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EKF: Add interfaces and variables to use ext vision data

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This commit is contained in:
Paul Riseborough
2016-03-20 19:41:40 +11:00
parent 172f4be594
commit 3a0fcd03d7
3 changed files with 55 additions and 0 deletions
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EKF/estimator_interface.cpp
+29
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@@ -65,6 +65,7 @@ EstimatorInterface::EstimatorInterface():
_time_last_baro(0),
_time_last_range(0),
_time_last_airspeed(0),
_time_last_ext_vision(0),
_mag_declination_gps(0.0f),
_mag_declination_to_save_deg(0.0f)
{
@@ -284,6 +285,30 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
}
}
// set attitude and position data derived from an external vision system
void EstimatorInterface::setExtVisionData(uint64_t time_usec, ext_vision_message *evdata)
{
if (!_initialised) {
return;
}
// if data passes checks, push to buffer
if (time_usec > _time_last_ext_vision) {
extVisionSample ev_sample_new;
// calculate the system time-stamp for the mid point of the integration period
ev_sample_new.time_us = time_usec - _params.ev_delay_ms * 1000;
// copy required data
ev_sample_new.angErr = evdata->angErr;
ev_sample_new.posErr = evdata->posErr;
ev_sample_new.quat = evdata->quat;
ev_sample_new.posNED = evdata->posNED;
// record time for comparison next measurement
_time_last_ext_vision = time_usec;
// push to buffer
_ext_vision_buffer.push(ev_sample_new);
}
}
bool EstimatorInterface::initialise_interface(uint64_t timestamp)
{
@@ -294,6 +319,7 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
_range_buffer.allocate(OBS_BUFFER_LENGTH) &&
_airspeed_buffer.allocate(OBS_BUFFER_LENGTH) &&
_flow_buffer.allocate(OBS_BUFFER_LENGTH) &&
_ext_vision_buffer.allocate(OBS_BUFFER_LENGTH) &&
_output_buffer.allocate(IMU_BUFFER_LENGTH))) {
printf("EKF buffer allocation failed!");
unallocate_buffers();
@@ -314,6 +340,8 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
_airspeed_buffer.push(airspeed_sample_init);
flowSample flow_sample_init = {};
_flow_buffer.push(flow_sample_init);
extVisionSample ext_vision_sample_init = {};
_ext_vision_buffer.push(ext_vision_sample_init);
}
// zero the data in the imu data and output observer state buffers
@@ -357,6 +385,7 @@ void EstimatorInterface::unallocate_buffers()
_range_buffer.unallocate();
_airspeed_buffer.unallocate();
_flow_buffer.unallocate();
_ext_vision_buffer.unallocate();
_output_buffer.unallocate();
}