToZero();
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// fuse optical flow line of sight rate measurements
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@@ -701,10 +703,10 @@ private:
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bool fuseVerticalPosition(float innov, float innov_gate, float obs_var,
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float &innov_var, float &test_ratio);
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void updateGpsVel(const gpsSample &gps_sample);
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void updateGpsVel(const uint64_t& time_us, const Vector3f vel, float sacc);
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void fuseGpsVel();
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void updateGpsPos(const gpsSample &gps_sample);
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void updateGpsPos(const uint64_t& time_us, const Vector3f& position, float hacc, float vacc);
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void fuseGpsPos();
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// calculate optical flow body angular rate compensation
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@@ -838,7 +840,7 @@ private:
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Vector3f calcEarthRateNED(float lat_rad) const;
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// return true id the GPS quality is good enough to set an origin and start aiding
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bool gps_is_good(const gpsMessage &gps);
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bool gps_is_good(const gpsSample &gps);
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// Control the filter fusion modes
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void controlFusionModes();
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@@ -857,7 +859,7 @@ private:
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bool hasHorizontalAidingTimedOut() const;
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bool isYawFailure() const;
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void controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing);
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void controlGpsYawFusion(const gpsSample &gps_sample, bool gps_checks_passing, bool gps_checks_failing);
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// control fusion of magnetometer observations
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void controlMagFusion();
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@@ -948,13 +950,12 @@ private:
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void startRngAidHgtFusion();
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void startEvHgtFusion();
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void updateBaroHgtOffset();
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void updateBaroHgtBias();
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void updateGroundEffect();
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// return an estimation of the sensor altitude variance
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float getGpsHeightVariance();
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float getGpsHeightVariance(float vacc);
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float getRngHeightVariance() const;
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// calculate the measurement variance for the optical flow sensor
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@@ -1017,12 +1018,11 @@ private:
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void startAirspeedFusion();
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void stopAirspeedFusion();
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void startGpsFusion();
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void stopGpsFusion();
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void stopGpsPosFusion();
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void stopGpsVelFusion();
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void startGpsYawFusion();
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void startGpsYawFusion(const gpsSample& gps_sample);
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void stopGpsYawFusion();
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void startEvPosFusion();
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@@ -44,12 +44,19 @@
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#include <mathlib/mathlib.h>
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#include <cstdlib>
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void Ekf::resetVelocityToGps(const gpsSample &gps_sample_delayed)
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void Ekf::resetVelocityToGps(const gpsSample &gps_sample)
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{
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_information_events.flags.reset_vel_to_gps = true;
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ECL_INFO("reset velocity to GPS");
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resetVelocityTo(gps_sample_delayed.vel);
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P.uncorrelateCovarianceSetVariance<3>(4, sq(gps_sample_delayed.sacc));
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const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body;
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const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body;
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const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body;
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const Vector3f velocity{gps_sample.vel - vel_offset_earth};
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resetVelocityTo(velocity);
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P.uncorrelateCovarianceSetVariance<3>(4, sq(gps_sample.sacc));
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}
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void Ekf::resetHorizontalVelocityToOpticalFlow()
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@@ -144,12 +151,19 @@ void Ekf::resetVerticalVelocityTo(float new_vert_vel)
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_time_last_ver_vel_fuse = _time_last_imu;
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}
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void Ekf::resetHorizontalPositionToGps(const gpsSample &gps_sample_delayed)
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void Ekf::resetHorizontalPositionToGps(const gpsSample &gps_sample)
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{
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_information_events.flags.reset_pos_to_gps = true;
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ECL_INFO("reset position to GPS");
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resetHorizontalPositionTo(gps_sample_delayed.pos);
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P.uncorrelateCovarianceSetVariance<2>(7, sq(gps_sample_delayed.hacc));
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// correct position and height for offset relative to IMU
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const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body;
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const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
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const Vector2f gnss_position = _pos_ref.project(gps_sample.lat, gps_sample.lon) - pos_offset_earth.xy();
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resetHorizontalPositionTo(gnss_position);
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P.uncorrelateCovarianceSetVariance<2>(7, sq(gps_sample.hacc));
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}
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void Ekf::resetHorizontalPositionToVision()
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@@ -256,13 +270,20 @@ void Ekf::resetHeightToGps()
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_information_events.flags.reset_hgt_to_gps = true;
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const float z_pos_before_reset = _state.pos(2);
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resetVerticalPositionTo(-_gps_sample_delayed.hgt + getEkfGlobalOriginAltitude());
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const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body;
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const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
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resetVerticalPositionTo(-(_gps_sample_delayed.alt + pos_offset_earth(2)) + getEkfGlobalOriginAltitude());
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// the state variance is the same as the observation
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P.uncorrelateCovarianceSetVariance<1>(9, getGpsHeightVariance());
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P.uncorrelateCovarianceSetVariance<1>(9, getGpsHeightVariance(_gps_sample_delayed.vacc));
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// adjust the baro offset
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_baro_hgt_offset += _state.pos(2) - z_pos_before_reset;
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// adjust the height offsets
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const float delta_z = _state.pos(2) - z_pos_before_reset;
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_baro_hgt_offset += delta_z;
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_gps_hgt_offset = 0.f;
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_rng_hgt_offset += delta_z;
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_ev_hgt_offset += delta_z;
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}
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void Ekf::resetHeightToRng()
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@@ -287,8 +308,12 @@ void Ekf::resetHeightToRng()
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// the state variance is the same as the observation
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P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.range_noise));
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// adjust the baro offset
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_baro_hgt_offset += _state.pos(2) - z_pos_before_reset;
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// adjust the height offsets
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const float delta_z = _state.pos(2) - z_pos_before_reset;
|
||||
_baro_hgt_offset += delta_z;
|
||||
_gps_hgt_offset += delta_z;
|
||||
_rng_hgt_offset = 0;
|
||||
_ev_hgt_offset += delta_z;
|
||||
}
|
||||
|
||||
void Ekf::resetHeightToEv()
|
||||
@@ -302,16 +327,29 @@ void Ekf::resetHeightToEv()
|
||||
// the state variance is the same as the observation
|
||||
P.uncorrelateCovarianceSetVariance<1>(9, fmaxf(_ev_sample_delayed.posVar(2), sq(0.01f)));
|
||||
|
||||
// adjust the baro offset
|
||||
_baro_hgt_offset += _state.pos(2) - z_pos_before_reset;
|
||||
// adjust the height offsets
|
||||
const float delta_z = _state.pos(2) - z_pos_before_reset;
|
||||
_baro_hgt_offset += delta_z;
|
||||
_gps_hgt_offset += delta_z;
|
||||
_rng_hgt_offset += delta_z;
|
||||
_ev_hgt_offset += 0;
|
||||
}
|
||||
|
||||
void Ekf::resetVerticalVelocityToGps(const gpsSample &gps_sample_delayed)
|
||||
void Ekf::resetVerticalVelocityToGps()
|
||||
{
|
||||
resetVerticalVelocityTo(gps_sample_delayed.vel(2));
|
||||
// correct velocity for offset relative to IMU
|
||||
const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body;
|
||||
const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body;
|
||||
const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body;
|
||||
|
||||
const gpsSample gps_sample{_gps_sample_delayed};
|
||||
|
||||
const Vector3f gnss_velocity = gps_sample.vel - vel_offset_earth;
|
||||
|
||||
resetVerticalVelocityTo(gnss_velocity(2));
|
||||
|
||||
// the state variance is the same as the observation
|
||||
P.uncorrelateCovarianceSetVariance<1>(6, sq(1.5f * gps_sample_delayed.sacc));
|
||||
P.uncorrelateCovarianceSetVariance<1>(6, sq(1.5f * gps_sample.sacc));
|
||||
}
|
||||
|
||||
void Ekf::resetVerticalVelocityToZero()
|
||||
@@ -352,11 +390,20 @@ void Ekf::alignOutputFilter()
|
||||
// It is used to align the yaw angle after launch or takeoff for fixed wing vehicle only.
|
||||
bool Ekf::realignYawGPS(const Vector3f &mag)
|
||||
{
|
||||
const float gpsSpeed = sqrtf(sq(_gps_sample_delayed.vel(0)) + sq(_gps_sample_delayed.vel(1)));
|
||||
const gpsSample& gps_sample = _gps_sample_delayed;
|
||||
|
||||
// correct velocity for offset relative to IMU
|
||||
const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body;
|
||||
const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body;
|
||||
const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body;
|
||||
|
||||
const Vector3f gnss_velocity = gps_sample.vel - vel_offset_earth;
|
||||
|
||||
const float gpsSpeed = sqrtf(sq(gnss_velocity(0)) + sq(gnss_velocity(1)));
|
||||
|
||||
// Need at least 5 m/s of GPS horizontal speed and
|
||||
// ratio of velocity error to velocity < 0.15 for a reliable alignment
|
||||
const bool gps_yaw_alignment_possible = (gpsSpeed > 5.0f) && (_gps_sample_delayed.sacc < (0.15f * gpsSpeed));
|
||||
const bool gps_yaw_alignment_possible = (gpsSpeed > 5.0f) && (gps_sample.sacc < (0.15f * gpsSpeed));
|
||||
|
||||
if (!gps_yaw_alignment_possible) {
|
||||
// attempt a normal alignment using the magnetometer
|
||||
@@ -368,7 +415,7 @@ bool Ekf::realignYawGPS(const Vector3f &mag)
|
||||
const bool badVelInnov = (gps_vel_test_ratio > 1.0f) && _control_status.flags.gps;
|
||||
|
||||
// calculate GPS course over ground angle
|
||||
const float gpsCOG = atan2f(_gps_sample_delayed.vel(1), _gps_sample_delayed.vel(0));
|
||||
const float gpsCOG = atan2f(gnss_velocity(1), gnss_velocity(0));
|
||||
|
||||
// calculate course yaw angle
|
||||
const float ekfCOG = atan2f(_state.vel(1), _state.vel(0));
|
||||
@@ -410,17 +457,17 @@ bool Ekf::realignYawGPS(const Vector3f &mag)
|
||||
} else if (_control_status.flags.wind) {
|
||||
// we have previously aligned yaw in-flight and have wind estimates so set the yaw such that the vehicle nose is
|
||||
// aligned with the wind relative GPS velocity vector
|
||||
yaw_new = atan2f((_gps_sample_delayed.vel(1) - _state.wind_vel(1)),
|
||||
(_gps_sample_delayed.vel(0) - _state.wind_vel(0)));
|
||||
yaw_new = atan2f((gnss_velocity(1) - _state.wind_vel(1)),
|
||||
(gnss_velocity(0) - _state.wind_vel(0)));
|
||||
|
||||
} else {
|
||||
// we don't have wind estimates, so align yaw to the GPS velocity vector
|
||||
yaw_new = atan2f(_gps_sample_delayed.vel(1), _gps_sample_delayed.vel(0));
|
||||
yaw_new = atan2f(gnss_velocity(1), gnss_velocity(0));
|
||||
|
||||
}
|
||||
|
||||
// use the combined EKF and GPS speed variance to calculate a rough estimate of the yaw error after alignment
|
||||
const float SpdErrorVariance = sq(_gps_sample_delayed.sacc) + P(4, 4) + P(5, 5);
|
||||
const float SpdErrorVariance = sq(gps_sample.sacc) + P(4, 4) + P(5, 5);
|
||||
const float sineYawError = math::constrain(sqrtf(SpdErrorVariance) / gpsSpeed, 0.0f, 1.0f);
|
||||
const float yaw_variance_new = sq(asinf(sineYawError));
|
||||
|
||||
@@ -438,8 +485,8 @@ bool Ekf::realignYawGPS(const Vector3f &mag)
|
||||
|
||||
// If heading was bad, then we also need to reset the velocity and position states
|
||||
if (badMagYaw) {
|
||||
resetVelocityToGps(_gps_sample_delayed);
|
||||
resetHorizontalPositionToGps(_gps_sample_delayed);
|
||||
resetVelocityToGps(gps_sample);
|
||||
resetHorizontalPositionToGps(gps_sample);
|
||||
}
|
||||
|
||||
return true;
|
||||
@@ -742,7 +789,7 @@ bool Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, cons
|
||||
resetVerticalPositionTo(_gps_alt_ref - current_alt);
|
||||
|
||||
_baro_hgt_offset -= _state_reset_status.posD_change;
|
||||
|
||||
_gps_hgt_offset = 0.f; // TODO
|
||||
_rng_hgt_offset -= _state_reset_status.posD_change;
|
||||
_ev_hgt_offset -= _state_reset_status.posD_change;
|
||||
}
|
||||
@@ -1306,14 +1353,7 @@ void Ekf::startBaroHgtFusion()
|
||||
void Ekf::startGpsHgtFusion()
|
||||
{
|
||||
if (!_control_status.flags.gps_hgt) {
|
||||
if (_control_status.flags.rng_hgt) {
|
||||
// switch out of range aid
|
||||
// calculate height sensor offset such that current
|
||||
// measurement matches our current height estimate
|
||||
_gps_hgt_offset = _gps_sample_delayed.hgt - getEkfGlobalOriginAltitude() + _state.pos(2);
|
||||
|
||||
} else {
|
||||
_gps_hgt_offset = 0.f;
|
||||
if (!_control_status.flags.rng_hgt) {
|
||||
resetHeightToGps();
|
||||
}
|
||||
|
||||
@@ -1368,28 +1408,13 @@ void Ekf::startEvHgtFusion()
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf::updateBaroHgtOffset()
|
||||
{
|
||||
// calculate a filtered offset between the baro origin and local NED origin if we are not
|
||||
// using the baro as a height reference
|
||||
if (!_control_status.flags.baro_hgt && _baro_data_ready && (_delta_time_baro_us != 0)) {
|
||||
const float local_time_step = math::constrain(1e-6f * _delta_time_baro_us, 0.0f, 1.0f);
|
||||
|
||||
// apply a 10 second first order low pass filter to baro offset
|
||||
const float unbiased_baro = _baro_sample_delayed.hgt - _baro_b_est.getBias();
|
||||
|
||||
const float offset_rate_correction = 0.1f * (unbiased_baro + _state.pos(2) - _baro_hgt_offset);
|
||||
_baro_hgt_offset += local_time_step * math::constrain(offset_rate_correction, -0.1f, 0.1f);
|
||||
}
|
||||
}
|
||||
|
||||
float Ekf::getGpsHeightVariance()
|
||||
float Ekf::getGpsHeightVariance(float vacc)
|
||||
{
|
||||
// observation variance - receiver defined and parameter limited
|
||||
// use 1.5 as a typical ratio of vacc/hacc
|
||||
const float lower_limit = fmaxf(1.5f * _params.gps_pos_noise, 0.01f);
|
||||
const float upper_limit = fmaxf(1.5f * _params.pos_noaid_noise, lower_limit);
|
||||
const float gps_alt_var = sq(math::constrain(_gps_sample_delayed.vacc, lower_limit, upper_limit));
|
||||
const float gps_alt_var = sq(math::constrain(vacc, lower_limit, upper_limit));
|
||||
return gps_alt_var;
|
||||
}
|
||||
|
||||
@@ -1407,9 +1432,14 @@ void Ekf::updateBaroHgtBias()
|
||||
&& _gps_checks_passed && _NED_origin_initialised
|
||||
&& !_baro_hgt_faulty) {
|
||||
// Use GPS altitude as a reference to compute the baro bias measurement
|
||||
const float baro_bias = (_baro_sample_delayed.hgt - _baro_hgt_offset)
|
||||
- (_gps_sample_delayed.hgt - getEkfGlobalOriginAltitude());
|
||||
const float baro_bias_var = getGpsHeightVariance() + sq(_params.baro_noise);
|
||||
|
||||
// correct position and height for offset relative to IMU
|
||||
const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body;
|
||||
const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
|
||||
const float gps_hgt = _gps_sample_delayed.alt + pos_offset_earth(2) - getEkfGlobalOriginAltitude();
|
||||
|
||||
const float baro_bias = (_baro_sample_delayed.hgt - _baro_hgt_offset) - gps_hgt;
|
||||
const float baro_bias_var = getGpsHeightVariance(_gps_sample_delayed.vacc) + sq(_params.baro_noise);
|
||||
_baro_b_est.fuseBias(baro_bias, baro_bias_var);
|
||||
}
|
||||
}
|
||||
@@ -1589,22 +1619,6 @@ void Ekf::stopAirspeedFusion()
|
||||
_control_status.flags.fuse_aspd = false;
|
||||
}
|
||||
|
||||
void Ekf::startGpsFusion()
|
||||
{
|
||||
if (!_control_status.flags.gps) {
|
||||
resetHorizontalPositionToGps(_gps_sample_delayed);
|
||||
|
||||
// when already using another velocity source velocity reset is not necessary
|
||||
if (!_control_status.flags.opt_flow && !_control_status.flags.ev_vel) {
|
||||
resetVelocityToGps(_gps_sample_delayed);
|
||||
}
|
||||
|
||||
_information_events.flags.starting_gps_fusion = true;
|
||||
ECL_INFO("starting GPS fusion");
|
||||
_control_status.flags.gps = true;
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf::stopGpsFusion()
|
||||
{
|
||||
if (_control_status.flags.gps) {
|
||||
@@ -1642,9 +1656,9 @@ void Ekf::stopGpsVelFusion()
|
||||
resetEstimatorAidStatus(_aid_src_gnss_vel);
|
||||
}
|
||||
|
||||
void Ekf::startGpsYawFusion()
|
||||
void Ekf::startGpsYawFusion(const gpsSample& gps_sample)
|
||||
{
|
||||
if (!_control_status.flags.gps_yaw && resetYawToGps()) {
|
||||
if (!_control_status.flags.gps_yaw && resetYawToGps(gps_sample)) {
|
||||
ECL_INFO("starting GPS yaw fusion");
|
||||
_control_status.flags.yaw_align = true;
|
||||
_control_status.flags.mag_dec = false;
|
||||
@@ -1846,12 +1860,6 @@ void Ekf::runYawEKFGSF()
|
||||
|
||||
const Vector3f imu_gyro_bias = getGyroBias();
|
||||
_yawEstimator.update(_imu_sample_delayed, _control_status.flags.in_air, TAS, imu_gyro_bias);
|
||||
|
||||
// basic sanity check on GPS velocity data
|
||||
if (_gps_data_ready && _gps_sample_delayed.vacc > FLT_EPSILON &&
|
||||
PX4_ISFINITE(_gps_sample_delayed.vel(0)) && PX4_ISFINITE(_gps_sample_delayed.vel(1))) {
|
||||
_yawEstimator.setVelocity(_gps_sample_delayed.vel.xy(), _gps_sample_delayed.vacc);
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf::resetGpsDriftCheckFilters()
|
||||
|
||||
@@ -129,7 +129,7 @@ void EstimatorInterface::setMagData(const magSample &mag_sample)
|
||||
}
|
||||
}
|
||||
|
||||
void EstimatorInterface::setGpsData(const gpsMessage &gps)
|
||||
void EstimatorInterface::setGpsData(const gpsSample &gps)
|
||||
{
|
||||
if (!_initialised) {
|
||||
return;
|
||||
@@ -147,44 +147,18 @@ void EstimatorInterface::setGpsData(const gpsMessage &gps)
|
||||
}
|
||||
}
|
||||
|
||||
if ((gps.time_usec - _time_last_gps) > _min_obs_interval_us) {
|
||||
_time_last_gps = gps.time_usec;
|
||||
if ((gps.time_us - _time_last_gps) > _min_obs_interval_us) {
|
||||
_time_last_gps = gps.time_us;
|
||||
|
||||
gpsSample gps_sample_new;
|
||||
gpsSample gps_sample_new{gps};
|
||||
|
||||
gps_sample_new.time_us = gps.time_usec - static_cast<uint64_t>(_params.gps_delay_ms * 1000);
|
||||
gps_sample_new.time_us = gps.time_us - static_cast<uint64_t>(_params.gps_delay_ms * 1000);
|
||||
gps_sample_new.time_us -= static_cast<uint64_t>(_dt_ekf_avg * 5e5f); // seconds to microseconds divided by 2
|
||||
|
||||
gps_sample_new.vel = gps.vel_ned;
|
||||
|
||||
_gps_speed_valid = gps.vel_ned_valid;
|
||||
gps_sample_new.sacc = gps.sacc;
|
||||
gps_sample_new.hacc = gps.eph;
|
||||
gps_sample_new.vacc = gps.epv;
|
||||
|
||||
gps_sample_new.hgt = (float)gps.alt * 1e-3f;
|
||||
|
||||
gps_sample_new.yaw = gps.yaw;
|
||||
|
||||
if (PX4_ISFINITE(gps.yaw_offset)) {
|
||||
_gps_yaw_offset = gps.yaw_offset;
|
||||
|
||||
} else {
|
||||
_gps_yaw_offset = 0.0f;
|
||||
}
|
||||
|
||||
// Only calculate the relative position if the WGS-84 location of the origin is set
|
||||
if (collect_gps(gps)) {
|
||||
gps_sample_new.pos = _pos_ref.project((gps.lat / 1.0e7), (gps.lon / 1.0e7));
|
||||
|
||||
} else {
|
||||
gps_sample_new.pos(0) = 0.0f;
|
||||
gps_sample_new.pos(1) = 0.0f;
|
||||
}
|
||||
|
||||
_gps_buffer->push(gps_sample_new);
|
||||
|
||||
} else {
|
||||
ECL_ERR("GPS data too fast %" PRIu64, gps.time_usec - _time_last_gps);
|
||||
ECL_ERR("GPS data too fast %" PRIu64, gps.time_us - _time_last_gps);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -77,14 +77,11 @@ using namespace estimator;
|
||||
class EstimatorInterface
|
||||
{
|
||||
public:
|
||||
// ask estimator for sensor data collection decision and do any preprocessing if required, returns true if not defined
|
||||
virtual bool collect_gps(const gpsMessage &gps) = 0;
|
||||
|
||||
void setIMUData(const imuSample &imu_sample);
|
||||
|
||||
void setMagData(const magSample &mag_sample);
|
||||
|
||||
void setGpsData(const gpsMessage &gps);
|
||||
void setGpsData(const gpsSample &gps);
|
||||
|
||||
void setBaroData(const baroSample &baro_sample);
|
||||
|
||||
@@ -319,13 +316,11 @@ protected:
|
||||
bool _initialised{false}; // true if the ekf interface instance (data buffering) is initialized
|
||||
|
||||
bool _NED_origin_initialised{false};
|
||||
bool _gps_speed_valid{false};
|
||||
float _gps_origin_eph{0.0f}; // horizontal position uncertainty of the GPS origin
|
||||
float _gps_origin_epv{0.0f}; // vertical position uncertainty of the GPS origin
|
||||
MapProjection _pos_ref{}; // Contains WGS-84 position latitude and longitude of the EKF origin
|
||||
MapProjection _gps_pos_prev{}; // Contains WGS-84 position latitude and longitude of the previous GPS message
|
||||
float _gps_alt_prev{0.0f}; // height from the previous GPS message (m)
|
||||
float _gps_yaw_offset{0.0f}; // Yaw offset angle for dual GPS antennas used for yaw estimation (radians).
|
||||
|
||||
// innovation consistency check monitoring ratios
|
||||
float _yaw_test_ratio{}; // yaw innovation consistency check ratio
|
||||
|
||||
@@ -55,18 +55,15 @@
|
||||
#define MASK_GPS_HSPD (1<<7)
|
||||
#define MASK_GPS_VSPD (1<<8)
|
||||
|
||||
bool Ekf::collect_gps(const gpsMessage &gps)
|
||||
bool Ekf::collect_gps(const gpsSample &gps)
|
||||
{
|
||||
// Run GPS checks always
|
||||
_gps_checks_passed = gps_is_good(gps);
|
||||
|
||||
if (_filter_initialised && !_NED_origin_initialised && _gps_checks_passed) {
|
||||
// If we have good GPS data set the origin's WGS-84 position to the last gps fix
|
||||
const double lat = gps.lat * 1.0e-7;
|
||||
const double lon = gps.lon * 1.0e-7;
|
||||
|
||||
if (!_pos_ref.isInitialized()) {
|
||||
_pos_ref.initReference(lat, lon, _time_last_imu);
|
||||
_pos_ref.initReference(gps.lat, gps.lon, _time_last_imu);
|
||||
|
||||
// if we are already doing aiding, correct for the change in position since the EKF started navigating
|
||||
if (isHorizontalAidingActive()) {
|
||||
@@ -79,7 +76,7 @@ bool Ekf::collect_gps(const gpsMessage &gps)
|
||||
|
||||
// Take the current GPS height and subtract the filter height above origin to estimate the GPS height of the origin
|
||||
if (!PX4_ISFINITE(_gps_alt_ref)) {
|
||||
_gps_alt_ref = 1e-3f * (float)gps.alt + _state.pos(2);
|
||||
_gps_alt_ref = gps.alt + _state.pos(2);
|
||||
}
|
||||
|
||||
_NED_origin_initialised = true;
|
||||
@@ -90,9 +87,9 @@ bool Ekf::collect_gps(const gpsMessage &gps)
|
||||
const bool declination_was_valid = PX4_ISFINITE(_mag_declination_gps);
|
||||
|
||||
// set the magnetic field data returned by the geo library using the current GPS position
|
||||
_mag_declination_gps = get_mag_declination_radians(lat, lon);
|
||||
_mag_inclination_gps = get_mag_inclination_radians(lat, lon);
|
||||
_mag_strength_gps = get_mag_strength_gauss(lat, lon);
|
||||
_mag_declination_gps = get_mag_declination_radians(gps.lat, gps.lon);
|
||||
_mag_inclination_gps = get_mag_inclination_radians(gps.lat, gps.lon);
|
||||
_mag_strength_gps = get_mag_strength_gauss(gps.lat, gps.lon);
|
||||
|
||||
// request a reset of the yaw using the new declination
|
||||
if ((_params.mag_fusion_type != MagFuseType::NONE)
|
||||
@@ -101,26 +98,23 @@ bool Ekf::collect_gps(const gpsMessage &gps)
|
||||
}
|
||||
|
||||
// save the horizontal and vertical position uncertainty of the origin
|
||||
_gps_origin_eph = gps.eph;
|
||||
_gps_origin_epv = gps.epv;
|
||||
_gps_origin_eph = gps.hacc;
|
||||
_gps_origin_epv = gps.vacc;
|
||||
|
||||
_information_events.flags.gps_checks_passed = true;
|
||||
ECL_INFO("GPS checks passed");
|
||||
|
||||
} else if (!_NED_origin_initialised) {
|
||||
// a rough 2D fix is still sufficient to lookup declination
|
||||
if ((gps.fix_type >= 2) && (gps.eph < 1000)) {
|
||||
if ((gps.fix_type >= 2) && (gps.hacc < 1000)) {
|
||||
|
||||
const bool declination_was_valid = PX4_ISFINITE(_mag_declination_gps);
|
||||
|
||||
// If we have good GPS data set the origin's WGS-84 position to the last gps fix
|
||||
const double lat = gps.lat * 1.0e-7;
|
||||
const double lon = gps.lon * 1.0e-7;
|
||||
|
||||
// set the magnetic field data returned by the geo library using the current GPS position
|
||||
_mag_declination_gps = get_mag_declination_radians(lat, lon);
|
||||
_mag_inclination_gps = get_mag_inclination_radians(lat, lon);
|
||||
_mag_strength_gps = get_mag_strength_gauss(lat, lon);
|
||||
_mag_declination_gps = get_mag_declination_radians(gps.lat, gps.lon);
|
||||
_mag_inclination_gps = get_mag_inclination_radians(gps.lat, gps.lon);
|
||||
_mag_strength_gps = get_mag_strength_gauss(gps.lat, gps.lon);
|
||||
|
||||
// request mag yaw reset if there's a mag declination for the first time
|
||||
if (_params.mag_fusion_type != MagFuseType::NONE) {
|
||||
@@ -129,7 +123,7 @@ bool Ekf::collect_gps(const gpsMessage &gps)
|
||||
}
|
||||
}
|
||||
|
||||
_earth_rate_NED = calcEarthRateNED((float)math::radians(lat));
|
||||
_earth_rate_NED = calcEarthRateNED((float)math::radians(gps.lat));
|
||||
}
|
||||
}
|
||||
|
||||
@@ -144,7 +138,7 @@ bool Ekf::collect_gps(const gpsMessage &gps)
|
||||
* Checks are activated using the EKF2_GPS_CHECK bitmask parameter
|
||||
* Checks are adjusted using the EKF2_REQ_* parameters
|
||||
*/
|
||||
bool Ekf::gps_is_good(const gpsMessage &gps)
|
||||
bool Ekf::gps_is_good(const gpsSample &gps)
|
||||
{
|
||||
// Check the fix type
|
||||
_gps_check_fail_status.flags.fix = (gps.fix_type < 3);
|
||||
@@ -156,25 +150,22 @@ bool Ekf::gps_is_good(const gpsMessage &gps)
|
||||
_gps_check_fail_status.flags.pdop = (gps.pdop > _params.req_pdop);
|
||||
|
||||
// Check the reported horizontal and vertical position accuracy
|
||||
_gps_check_fail_status.flags.hacc = (gps.eph > _params.req_hacc);
|
||||
_gps_check_fail_status.flags.vacc = (gps.epv > _params.req_vacc);
|
||||
_gps_check_fail_status.flags.hacc = (gps.hacc > _params.req_hacc);
|
||||
_gps_check_fail_status.flags.vacc = (gps.vacc > _params.req_vacc);
|
||||
|
||||
// Check the reported speed accuracy
|
||||
_gps_check_fail_status.flags.sacc = (gps.sacc > _params.req_sacc);
|
||||
|
||||
// check if GPS quality is degraded
|
||||
_gps_error_norm = fmaxf((gps.eph / _params.req_hacc), (gps.epv / _params.req_vacc));
|
||||
_gps_error_norm = fmaxf((gps.hacc / _params.req_hacc), (gps.vacc / _params.req_vacc));
|
||||
_gps_error_norm = fmaxf(_gps_error_norm, (gps.sacc / _params.req_sacc));
|
||||
|
||||
// Calculate time lapsed since last update, limit to prevent numerical errors and calculate a lowpass filter coefficient
|
||||
constexpr float filt_time_const = 10.0f;
|
||||
constexpr float filt_time_const = 10.f;
|
||||
const float dt = math::constrain(float(int64_t(_time_last_imu) - int64_t(_gps_pos_prev.getProjectionReferenceTimestamp())) * 1e-6f, 0.001f, filt_time_const);
|
||||
const float filter_coef = dt / filt_time_const;
|
||||
|
||||
// The following checks are only valid when the vehicle is at rest
|
||||
const double lat = gps.lat * 1.0e-7;
|
||||
const double lon = gps.lon * 1.0e-7;
|
||||
|
||||
if (!_control_status.flags.in_air && _control_status.flags.vehicle_at_rest) {
|
||||
// Calculate position movement since last measurement
|
||||
float delta_pos_n = 0.0f;
|
||||
@@ -182,21 +173,21 @@ bool Ekf::gps_is_good(const gpsMessage &gps)
|
||||
|
||||
// calculate position movement since last GPS fix
|
||||
if (_gps_pos_prev.getProjectionReferenceTimestamp() > 0) {
|
||||
_gps_pos_prev.project(lat, lon, delta_pos_n, delta_pos_e);
|
||||
_gps_pos_prev.project(gps.lat, gps.lon, delta_pos_n, delta_pos_e);
|
||||
|
||||
} else {
|
||||
// no previous position has been set
|
||||
_gps_pos_prev.initReference(lat, lon, _time_last_imu);
|
||||
_gps_alt_prev = 1e-3f * (float)gps.alt;
|
||||
_gps_pos_prev.initReference(gps.lat, gps.lon, _time_last_imu);
|
||||
_gps_alt_prev = gps.alt;
|
||||
}
|
||||
|
||||
// Calculate the horizontal and vertical drift velocity components and limit to 10x the threshold
|
||||
const Vector3f vel_limit(_params.req_hdrift, _params.req_hdrift, _params.req_vdrift);
|
||||
Vector3f pos_derived(delta_pos_n, delta_pos_e, (_gps_alt_prev - 1e-3f * (float)gps.alt));
|
||||
pos_derived = matrix::constrain(pos_derived / dt, -10.0f * vel_limit, 10.0f * vel_limit);
|
||||
Vector3f pos_derived(delta_pos_n, delta_pos_e, (_gps_alt_prev - gps.alt));
|
||||
pos_derived = matrix::constrain(pos_derived / dt, -10.f * vel_limit, 10.f * vel_limit);
|
||||
|
||||
// Apply a low pass filter
|
||||
_gps_pos_deriv_filt = pos_derived * filter_coef + _gps_pos_deriv_filt * (1.0f - filter_coef);
|
||||
_gps_pos_deriv_filt = pos_derived * filter_coef + _gps_pos_deriv_filt * (1.f - filter_coef);
|
||||
|
||||
// Calculate the horizontal drift speed and fail if too high
|
||||
_gps_horizontal_position_drift_rate_m_s = Vector2f(_gps_pos_deriv_filt.xy()).norm();
|
||||
@@ -207,9 +198,9 @@ bool Ekf::gps_is_good(const gpsMessage &gps)
|
||||
_gps_check_fail_status.flags.vdrift = (_gps_vertical_position_drift_rate_m_s > _params.req_vdrift);
|
||||
|
||||
// Check the magnitude of the filtered horizontal GPS velocity
|
||||
const Vector2f gps_velNE = matrix::constrain(Vector2f(gps.vel_ned.xy()),
|
||||
-10.0f * _params.req_hdrift,
|
||||
10.0f * _params.req_hdrift);
|
||||
const Vector2f gps_velNE = matrix::constrain(Vector2f(gps.vel.xy()),
|
||||
-10.f * _params.req_hdrift,
|
||||
10.f * _params.req_hdrift);
|
||||
_gps_velNE_filt = gps_velNE * filter_coef + _gps_velNE_filt * (1.0f - filter_coef);
|
||||
_gps_filtered_horizontal_velocity_m_s = _gps_velNE_filt.norm();
|
||||
_gps_check_fail_status.flags.hspeed = (_gps_filtered_horizontal_velocity_m_s > _params.req_hdrift);
|
||||
@@ -229,12 +220,12 @@ bool Ekf::gps_is_good(const gpsMessage &gps)
|
||||
}
|
||||
|
||||
// save GPS fix for next time
|
||||
_gps_pos_prev.initReference(lat, lon, _time_last_imu);
|
||||
_gps_alt_prev = 1e-3f * (float)gps.alt;
|
||||
_gps_pos_prev.initReference(gps.lat, gps.lon, _time_last_imu);
|
||||
_gps_alt_prev = gps.alt;
|
||||
|
||||
// Check the filtered difference between GPS and EKF vertical velocity
|
||||
const float vz_diff_limit = 10.0f * _params.req_vdrift;
|
||||
const float vertVel = math::constrain(gps.vel_ned(2) - _state.vel(2), -vz_diff_limit, vz_diff_limit);
|
||||
const float vz_diff_limit = 10.f * _params.req_vdrift;
|
||||
const float vertVel = math::constrain(gps.vel(2) - _state.vel(2), -vz_diff_limit, vz_diff_limit);
|
||||
_gps_velD_diff_filt = vertVel * filter_coef + _gps_velD_diff_filt * (1.0f - filter_coef);
|
||||
_gps_check_fail_status.flags.vspeed = (fabsf(_gps_velD_diff_filt) > _params.req_vdrift);
|
||||
|
||||
|
||||
@@ -48,18 +48,59 @@ void Ekf::controlGpsFusion()
|
||||
|
||||
// Check for new GPS data that has fallen behind the fusion time horizon
|
||||
if (_gps_data_ready) {
|
||||
const gpsSample gps_sample{_gps_sample_delayed};
|
||||
|
||||
// reset flags
|
||||
resetEstimatorAidStatusFlags(_aid_src_gnss_vel);
|
||||
resetEstimatorAidStatusFlags(_aid_src_gnss_pos);
|
||||
|
||||
updateGpsVel(_gps_sample_delayed);
|
||||
updateGpsPos(_gps_sample_delayed);
|
||||
|
||||
// correct velocity for offset relative to IMU
|
||||
const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body;
|
||||
const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body;
|
||||
const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body;
|
||||
|
||||
// correct position and height for offset relative to IMU
|
||||
const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
|
||||
|
||||
const Vector3f gnss_velocity = gps_sample.vel - vel_offset_earth;
|
||||
|
||||
Vector3f gnss_position;
|
||||
gnss_position.xy() = _pos_ref.project(gps_sample.lat, gps_sample.lon) - pos_offset_earth.xy();
|
||||
|
||||
// GPS height: update offset
|
||||
if (!_control_status.flags.gps_hgt) {
|
||||
// calculate a filtered offset between the GNSS origin and local NED origin if we are not
|
||||
// using the GNSS as a height reference
|
||||
if (_delta_time_gnss_us != 0) {
|
||||
const float local_time_step = math::constrain(1e-6f * _delta_time_gnss_us, 0.0f, 1.0f);
|
||||
|
||||
// apply a 10 second first order low pass filter to offset
|
||||
const float hgt_offset = gps_sample.alt + pos_offset_earth(2) - getEkfGlobalOriginAltitude() + _state.pos(2);
|
||||
|
||||
const float offset_rate_correction = 0.1f * (hgt_offset + _state.pos(2) - _gps_hgt_offset);
|
||||
_gps_hgt_offset += local_time_step * math::constrain(offset_rate_correction, -0.1f, 0.1f);
|
||||
}
|
||||
}
|
||||
|
||||
// vertical position - gps measurement has opposite sign to earth z axis
|
||||
gnss_position(2) = -((gps_sample.alt + pos_offset_earth(2)) - getEkfGlobalOriginAltitude() - _gps_hgt_offset);
|
||||
|
||||
updateGpsVel(gps_sample.time_us, gnss_velocity, gps_sample.sacc);
|
||||
updateGpsPos(gps_sample.time_us, gnss_position, gps_sample.hacc, gps_sample.vacc);
|
||||
|
||||
const bool gps_checks_passing = isTimedOut(_last_gps_fail_us, (uint64_t)5e6);
|
||||
const bool gps_checks_failing = isTimedOut(_last_gps_pass_us, (uint64_t)5e6);
|
||||
|
||||
controlGpsYawFusion(gps_checks_passing, gps_checks_failing);
|
||||
|
||||
// Yaw EKFGSF update
|
||||
if (gps_checks_passing && !gps_checks_failing) {
|
||||
_yawEstimator.setVelocity(gnss_velocity.xy(), gps_sample.vacc);
|
||||
}
|
||||
|
||||
// GPS yaw
|
||||
controlGpsYawFusion(gps_sample, gps_checks_passing, gps_checks_failing);
|
||||
|
||||
|
||||
// Determine if we should use GPS aiding for velocity and horizontal position
|
||||
// To start using GPS we need angular alignment completed, the local NED origin set and GPS data that has not failed checks recently
|
||||
@@ -79,7 +120,7 @@ void Ekf::controlGpsFusion()
|
||||
fuseGpsPos();
|
||||
|
||||
if (shouldResetGpsFusion()) {
|
||||
const bool was_gps_signal_lost = isTimedOut(_time_prev_gps_us, 1000000);
|
||||
const bool was_gps_signal_lost = isTimedOut(_time_prev_gps_us, 1'000'000);
|
||||
|
||||
/* A reset is not performed when getting GPS back after a significant period of no data
|
||||
* because the timeout could have been caused by bad GPS.
|
||||
@@ -89,7 +130,7 @@ void Ekf::controlGpsFusion()
|
||||
&& _control_status.flags.in_air
|
||||
&& !was_gps_signal_lost
|
||||
&& _ekfgsf_yaw_reset_count < _params.EKFGSF_reset_count_limit
|
||||
&& isTimedOut(_ekfgsf_yaw_reset_time, 5000000)) {
|
||||
&& isTimedOut(_ekfgsf_yaw_reset_time, 5'000'000)) {
|
||||
// The minimum time interval between resets to the EKF-GSF estimate is limited to allow the EKF-GSF time
|
||||
// to improve its estimate if the previous reset was not successful.
|
||||
if (resetYawToEKFGSF()) {
|
||||
@@ -107,8 +148,15 @@ void Ekf::controlGpsFusion()
|
||||
ECL_WARN("GPS fusion timeout - resetting");
|
||||
}
|
||||
|
||||
resetVelocityToGps(_gps_sample_delayed);
|
||||
resetHorizontalPositionToGps(_gps_sample_delayed);
|
||||
ECL_INFO("reset velocity & position to GNSS");
|
||||
_information_events.flags.reset_vel_to_gps = true;
|
||||
_information_events.flags.reset_pos_to_gps = true;
|
||||
|
||||
resetVelocityTo(gnss_velocity);
|
||||
resetHorizontalPositionTo(gnss_position.xy());
|
||||
|
||||
P.uncorrelateCovarianceSetVariance<3>(4, sq(gps_sample.sacc));
|
||||
P.uncorrelateCovarianceSetVariance<2>(7, sq(gps_sample.hacc));
|
||||
}
|
||||
|
||||
} else {
|
||||
@@ -142,7 +190,26 @@ void Ekf::controlGpsFusion()
|
||||
_inhibit_ev_yaw_use = true;
|
||||
|
||||
} else {
|
||||
startGpsFusion();
|
||||
|
||||
if (!_control_status.flags.gps) {
|
||||
_information_events.flags.starting_gps_fusion = true;
|
||||
ECL_INFO("starting GPS fusion");
|
||||
|
||||
_information_events.flags.reset_pos_to_gps = true;
|
||||
resetHorizontalPositionTo(gnss_position.xy());
|
||||
P.uncorrelateCovarianceSetVariance<2>(7, sq(gps_sample.hacc));
|
||||
|
||||
// when already using another velocity source velocity reset is not necessary
|
||||
if (!_control_status.flags.opt_flow && !_control_status.flags.ev_vel) {
|
||||
// resetVelocityToGps
|
||||
ECL_INFO("reset velocity to GPS");
|
||||
_information_events.flags.reset_vel_to_gps = true;
|
||||
resetVelocityTo(gnss_velocity);
|
||||
P.uncorrelateCovarianceSetVariance<3>(4, sq(gps_sample.sacc));
|
||||
}
|
||||
|
||||
_control_status.flags.gps = true;
|
||||
}
|
||||
}
|
||||
|
||||
} else if (gps_checks_passing && !_control_status.flags.yaw_align && (_params.mag_fusion_type == MagFuseType::NONE)) {
|
||||
@@ -150,18 +217,24 @@ void Ekf::controlGpsFusion()
|
||||
if (resetYawToEKFGSF()) {
|
||||
_information_events.flags.yaw_aligned_to_imu_gps = true;
|
||||
ECL_INFO("Yaw aligned using IMU and GPS");
|
||||
resetVelocityToGps(_gps_sample_delayed);
|
||||
resetHorizontalPositionToGps(_gps_sample_delayed);
|
||||
|
||||
_information_events.flags.reset_vel_to_gps = true;
|
||||
_information_events.flags.reset_pos_to_gps = true;
|
||||
|
||||
resetVelocityTo(gnss_velocity);
|
||||
resetHorizontalPositionTo(gnss_position.xy());
|
||||
P.uncorrelateCovarianceSetVariance<3>(4, sq(gps_sample.sacc));
|
||||
P.uncorrelateCovarianceSetVariance<2>(7, sq(gps_sample.hacc));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)10e6)) {
|
||||
} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _time_prev_gps_us > (uint64_t)10e6)) {
|
||||
stopGpsFusion();
|
||||
_warning_events.flags.gps_data_stopped = true;
|
||||
ECL_WARN("GPS data stopped");
|
||||
|
||||
} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)1e6)
|
||||
} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _time_prev_gps_us > (uint64_t)1e6)
|
||||
&& isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
|
||||
// Handle the case where we are fusing another position source along GPS,
|
||||
// stop waiting for GPS after 1 s of lost signal
|
||||
|
||||
@@ -39,9 +39,9 @@
|
||||
/* #include <mathlib/mathlib.h> */
|
||||
#include "ekf.h"
|
||||
|
||||
void Ekf::updateGpsVel(const gpsSample &gps_sample)
|
||||
void Ekf::updateGpsVel(const uint64_t& time_us, const Vector3f vel, float sacc)
|
||||
{
|
||||
const float vel_var = sq(gps_sample.sacc);
|
||||
const float vel_var = sq(sacc);
|
||||
const Vector3f obs_var{vel_var, vel_var, vel_var * sq(1.5f)};
|
||||
|
||||
// innovation gate size
|
||||
@@ -50,10 +50,10 @@ void Ekf::updateGpsVel(const gpsSample &gps_sample)
|
||||
auto &gps_vel = _aid_src_gnss_vel;
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
gps_vel.observation[i] = gps_sample.vel(i);
|
||||
gps_vel.observation[i] = vel(i);
|
||||
gps_vel.observation_variance[i] = obs_var(i);
|
||||
|
||||
gps_vel.innovation[i] = _state.vel(i) - gps_sample.vel(i);
|
||||
gps_vel.innovation[i] = _state.vel(i) - vel(i);
|
||||
gps_vel.innovation_variance[i] = P(4 + i, 4 + i) + obs_var(i);
|
||||
}
|
||||
|
||||
@@ -67,18 +67,11 @@ void Ekf::updateGpsVel(const gpsSample &gps_sample)
|
||||
gps_vel.innovation_rejected[2] = false;
|
||||
}
|
||||
|
||||
gps_vel.timestamp_sample = gps_sample.time_us;
|
||||
gps_vel.timestamp_sample = time_us;
|
||||
}
|
||||
|
||||
void Ekf::updateGpsPos(const gpsSample &gps_sample)
|
||||
void Ekf::updateGpsPos(const uint64_t& time_us, const Vector3f& position, float hacc, float vacc)
|
||||
{
|
||||
Vector3f position;
|
||||
position(0) = gps_sample.pos(0);
|
||||
position(1) = gps_sample.pos(1);
|
||||
|
||||
// vertical position - gps measurement has opposite sign to earth z axis
|
||||
position(2) = -(gps_sample.hgt - getEkfGlobalOriginAltitude() - _gps_hgt_offset);
|
||||
|
||||
const float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f);
|
||||
|
||||
Vector3f obs_var;
|
||||
@@ -86,16 +79,16 @@ void Ekf::updateGpsPos(const gpsSample &gps_sample)
|
||||
if (isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
|
||||
// if we are using other sources of aiding, then relax the upper observation
|
||||
// noise limit which prevents bad GPS perturbing the position estimate
|
||||
obs_var(0) = obs_var(1) = sq(fmaxf(gps_sample.hacc, lower_limit));
|
||||
obs_var(0) = obs_var(1) = sq(fmaxf(hacc, lower_limit));
|
||||
|
||||
} else {
|
||||
// if we are not using another source of aiding, then we are reliant on the GPS
|
||||
// observations to constrain attitude errors and must limit the observation noise value.
|
||||
float upper_limit = fmaxf(_params.pos_noaid_noise, lower_limit);
|
||||
obs_var(0) = obs_var(1) = sq(math::constrain(gps_sample.hacc, lower_limit, upper_limit));
|
||||
obs_var(0) = obs_var(1) = sq(math::constrain(hacc, lower_limit, upper_limit));
|
||||
}
|
||||
|
||||
obs_var(2) = getGpsHeightVariance();
|
||||
obs_var(2) = getGpsHeightVariance(vacc);
|
||||
|
||||
// innovation gate size
|
||||
float innov_gate = fmaxf(_params.gps_pos_innov_gate, 1.f);
|
||||
@@ -120,7 +113,7 @@ void Ekf::updateGpsPos(const gpsSample &gps_sample)
|
||||
gps_pos.innovation_rejected[2] = false;
|
||||
}
|
||||
|
||||
gps_pos.timestamp_sample = gps_sample.time_us;
|
||||
gps_pos.timestamp_sample = time_us;
|
||||
}
|
||||
|
||||
void Ekf::fuseGpsVel()
|
||||
|
||||
@@ -45,7 +45,7 @@
|
||||
#include <mathlib/mathlib.h>
|
||||
#include <cstdlib>
|
||||
|
||||
void Ekf::fuseGpsYaw()
|
||||
void Ekf::fuseGpsYaw(const gpsSample &gps_sample)
|
||||
{
|
||||
// assign intermediate state variables
|
||||
const float q0 = _state.quat_nominal(0);
|
||||
@@ -54,10 +54,10 @@ void Ekf::fuseGpsYaw()
|
||||
const float q3 = _state.quat_nominal(3);
|
||||
|
||||
// calculate the observed yaw angle of antenna array, converting a from body to antenna yaw measurement
|
||||
const float measured_hdg = wrap_pi(_gps_sample_delayed.yaw + _gps_yaw_offset);
|
||||
const float measured_hdg = wrap_pi(gps_sample.yaw + gps_sample.yaw_offset);
|
||||
|
||||
// define the predicted antenna array vector and rotate into earth frame
|
||||
const Vector3f ant_vec_bf = {cosf(_gps_yaw_offset), sinf(_gps_yaw_offset), 0.0f};
|
||||
const Vector3f ant_vec_bf = {cosf(gps_sample.yaw_offset), sinf(gps_sample.yaw_offset), 0.f};
|
||||
const Vector3f ant_vec_ef = _R_to_earth * ant_vec_bf;
|
||||
|
||||
// check if antenna array vector is within 30 degrees of vertical and therefore unable to provide a reliable heading
|
||||
@@ -73,11 +73,11 @@ void Ekf::fuseGpsYaw()
|
||||
const float R_YAW = sq(fmaxf(_params.gps_heading_noise, 1.0e-2f));
|
||||
|
||||
// calculate intermediate variables
|
||||
const float HK0 = sinf(_gps_yaw_offset);
|
||||
const float HK0 = sinf(gps_sample.yaw_offset);
|
||||
const float HK1 = q0*q3;
|
||||
const float HK2 = q1*q2;
|
||||
const float HK3 = 2*HK0*(HK1 - HK2);
|
||||
const float HK4 = cosf(_gps_yaw_offset);
|
||||
const float HK4 = cosf(gps_sample.yaw_offset);
|
||||
const float HK5 = ecl::powf(q1, 2);
|
||||
const float HK6 = ecl::powf(q2, 2);
|
||||
const float HK7 = ecl::powf(q0, 2) - ecl::powf(q3, 2);
|
||||
@@ -195,10 +195,10 @@ void Ekf::fuseGpsYaw()
|
||||
}
|
||||
}
|
||||
|
||||
bool Ekf::resetYawToGps()
|
||||
bool Ekf::resetYawToGps(const gpsSample& gps_sample)
|
||||
{
|
||||
// define the predicted antenna array vector and rotate into earth frame
|
||||
const Vector3f ant_vec_bf = {cosf(_gps_yaw_offset), sinf(_gps_yaw_offset), 0.0f};
|
||||
const Vector3f ant_vec_bf = {cosf(gps_sample.yaw_offset), sinf(gps_sample.yaw_offset), 0.0f};
|
||||
const Vector3f ant_vec_ef = _R_to_earth * ant_vec_bf;
|
||||
|
||||
// check if antenna array vector is within 30 degrees of vertical and therefore unable to provide a reliable heading
|
||||
@@ -207,7 +207,7 @@ bool Ekf::resetYawToGps()
|
||||
}
|
||||
|
||||
// GPS yaw measurement is alreday compensated for antenna offset in the driver
|
||||
const float measured_yaw = _gps_sample_delayed.yaw;
|
||||
const float measured_yaw = gps_sample.yaw;
|
||||
|
||||
const float yaw_variance = sq(fmaxf(_params.gps_heading_noise, 1.0e-2f));
|
||||
resetQuatStateYaw(measured_yaw, yaw_variance, true);
|
||||
|
||||
+26
-22
@@ -1457,13 +1457,13 @@ float EKF2::filter_altitude_ellipsoid(float amsl_hgt)
|
||||
if (_gps_alttitude_ellipsoid_previous_timestamp == 0) {
|
||||
|
||||
_wgs84_hgt_offset = height_diff;
|
||||
_gps_alttitude_ellipsoid_previous_timestamp = _gps_time_usec;
|
||||
_gps_alttitude_ellipsoid_previous_timestamp = _gps_time_us;
|
||||
|
||||
} else if (_gps_time_usec != _gps_alttitude_ellipsoid_previous_timestamp) {
|
||||
} else if (_gps_time_us != _gps_alttitude_ellipsoid_previous_timestamp) {
|
||||
|
||||
// apply a 10 second first order low pass filter to baro offset
|
||||
float dt = 1e-6f * (_gps_time_usec - _gps_alttitude_ellipsoid_previous_timestamp);
|
||||
_gps_alttitude_ellipsoid_previous_timestamp = _gps_time_usec;
|
||||
float dt = 1e-6f * (_gps_time_us - _gps_alttitude_ellipsoid_previous_timestamp);
|
||||
_gps_alttitude_ellipsoid_previous_timestamp = _gps_time_us;
|
||||
float offset_rate_correction = 0.1f * (height_diff - _wgs84_hgt_offset);
|
||||
_wgs84_hgt_offset += dt * constrain(offset_rate_correction, -0.1f, 0.1f);
|
||||
}
|
||||
@@ -1792,31 +1792,35 @@ void EKF2::UpdateGpsSample(ekf2_timestamps_s &ekf2_timestamps)
|
||||
perf_count(_msg_missed_gps_perf);
|
||||
}
|
||||
|
||||
gpsMessage gps_msg{
|
||||
.time_usec = vehicle_gps_position.timestamp,
|
||||
.lat = vehicle_gps_position.lat,
|
||||
.lon = vehicle_gps_position.lon,
|
||||
.alt = vehicle_gps_position.alt,
|
||||
.yaw = vehicle_gps_position.heading,
|
||||
.yaw_offset = vehicle_gps_position.heading_offset,
|
||||
.fix_type = vehicle_gps_position.fix_type,
|
||||
.eph = vehicle_gps_position.eph,
|
||||
.epv = vehicle_gps_position.epv,
|
||||
.sacc = vehicle_gps_position.s_variance_m_s,
|
||||
.vel_m_s = vehicle_gps_position.vel_m_s,
|
||||
.vel_ned = Vector3f{
|
||||
gpsSample gps_sample{
|
||||
.time_us = vehicle_gps_position.timestamp,
|
||||
.lat = vehicle_gps_position.lat * 1.e-7,
|
||||
.lon = vehicle_gps_position.lon * 1.e-7,
|
||||
.alt = vehicle_gps_position.alt * 1e-3f,
|
||||
|
||||
.vel = Vector3f{
|
||||
vehicle_gps_position.vel_n_m_s,
|
||||
vehicle_gps_position.vel_e_m_s,
|
||||
vehicle_gps_position.vel_d_m_s
|
||||
},
|
||||
.vel_ned_valid = vehicle_gps_position.vel_ned_valid,
|
||||
.nsats = vehicle_gps_position.satellites_used,
|
||||
|
||||
.hacc = vehicle_gps_position.eph,
|
||||
.vacc = vehicle_gps_position.epv,
|
||||
.sacc = vehicle_gps_position.s_variance_m_s,
|
||||
|
||||
.yaw = vehicle_gps_position.heading,
|
||||
.yaw_accuracy = vehicle_gps_position.heading_accuracy,
|
||||
.yaw_offset = vehicle_gps_position.heading_offset,
|
||||
|
||||
.pdop = sqrtf(vehicle_gps_position.hdop *vehicle_gps_position.hdop
|
||||
+ vehicle_gps_position.vdop * vehicle_gps_position.vdop),
|
||||
};
|
||||
_ekf.setGpsData(gps_msg);
|
||||
|
||||
_gps_time_usec = gps_msg.time_usec;
|
||||
.fix_type = vehicle_gps_position.fix_type,
|
||||
.nsats = vehicle_gps_position.satellites_used,
|
||||
};
|
||||
_ekf.setGpsData(gps_sample);
|
||||
|
||||
_gps_time_us = vehicle_gps_position.timestamp;
|
||||
_gps_alttitude_ellipsoid = vehicle_gps_position.alt_ellipsoid;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -228,7 +228,7 @@ private:
|
||||
InFlightCalibration _gyro_cal{};
|
||||
InFlightCalibration _mag_cal{};
|
||||
|
||||
uint64_t _gps_time_usec{0};
|
||||
uint64_t _gps_time_us{0};
|
||||
int32_t _gps_alttitude_ellipsoid{0}; ///< altitude in 1E-3 meters (millimeters) above ellipsoid
|
||||
uint64_t _gps_alttitude_ellipsoid_previous_timestamp{0}; ///< storage for previous timestamp to compute dt
|
||||
float _wgs84_hgt_offset = 0; ///< height offset between AMSL and WGS84
|
||||
|
||||
@@ -1,391 +1,391 @@
|
||||
Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
|
||||
10000,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
||||
90000,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
||||
190000,1,-0.0105,-0.0107,-0.0167,-0.000387,-0.000237,-0.00902,-2.26e-05,-1e-05,-0.000287,0,0,0,0,0,0,0.192,0.00189,0.404,0,0,0,0,0,1.5e-06,0.00251,0.00251,0.00338,25,25,0.563,100,100,0.8,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
290000,1,-0.0106,-0.011,-0.0167,0.0006,0.000288,-0.0229,-2.94e-05,-3.64e-05,-0.00185,0,0,0,0,0,0,0.192,0.00189,0.404,0,0,0,0,0,1.21e-06,0.00256,0.00256,0.00222,25,25,0.562,101,101,0.337,1e-06,1e-06,9.97e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
390000,1,-0.0106,-0.0113,-0.0167,0.00209,0.000238,-0.0375,6.41e-05,2.46e-05,-0.00489,-1.63e-13,-6.23e-13,-3.16e-15,3.41e-12,-8.91e-13,-9.32e-14,0.192,0.00189,0.404,0,0,0,0,0,1.1e-06,0.00267,0.00267,0.00169,24.8,24.8,0.557,0.29,0.29,0.209,1e-06,1e-06,9.88e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
490000,1,-0.0107,-0.0117,-0.0167,0.00463,-0.000559,-0.0529,0.000405,-6.64e-06,-0.00941,-1.63e-13,-6.23e-13,-3.16e-15,3.41e-12,-8.91e-13,-9.32e-14,0.192,0.00189,0.404,0,0,0,0,0,1.08e-06,0.00282,0.00282,0.00141,24.9,24.9,0.544,0.739,0.739,0.159,1e-06,1e-06,9.73e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
590000,1,-0.0107,-0.012,-0.0167,0.00418,7.22e-05,-0.0661,0.000239,-5.36e-06,-0.0153,-2.19e-11,-5.29e-09,-4.94e-11,1.28e-08,-5.1e-11,-2.89e-10,0.192,0.00189,0.404,0,0,0,0,0,1.11e-06,0.00302,0.00302,0.00125,7.8,7.8,0.527,0.267,0.267,0.141,1e-06,1e-06,9.49e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
690000,1,-0.0108,-0.0123,-0.0167,0.00685,-0.000979,-0.0813,0.000761,-7.95e-05,-0.0227,-2.19e-11,-5.29e-09,-4.94e-11,1.28e-08,-5.1e-11,-2.89e-10,0.192,0.00189,0.404,0,0,0,0,0,1.17e-06,0.00328,0.00328,0.00116,7.87,7.87,0.497,0.556,0.556,0.13,1e-06,1e-06,9.16e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
790000,1,-0.0109,-0.0126,-0.0166,0.00622,-0.000504,-0.0959,0.000417,-4.86e-05,-0.0315,-2.56e-09,-3.32e-08,-2.74e-10,4.83e-08,-3.26e-09,-1.19e-09,0.192,0.00189,0.404,0,0,0,0,0,1.27e-06,0.00356,0.00356,0.00111,2.63,2.63,0.465,0.218,0.218,0.129,9.99e-07,9.99e-07,8.75e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
890000,1,-0.011,-0.0128,-0.0166,0.0107,-0.00161,-0.11,0.00125,-0.00019,-0.0418,-2.56e-09,-3.32e-08,-2.74e-10,4.83e-08,-3.26e-09,-1.19e-09,0.192,0.00189,0.404,0,0,0,0,0,1.39e-06,0.00392,0.00392,0.00109,2.72,2.72,0.471,0.363,0.363,0.164,9.99e-07,9.99e-07,8.27e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
990000,1,-0.0111,-0.0131,-0.0166,0.0117,-0.00274,-0.125,0.00087,-0.000149,-0.0536,-1.95e-08,-1.66e-07,-1.12e-09,1.58e-07,-1.72e-08,-4.19e-09,0.192,0.00189,0.404,0,0,0,0,0,1.53e-06,0.00427,0.00427,0.00108,1.25,1.25,0.477,0.178,0.178,0.209,9.97e-07,9.97e-07,7.73e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1090000,1,-0.0112,-0.0134,-0.0166,0.0161,-0.00421,-0.141,0.00225,-0.000505,-0.0669,-1.95e-08,-1.66e-07,-1.12e-09,1.58e-07,-1.72e-08,-4.19e-09,0.192,0.00189,0.404,0,0,0,0,0,1.7e-06,0.00472,0.00472,0.00108,1.38,1.38,0.484,0.265,0.265,0.263,9.97e-07,9.97e-07,7.15e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1190000,1,-0.0112,-0.0137,-0.0166,0.0163,-0.0049,-0.155,0.00161,-0.000401,-0.0818,-1.25e-07,-6.6e-07,-2.4e-09,4.68e-07,-8.34e-08,-1.35e-08,0.192,0.00189,0.404,0,0,0,0,0,1.85e-06,0.00506,0.00506,0.00108,0.85,0.85,0.491,0.151,0.151,0.328,9.88e-07,9.88e-07,6.56e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1290000,1,-0.0113,-0.0139,-0.0166,0.0212,-0.00611,-0.169,0.00349,-0.000977,-0.098,-1.25e-07,-6.6e-07,-2.4e-09,4.68e-07,-8.34e-08,-1.35e-08,0.192,0.00189,0.404,0,0,0,0,0,2.06e-06,0.0056,0.0056,0.00108,1.03,1.03,0.5,0.214,0.214,0.402,9.88e-07,9.88e-07,5.97e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1390000,1,-0.0114,-0.0142,-0.0166,0.0275,-0.00825,-0.181,0.00597,-0.00168,-0.115,-1.25e-07,-6.6e-07,-2.4e-09,4.68e-07,-8.34e-08,-1.35e-08,0.192,0.00189,0.404,0,0,0,0,0,2.31e-06,0.00618,0.00619,0.00108,1.26,1.26,0.509,0.301,0.301,0.487,9.88e-07,9.88e-07,5.41e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1490000,1,-0.0114,-0.0143,-0.0166,0.0277,-0.00795,-0.196,0.00506,-0.00142,-0.134,-4.58e-07,-2.01e-06,-2.38e-09,1.16e-06,-2.53e-07,-3.54e-08,0.192,0.00189,0.404,0,0,0,0,0,2.42e-06,0.00637,0.00637,0.00108,1.01,1.01,0.519,0.189,0.189,0.582,9.62e-07,9.62e-07,4.87e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1590000,1,-0.0114,-0.0146,-0.0166,0.0346,-0.00911,-0.209,0.00815,-0.00227,-0.155,-4.58e-07,-2.01e-06,-2.38e-09,1.16e-06,-2.53e-07,-3.54e-08,0.192,0.00189,0.404,0,0,0,0,0,2.7e-06,0.00702,0.00702,0.00107,1.3,1.3,0.53,0.268,0.268,0.689,9.62e-07,9.62e-07,4.38e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1690000,1,-0.0115,-0.0145,-0.0166,0.0339,-0.0104,-0.221,0.00659,-0.00188,-0.176,-1.15e-06,-4.89e-06,2.07e-09,2.38e-06,-5.49e-07,-7.51e-08,0.192,0.00189,0.404,0,0,0,0,0,2.66e-06,0.00677,0.00677,0.00105,1.11,1.11,0.542,0.179,0.179,0.807,9.06e-07,9.06e-07,3.92e-07,3.98e-06,3.98e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1790000,1,-0.0115,-0.0148,-0.0167,0.0422,-0.0137,-0.236,0.0104,-0.00306,-0.199,-1.15e-06,-4.89e-06,2.07e-09,2.38e-06,-5.49e-07,-7.51e-08,0.192,0.00189,0.404,0,0,0,0,0,2.96e-06,0.00744,0.00744,0.00104,1.45,1.45,0.554,0.262,0.262,0.936,9.06e-07,9.06e-07,3.51e-07,3.98e-06,3.98e-06,3.99e-06,0,0,0,0,0,0,0,0
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||||
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@@ -1,351 +1,351 @@
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||||
Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
32890000,-0.251,0.0121,-0.00857,0.968,-0.0237,0.0985,-0.136,0.0209,0.0323,0.773,-1.21e-05,-5.78e-05,5.32e-06,8.02e-05,-0.00035,-0.00103,-0.202,-0.0311,0.435,0,0,0,0,0,6.57e-05,6.53e-05,6.52e-05,0.00032,0.0132,0.0132,0.00511,0.0822,0.0822,0.0259,2.42e-11,2.41e-11,9.95e-11,2.64e-06,2.63e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
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|
||||
33090000,-0.251,0.0121,-0.0072,0.968,-0.00746,0.074,-0.129,0.0225,0.029,0.757,-1.24e-05,-5.77e-05,5.22e-06,8.02e-05,-0.00035,-0.00103,-0.202,-0.0311,0.435,0,0,0,0,0,6.54e-05,5.55e-05,5.53e-05,0.00032,0.0152,0.0153,0.00485,0.0838,0.0838,0.0259,2.4e-11,2.4e-11,9.78e-11,2.64e-06,2.63e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33190000,-0.251,0.0122,-0.00609,0.968,0.000446,0.049,-0.124,0.0234,0.0192,0.753,-1.25e-05,-5.76e-05,5.05e-06,7.16e-05,-0.000368,-0.00103,-0.202,-0.0311,0.435,0,0,0,0,0,6.52e-05,4.51e-05,4.49e-05,0.00032,0.0138,0.0138,0.00462,0.0836,0.0836,0.0254,2.39e-11,2.39e-11,9.68e-11,2.64e-06,2.63e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33290000,-0.251,0.0123,-0.00613,0.968,0.0055,0.0454,-0.125,0.0237,0.024,0.74,-1.25e-05,-5.76e-05,5.03e-06,7.16e-05,-0.000368,-0.00103,-0.202,-0.0311,0.435,0,0,0,0,0,6.51e-05,4.52e-05,4.5e-05,0.00032,0.0175,0.0175,0.00465,0.0854,0.0854,0.0256,2.4e-11,2.4e-11,9.59e-11,2.64e-06,2.63e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33390000,-0.251,0.0124,-0.00589,0.968,0.00929,0.0331,-0.121,0.0232,0.0233,0.734,-1.25e-05,-5.76e-05,4.95e-06,5.08e-05,-0.000387,-0.00103,-0.202,-0.0311,0.435,0,0,0,0,0,6.5e-05,3.62e-05,3.6e-05,0.00032,0.0153,0.0153,0.00448,0.0852,0.0852,0.0254,2.4e-11,2.4e-11,9.52e-11,2.57e-06,2.57e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33490000,-0.251,0.0124,-0.00587,0.968,0.0152,0.0295,-0.121,0.0245,0.0264,0.72,-1.25e-05,-5.76e-05,4.85e-06,5.08e-05,-0.000387,-0.00103,-0.202,-0.0311,0.435,0,0,0,0,0,6.48e-05,3.63e-05,3.61e-05,0.00032,0.0192,0.0192,0.00453,0.087,0.087,0.0255,2.41e-11,2.41e-11,9.43e-11,2.57e-06,2.57e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33590000,-0.251,0.0126,-0.0056,0.968,0.0146,0.0177,-0.114,0.0232,0.0235,0.717,-1.26e-05,-5.76e-05,4.8e-06,5.64e-06,-0.000412,-0.00103,-0.202,-0.0311,0.435,0,0,0,0,0,6.46e-05,2.98e-05,2.96e-05,0.00032,0.0161,0.0161,0.00438,0.0868,0.0868,0.0251,2.41e-11,2.41e-11,9.34e-11,2.43e-06,2.43e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33690000,-0.251,0.0125,-0.00559,0.968,0.0199,0.0135,-0.117,0.0249,0.0251,0.705,-1.26e-05,-5.76e-05,4.72e-06,5.61e-06,-0.000412,-0.00103,-0.202,-0.0311,0.435,0,0,0,0,0,6.45e-05,2.99e-05,2.97e-05,0.00032,0.0198,0.0198,0.00447,0.0886,0.0886,0.0254,2.42e-11,2.42e-11,9.27e-11,2.43e-06,2.43e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33790000,-0.251,0.0127,-0.00557,0.968,0.0184,0.00602,-0.108,0.0232,0.0238,0.701,-1.26e-05,-5.76e-05,4.58e-06,-3.89e-05,-0.000411,-0.00104,-0.202,-0.0311,0.435,0,0,0,0,0,6.43e-05,2.59e-05,2.57e-05,0.00032,0.0161,0.0161,0.00435,0.0884,0.0884,0.025,2.43e-11,2.43e-11,9.19e-11,2.26e-06,2.26e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33890000,-0.252,0.0126,-0.00559,0.968,0.023,-0.000356,-0.109,0.0253,0.0241,0.69,-1.26e-05,-5.76e-05,4.54e-06,-3.89e-05,-0.000411,-0.00104,-0.202,-0.0311,0.435,0,0,0,0,0,6.42e-05,2.6e-05,2.58e-05,0.00032,0.0195,0.0195,0.00445,0.0902,0.0902,0.0252,2.44e-11,2.44e-11,9.1e-11,2.26e-06,2.26e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33990000,-0.252,0.0127,-0.00572,0.968,0.0221,0.00307,-0.103,0.0252,0.0279,0.687,-1.26e-05,-5.76e-05,4.4e-06,-4.55e-05,-0.000367,-0.00104,-0.202,-0.0311,0.435,0,0,0,0,0,6.4e-05,2.37e-05,2.35e-05,0.00032,0.0156,0.0156,0.00434,0.09,0.09,0.0248,2.45e-11,2.45e-11,9.02e-11,2.09e-06,2.09e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34090000,-0.252,0.0127,-0.00567,0.968,0.0262,0.000657,-0.104,0.0276,0.0281,0.676,-1.26e-05,-5.76e-05,4.31e-06,-4.56e-05,-0.000367,-0.00104,-0.202,-0.0311,0.435,0,0,0,0,0,6.39e-05,2.37e-05,2.35e-05,0.00032,0.0186,0.0186,0.00447,0.0917,0.0917,0.0251,2.46e-11,2.46e-11,8.95e-11,2.09e-06,2.09e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34190000,-0.252,0.0128,-0.00581,0.968,0.0219,0.000727,-0.101,0.0253,0.0299,0.67,-1.26e-05,-5.75e-05,4.27e-06,-7.83e-05,-0.00033,-0.00104,-0.202,-0.0311,0.435,0,0,0,0,0,6.38e-05,2.25e-05,2.23e-05,0.00032,0.0149,0.0149,0.00439,0.0916,0.0916,0.0247,2.47e-11,2.47e-11,8.87e-11,1.93e-06,1.93e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34290000,-0.252,0.0128,-0.00567,0.968,0.0218,-0.00225,-0.101,0.0275,0.0299,0.66,-1.26e-05,-5.75e-05,4.22e-06,-7.83e-05,-0.00033,-0.00104,-0.202,-0.0311,0.435,0,0,0,0,0,6.36e-05,2.26e-05,2.24e-05,0.00032,0.0174,0.0174,0.00452,0.0933,0.0933,0.0248,2.48e-11,2.48e-11,8.8e-11,1.93e-06,1.93e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34390000,-0.252,0.0128,-0.00574,0.968,0.0183,-0.00206,-0.0927,0.0256,0.0319,0.659,-1.26e-05,-5.75e-05,4.16e-06,-0.000104,-0.000292,-0.00105,-0.202,-0.0311,0.435,0,0,0,0,0,6.35e-05,2.2e-05,2.18e-05,0.00032,0.014,0.014,0.00446,0.0932,0.0932,0.0246,2.49e-11,2.49e-11,8.73e-11,1.79e-06,1.79e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34490000,-0.252,0.0128,-0.00581,0.968,0.0202,-0.0042,-0.0929,0.0275,0.0316,0.649,-1.26e-05,-5.75e-05,4.14e-06,-0.000104,-0.000292,-0.00105,-0.202,-0.0311,0.435,0,0,0,0,0,6.34e-05,2.2e-05,2.19e-05,0.00032,0.0162,0.0162,0.00461,0.0949,0.0949,0.0247,2.5e-11,2.5e-11,8.65e-11,1.79e-06,1.79e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34590000,-0.252,0.0126,-0.00583,0.968,0.0142,-0.0055,0.705,0.0256,0.0318,0.679,-1.26e-05,-5.75e-05,4.07e-06,-0.000132,-0.000269,-0.00106,-0.202,-0.0311,0.435,0,0,0,0,0,6.32e-05,2.18e-05,2.16e-05,0.00032,0.013,0.013,0.00454,0.0948,0.0948,0.0244,2.51e-11,2.51e-11,8.58e-11,1.67e-06,1.67e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34690000,-0.252,0.0123,-0.00584,0.968,0.0147,-0.00854,1.7,0.0271,0.0311,0.799,-1.26e-05,-5.75e-05,4.01e-06,-0.000132,-0.000269,-0.00106,-0.202,-0.0311,0.435,0,0,0,0,0,6.31e-05,2.18e-05,2.17e-05,0.00032,0.0147,0.0147,0.00471,0.0965,0.0965,0.0247,2.52e-11,2.52e-11,8.52e-11,1.67e-06,1.67e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34790000,-0.252,0.012,-0.00585,0.968,0.0109,-0.00906,2.69,0.0257,0.0318,1.02,-1.26e-05,-5.75e-05,3.94e-06,-0.000146,-0.000245,-0.00105,-0.202,-0.0311,0.435,0,0,0,0,0,6.3e-05,2.19e-05,2.17e-05,0.00032,0.0123,0.0123,0.00488,0.0964,0.0964,0.0248,2.53e-11,2.53e-11,8.44e-11,1.52e-06,1.52e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34890000,-0.252,0.0117,-0.00585,0.968,0.0112,-0.012,3.67,0.0268,0.0308,1.32,-1.26e-05,-5.75e-05,3.87e-06,-0.000144,-0.000246,-0.00105,-0.202,-0.0311,0.435,0,0,0,0,0,6.28e-05,2.19e-05,2.18e-05,0.00032,0.0141,0.0141,0.00505,0.0981,0.0981,0.025,2.54e-11,2.54e-11,8.37e-11,1.52e-06,1.52e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
|
||||
|
@@ -15,9 +15,9 @@ Gps::~Gps()
|
||||
|
||||
void Gps::send(const uint64_t time)
|
||||
{
|
||||
const float dt = static_cast<float>(time - _gps_data.time_usec) * 1e-6f;
|
||||
const float dt = static_cast<float>(time - _gps_data.time_us) * 1e-6f;
|
||||
|
||||
_gps_data.time_usec = time;
|
||||
_gps_data.time_us = time;
|
||||
|
||||
if (fabsf(_gps_pos_rate(0)) > FLT_EPSILON || fabsf(_gps_pos_rate(1)) > FLT_EPSILON) {
|
||||
stepHorizontalPositionByMeters(Vector2f(_gps_pos_rate) * dt);
|
||||
@@ -30,29 +30,29 @@ void Gps::send(const uint64_t time)
|
||||
_ekf->setGpsData(_gps_data);
|
||||
}
|
||||
|
||||
void Gps::setData(const gpsMessage &gps)
|
||||
void Gps::setData(const gpsSample &gps)
|
||||
{
|
||||
_gps_data = gps;
|
||||
}
|
||||
|
||||
void Gps::setAltitude(const int32_t alt)
|
||||
void Gps::setAltitude(const float alt)
|
||||
{
|
||||
_gps_data.alt = alt;
|
||||
}
|
||||
|
||||
void Gps::setLatitude(const int32_t lat)
|
||||
void Gps::setLatitude(const double lat)
|
||||
{
|
||||
_gps_data.lat = lat;
|
||||
}
|
||||
|
||||
void Gps::setLongitude(const int32_t lon)
|
||||
void Gps::setLongitude(const double lon)
|
||||
{
|
||||
_gps_data.lon = lon;
|
||||
}
|
||||
|
||||
void Gps::setVelocity(const Vector3f &vel)
|
||||
{
|
||||
_gps_data.vel_ned = vel;
|
||||
_gps_data.vel = vel;
|
||||
}
|
||||
|
||||
void Gps::setYaw(const float yaw)
|
||||
@@ -87,7 +87,7 @@ void Gps::setPositionRateNED(const Vector3f &rate)
|
||||
|
||||
void Gps::stepHeightByMeters(const float hgt_change)
|
||||
{
|
||||
_gps_data.alt += hgt_change * 1e3f;
|
||||
_gps_data.alt += hgt_change;
|
||||
}
|
||||
|
||||
void Gps::stepHorizontalPositionByMeters(const Vector2f hpos_change)
|
||||
@@ -95,35 +95,32 @@ void Gps::stepHorizontalPositionByMeters(const Vector2f hpos_change)
|
||||
float hposN_curr {0.f};
|
||||
float hposE_curr {0.f};
|
||||
|
||||
double lat_new {0.0};
|
||||
double lon_new {0.0};
|
||||
|
||||
_ekf->global_origin().project(_gps_data.lat * 1e-7, _gps_data.lon * 1e-7, hposN_curr, hposE_curr);
|
||||
_ekf->global_origin().project(_gps_data.lat, _gps_data.lon, hposN_curr, hposE_curr);
|
||||
|
||||
Vector2f hpos_new = Vector2f{hposN_curr, hposE_curr} + hpos_change;
|
||||
|
||||
double lat_new {0.0};
|
||||
double lon_new {0.0};
|
||||
_ekf->global_origin().reproject(hpos_new(0), hpos_new(1), lat_new, lon_new);
|
||||
|
||||
_gps_data.lon = static_cast<int32_t>(lon_new * 1e7);
|
||||
_gps_data.lat = static_cast<int32_t>(lat_new * 1e7);
|
||||
_gps_data.lat = lat_new;
|
||||
_gps_data.lon = lon_new;
|
||||
}
|
||||
|
||||
gpsMessage Gps::getDefaultGpsData()
|
||||
gpsSample Gps::getDefaultGpsData()
|
||||
{
|
||||
gpsMessage gps_data{};
|
||||
gps_data.time_usec = 0;
|
||||
gps_data.lat = 473566094;
|
||||
gps_data.lon = 85190237;
|
||||
gps_data.alt = 422056;
|
||||
gpsSample gps_data{};
|
||||
gps_data.time_us = 0;
|
||||
gps_data.lat = 47.3566094;
|
||||
gps_data.lon = 85.190237;
|
||||
gps_data.alt = 422.056;
|
||||
gps_data.yaw = NAN;
|
||||
gps_data.yaw_offset = 0.0f;
|
||||
gps_data.fix_type = 3;
|
||||
gps_data.eph = 0.5f;
|
||||
gps_data.epv = 0.8f;
|
||||
gps_data.hacc = 0.5f;
|
||||
gps_data.vacc = 0.8f;
|
||||
gps_data.sacc = 0.2f;
|
||||
gps_data.vel_m_s = 0.0;
|
||||
gps_data.vel_ned.setZero();
|
||||
gps_data.vel_ned_valid = 1;
|
||||
gps_data.vel.setZero();
|
||||
gps_data.nsats = 16;
|
||||
gps_data.pdop = 0.0f;
|
||||
|
||||
|
||||
@@ -51,13 +51,13 @@ public:
|
||||
Gps(std::shared_ptr<Ekf> ekf);
|
||||
~Gps();
|
||||
|
||||
void setData(const gpsMessage &gps);
|
||||
void setData(const gpsSample &gps);
|
||||
void stepHeightByMeters(const float hgt_change);
|
||||
void stepHorizontalPositionByMeters(const Vector2f hpos_change);
|
||||
void setPositionRateNED(const Vector3f &rate);
|
||||
void setAltitude(const int32_t alt);
|
||||
void setLatitude(const int32_t lat);
|
||||
void setLongitude(const int32_t lon);
|
||||
void setAltitude(const float alt);
|
||||
void setLatitude(const double lat);
|
||||
void setLongitude(const double lon);
|
||||
void setVelocity(const Vector3f &vel);
|
||||
void setYaw(const float yaw);
|
||||
void setYawOffset(const float yaw);
|
||||
@@ -65,12 +65,12 @@ public:
|
||||
void setNumberOfSatellites(const int num_satellites);
|
||||
void setPdop(const float pdop);
|
||||
|
||||
gpsMessage getDefaultGpsData();
|
||||
gpsSample getDefaultGpsData();
|
||||
|
||||
private:
|
||||
void send(uint64_t time) override;
|
||||
|
||||
gpsMessage _gps_data{};
|
||||
gpsSample _gps_data{};
|
||||
Vector3f _gps_pos_rate{};
|
||||
};
|
||||
|
||||
|
||||
@@ -251,9 +251,9 @@ void SensorSimulator::setSingleReplaySample(const sensor_info &sample)
|
||||
_baro.setData((float) sample.sensor_data[0]);
|
||||
|
||||
} else if (sample.sensor_type == sensor_info::measurement_t::GPS) {
|
||||
_gps.setAltitude((int32_t) sample.sensor_data[0]);
|
||||
_gps.setLatitude((int32_t) sample.sensor_data[1]);
|
||||
_gps.setLongitude((int32_t) sample.sensor_data[2]);
|
||||
_gps.setAltitude(sample.sensor_data[0]);
|
||||
_gps.setLatitude(sample.sensor_data[1]);
|
||||
_gps.setLongitude(sample.sensor_data[2]);
|
||||
_gps.setVelocity(Vector3f((float) sample.sensor_data[3],
|
||||
(float) sample.sensor_data[4],
|
||||
(float) sample.sensor_data[5]));
|
||||
@@ -389,20 +389,17 @@ void SensorSimulator::setSensorDataFromTrajectory()
|
||||
|
||||
void SensorSimulator::setGpsLatitude(const double latitude)
|
||||
{
|
||||
int32_t lat = static_cast<int32_t>(latitude * 1e7);
|
||||
_gps.setLatitude(lat);
|
||||
_gps.setLatitude(latitude);
|
||||
}
|
||||
|
||||
void SensorSimulator::setGpsLongitude(const double longitude)
|
||||
{
|
||||
int32_t lon = static_cast<int32_t>(longitude * 1e7);
|
||||
_gps.setLongitude(lon);
|
||||
_gps.setLongitude(longitude);
|
||||
}
|
||||
|
||||
void SensorSimulator::setGpsAltitude(const float altitude)
|
||||
{
|
||||
int32_t alt = static_cast<int32_t>(altitude * 1e3f);
|
||||
_gps.setAltitude(alt);
|
||||
_gps.setAltitude(altitude);
|
||||
}
|
||||
|
||||
void SensorSimulator::setImuBias(Vector3f accel_bias, Vector3f gyro_bias)
|
||||
|
||||
@@ -162,6 +162,8 @@ TEST_F(EkfFusionLogicTest, rejectGpsSignalJump)
|
||||
pos_new = _ekf->getPosition();
|
||||
vel_new = _ekf->getVelocity();
|
||||
accel_bias_new = _ekf->getAccelBias();
|
||||
pos_new.print();
|
||||
pos_old.print();
|
||||
EXPECT_TRUE(matrix::isEqual(pos_new, pos_old + pos_step, 0.01f));
|
||||
EXPECT_TRUE(matrix::isEqual(vel_new, vel_old, 0.01f));
|
||||
EXPECT_TRUE(matrix::isEqual(accel_bias_new, accel_bias_old, 0.01f));
|
||||
|
||||
Reference in New Issue
Block a user