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Remove vehicle_local_position.ref_surface_timestamp field, don't sync baro_offset and local_pos.ref_alt instead

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This commit is contained in:
Anton Babushkin 2013-10-09 11:05:22 +02:00
parent 9d1027162f
commit 2fc011d20c
3 changed files with 20 additions and 27 deletions
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4
src/modules/multirotor_pos_control/multirotor_pos_control.c
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@ -345,7 +345,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
if (control_mode.flag_control_manual_enabled) {
/* manual control */
/* check for reference point updates and correct setpoint */
if (local_pos.ref_surface_timestamp != ref_surface_prev_t) {
if (local_pos.ref_timestamp != ref_surface_prev_t) {
/* reference alt changed, don't follow large ground level changes in manual flight */
local_pos_sp.z += local_pos.ref_alt - ref_alt_prev;
@ -674,7 +674,7 @@ static int multirotor_pos_control_thread_main(int argc, char *argv[])
}
/* track local position reference even when not controlling position */
ref_surface_prev_t = local_pos.ref_surface_timestamp;
ref_surface_prev_t = local_pos.ref_timestamp;
ref_alt_prev = local_pos.ref_alt;
/* reset altitude controller integral (hovering throttle) to manual throttle after manual throttle control */

42
src/modules/position_estimator_inav/position_estimator_inav_main.c
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@ -180,7 +180,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
int baro_init_cnt = 0;
int baro_init_num = 200;
float baro_alt0 = 0.0f; /* to determine while start up */
float baro_offset = 0.0f; // baro offset from reference altitude, it's not the same as local_position.ref_alt if sonar available
float alt_avg = 0.0f;
bool landed = true;
hrt_abstime landed_time = 0;
@ -299,15 +299,15 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* mean calculation over several measurements */
if (baro_init_cnt < baro_init_num) {
baro_alt0 += sensor.baro_alt_meter;
baro_offset += sensor.baro_alt_meter;
baro_init_cnt++;
} else {
wait_baro = false;
baro_alt0 /= (float) baro_init_cnt;
warnx("init ref: alt=%.3f", baro_alt0);
mavlink_log_info(mavlink_fd, "[inav] init ref: alt=%.3f", baro_alt0);
local_pos.ref_alt = baro_alt0;
baro_offset /= (float) baro_init_cnt;
warnx("init ref: alt=%.3f", baro_offset);
mavlink_log_info(mavlink_fd, "[inav] init ref: alt=%.3f", baro_offset);
local_pos.ref_alt = baro_offset;
local_pos.ref_timestamp = hrt_absolute_time();
local_pos.z_valid = true;
local_pos.v_z_valid = true;
@ -323,10 +323,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
{ .fd = vehicle_attitude_sub, .events = POLLIN },
};
if (!thread_should_exit) {
warnx("main loop started");
}
while (!thread_should_exit) {
int ret = poll(fds, 1, 20); // wait maximal 20 ms = 50 Hz minimum rate
hrt_abstime t = hrt_absolute_time();
@ -371,12 +367,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* reset ground level on arm if sonar is invalid */
if (armed.armed && !flag_armed && t > sonar_valid_time + sonar_valid_timeout) {
flag_armed = armed.armed;
baro_alt0 -= z_est[0];
baro_offset -= z_est[0];
z_est[0] = 0.0f;
alt_avg = 0.0f;
local_pos.ref_alt = baro_alt0;
local_pos.ref_alt = baro_offset;
local_pos.ref_timestamp = t;
local_pos.ref_surface_timestamp = t;
}
}
@ -415,7 +410,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
if (sensor.baro_counter > baro_counter) {
baro_corr = - sensor.baro_alt_meter - z_est[0];
baro_corr = - sensor.baro_alt_meter - z_est[0]; // should be shifted by baro_offset before applying correction
baro_counter = sensor.baro_counter;
baro_updates++;
}
@ -442,9 +437,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
} else {
/* new ground level */
baro_alt0 += sonar_corr;
mavlink_log_info(mavlink_fd, "[inav] update ref: alt=%.3f", baro_alt0);
local_pos.ref_surface_timestamp = t;
baro_offset += sonar_corr;
mavlink_log_info(mavlink_fd, "[inav] update ref: alt=%.3f", baro_offset);
local_pos.ref_alt += sonar_corr;
local_pos.ref_timestamp = t;
z_est[0] += sonar_corr;
alt_avg -= sonar_corr;
sonar_corr = 0.0f;
@ -619,16 +615,14 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
bool use_gps = ref_xy_inited && gps_valid;
/* use flow if it's valid and (accurate or no GPS available) */
bool use_flow = flow_valid && (flow_accurate || !use_gps);
/* try to estimate xy even if no absolute position source available,
* if using optical flow velocity will be valid */
bool can_estimate_xy = use_gps || use_flow || (t < flow_valid_time + flow_valid_timeout);
/* baro offset correction if sonar available */
/* baro offset correction if sonar available,
* don't touch reference altitude, local_pos.ref_alt != baro_offset after this */
if (sonar_valid) {
baro_alt0 -= (baro_corr + baro_alt0) * params.w_alt_sonar * dt;
local_pos.ref_alt = baro_alt0;
local_pos.ref_timestamp = t;
baro_offset -= (baro_corr + baro_offset) * params.w_alt_sonar * dt;
}
/* accelerometer bias correction */
@ -646,7 +640,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
accel_bias_corr[1] -= flow_corr[1] * params.w_pos_flow;
}
accel_bias_corr[2] -= (baro_corr + baro_alt0) * params.w_alt_baro * params.w_alt_baro;
accel_bias_corr[2] -= (baro_corr + baro_offset) * params.w_alt_baro * params.w_alt_baro;
if (sonar_valid) {
accel_bias_corr[2] -= sonar_corr * params.w_alt_sonar * params.w_alt_sonar;
@ -671,7 +665,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
inertial_filter_correct(sonar_corr, dt, z_est, 0, params.w_alt_sonar);
}
inertial_filter_correct(baro_corr + baro_alt0, dt, z_est, 0, params.w_alt_baro);
inertial_filter_correct(baro_corr + baro_offset, dt, z_est, 0, params.w_alt_baro);
inertial_filter_correct(accel_corr[2], dt, z_est, 2, params.w_alt_acc);
if (can_estimate_xy) {

1
src/modules/uORB/topics/vehicle_local_position.h
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@ -73,7 +73,6 @@ struct vehicle_local_position_s
bool xy_global; /**< true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon) */
bool z_global; /**< true if z is valid and has valid global reference (ref_alt) */
uint64_t ref_timestamp; /**< Time when reference position was set */
uint64_t ref_surface_timestamp; /**< Time when reference surface was set */
int32_t ref_lat; /**< Reference point latitude in 1E7 degrees */
int32_t ref_lon; /**< Reference point longitude in 1E7 degrees */
float ref_alt; /**< Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level */