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Merged beta into master

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This commit is contained in:
Lorenz Meier
2015-08-22 14:06:01 +02:00
parent 0d8de2b84d f371ece43b
commit 21d1b4ba2e
25 changed files with 1385 additions and 238 deletions
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src/modules/uavcan/sensors/gnss.cpp
+17 -11
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@@ -46,20 +46,21 @@
const char *const UavcanGnssBridge::NAME = "gnss";
UavcanGnssBridge::UavcanGnssBridge(uavcan::INode &node) :
_node(node),
_sub_fix(node),
_report_pub(nullptr)
_node(node),
_sub_fix(node),
_report_pub(nullptr)
{
}
int UavcanGnssBridge::init()
{
int res = _sub_fix.start(FixCbBinder(this, &UavcanGnssBridge::gnss_fix_sub_cb));
if (res < 0)
{
if (res < 0) {
warnx("GNSS fix sub failed %i", res);
return res;
}
return res;
}
@@ -71,8 +72,10 @@ unsigned UavcanGnssBridge::get_num_redundant_channels() const
void UavcanGnssBridge::print_status() const
{
printf("RX errors: %d, receiver node id: ", _sub_fix.getFailureCount());
if (_receiver_node_id < 0) {
printf("N/A\n");
} else {
printf("%d\n", _receiver_node_id);
}
@@ -84,6 +87,7 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
if (_receiver_node_id < 0) {
_receiver_node_id = msg.getSrcNodeID().get();
warnx("GNSS receiver node ID: %d", _receiver_node_id);
} else {
if (_receiver_node_id != msg.getSrcNodeID().get()) {
return; // This GNSS receiver is the redundant one, ignore it.
@@ -114,14 +118,15 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
// Vertical position uncertainty
report.epv = (pos_cov[8] > 0) ? sqrtf(pos_cov[8]) : -1.0F;
} else {
report.eph = -1.0F;
report.epv = -1.0F;
}
if (valid_velocity_covariance) {
float vel_cov[9];
msg.velocity_covariance.unpackSquareMatrix(vel_cov);
float vel_cov[9];
msg.velocity_covariance.unpackSquareMatrix(vel_cov);
report.s_variance_m_s = math::max(math::max(vel_cov[0], vel_cov[4]), vel_cov[8]);
/* There is a nonlinear relationship between the velocity vector and the heading.
@@ -139,9 +144,9 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
float vel_n_sq = vel_n * vel_n;
float vel_e_sq = vel_e * vel_e;
report.c_variance_rad =
(vel_e_sq * vel_cov[0] +
-2 * vel_n * vel_e * vel_cov[1] + // Covariance matrix is symmetric
vel_n_sq* vel_cov[4]) / ((vel_n_sq + vel_e_sq) * (vel_n_sq + vel_e_sq));
(vel_e_sq * vel_cov[0] +
-2 * vel_n * vel_e * vel_cov[1] + // Covariance matrix is symmetric
vel_n_sq * vel_cov[4]) / ((vel_n_sq + vel_e_sq) * (vel_n_sq + vel_e_sq));
} else {
report.s_variance_m_s = -1.0F;
@@ -154,7 +159,8 @@ void UavcanGnssBridge::gnss_fix_sub_cb(const uavcan::ReceivedDataStructure<uavca
report.vel_n_m_s = msg.ned_velocity[0];
report.vel_e_m_s = msg.ned_velocity[1];
report.vel_d_m_s = msg.ned_velocity[2];
report.vel_m_s = sqrtf(report.vel_n_m_s * report.vel_n_m_s + report.vel_e_m_s * report.vel_e_m_s + report.vel_d_m_s * report.vel_d_m_s);
report.vel_m_s = sqrtf(report.vel_n_m_s * report.vel_n_m_s + report.vel_e_m_s * report.vel_e_m_s + report.vel_d_m_s *
report.vel_d_m_s);
report.cog_rad = atan2f(report.vel_e_m_s, report.vel_n_m_s);
report.vel_ned_valid = true;