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move baro and magnetometer data out of sensor_combined

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This commit is contained in:
Daniel Agar
2018-04-11 23:26:58 -04:00
parent 3e6ba1d541
commit 3b5b12e1d1
31 changed files with 289 additions and 266 deletions
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src/modules/ekf2/ekf2_main.cpp
+25 -38
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@@ -68,6 +68,8 @@
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/wind_estimate.h>
#include <uORB/topics/landing_target_pose.h>
#include <uORB/topics/vehicle_air_data.h>
#include <uORB/topics/vehicle_magnetometer.h>
using math::constrain;
@@ -118,8 +120,6 @@ private:
int64_t _last_time_slip_us = 0; ///< Last time slip (uSec)
// Initialise time stamps used to send sensor data to the EKF and for logging
uint64_t _timestamp_mag_us = 0; ///< magnetomer data timestamp (uSec)
uint64_t _timestamp_balt_us = 0; ///< pressure altitude data timestamp (uSec)
uint8_t _invalid_mag_id_count = 0; ///< number of times an invalid magnetomer device ID has been detected
// Used to down sample magnetometer data
@@ -520,7 +520,9 @@ void Ekf2::run()
int vehicle_land_detected_sub = orb_subscribe(ORB_ID(vehicle_land_detected));
int status_sub = orb_subscribe(ORB_ID(vehicle_status));
int sensor_selection_sub = orb_subscribe(ORB_ID(sensor_selection));
int airdata_sub = orb_subscribe(ORB_ID(vehicle_air_data));
int landing_target_pose_sub = orb_subscribe(ORB_ID(landing_target_pose));
int magnetometer_sub = orb_subscribe(ORB_ID(vehicle_magnetometer));
bool imu_bias_reset_request = false;
@@ -584,6 +586,7 @@ void Ekf2::run()
bool gps_updated = false;
bool airspeed_updated = false;
bool airdata_updated = false;
bool sensor_selection_updated = false;
bool optical_flow_updated = false;
bool range_finder_updated = false;
@@ -592,6 +595,7 @@ void Ekf2::run()
bool vision_attitude_updated = false;
bool vehicle_status_updated = false;
bool landing_target_pose_updated = false;
bool magnetometer_updated = false;
orb_copy(ORB_ID(sensor_combined), sensors_sub, &sensors);
// update all other topics if they have new data
@@ -615,6 +619,9 @@ void Ekf2::run()
orb_copy(ORB_ID(airspeed), airspeed_sub, &airspeed);
}
orb_check(airdata_sub, &airdata_updated);
orb_check(magnetometer_sub, &magnetometer_updated);
orb_check(sensor_selection_sub, &sensor_selection_updated);
// Always update sensor selction first time through if time stamp is non zero
@@ -707,14 +714,10 @@ void Ekf2::run()
_ekf.setIMUData(now, sensors.gyro_integral_dt, sensors.accelerometer_integral_dt, gyro_integral, accel_integral);
// read mag data
if (sensors.magnetometer_timestamp_relative == sensor_combined_s::RELATIVE_TIMESTAMP_INVALID) {
// set a zero timestamp to let the ekf replay program know that this data is not valid
_timestamp_mag_us = 0;
} else {
if ((sensors.timestamp + sensors.magnetometer_timestamp_relative) != _timestamp_mag_us) {
_timestamp_mag_us = sensors.timestamp + sensors.magnetometer_timestamp_relative;
if (magnetometer_updated) {
vehicle_magnetometer_s magnetometer = {};
if (orb_copy(ORB_ID(vehicle_magnetometer), magnetometer_sub, &magnetometer) == PX4_OK) {
// Reset learned bias parameters if there has been a persistant change in magnetometer ID
// Do not reset parmameters when armed to prevent potential time slips casued by parameter set
// and notification events
@@ -749,11 +752,11 @@ void Ekf2::run()
// If the time last used by the EKF is less than specified, then accumulate the
// data and push the average when the specified interval is reached.
_mag_time_sum_ms += _timestamp_mag_us / 1000;
_mag_time_sum_ms += magnetometer.timestamp / 1000;
_mag_sample_count++;
_mag_data_sum[0] += sensors.magnetometer_ga[0];
_mag_data_sum[1] += sensors.magnetometer_ga[1];
_mag_data_sum[2] += sensors.magnetometer_ga[2];
_mag_data_sum[0] += magnetometer.magnetometer_ga[0];
_mag_data_sum[1] += magnetometer.magnetometer_ga[1];
_mag_data_sum[2] += magnetometer.magnetometer_ga[2];
uint32_t mag_time_ms = _mag_time_sum_ms / _mag_sample_count;
if (mag_time_ms - _mag_time_ms_last_used > _params->sensor_interval_min_ms) {
@@ -777,29 +780,23 @@ void Ekf2::run()
}
// read baro data
if (sensors.baro_timestamp_relative == sensor_combined_s::RELATIVE_TIMESTAMP_INVALID) {
// set a zero timestamp to let the ekf replay program know that this data is not valid
_timestamp_balt_us = 0;
if (airdata_updated) {
vehicle_air_data_s airdata;
} else {
if ((sensors.timestamp + sensors.baro_timestamp_relative) != _timestamp_balt_us) {
_timestamp_balt_us = sensors.timestamp + sensors.baro_timestamp_relative;
if (orb_copy(ORB_ID(vehicle_air_data), airdata_sub, &airdata) == PX4_OK) {
// If the time last used by the EKF is less than specified, then accumulate the
// data and push the average when the specified interval is reached.
_balt_time_sum_ms += _timestamp_balt_us / 1000;
_balt_time_sum_ms += airdata.timestamp / 1000;
_balt_sample_count++;
_balt_data_sum += sensors.baro_alt_meter;
_balt_data_sum += airdata.baro_alt_meter;
uint32_t balt_time_ms = _balt_time_sum_ms / _balt_sample_count;
if (balt_time_ms - _balt_time_ms_last_used > (uint32_t)_params->sensor_interval_min_ms) {
// take mean across sample period
float balt_data_avg = _balt_data_sum / (float)_balt_sample_count;
// estimate air density assuming typical 20degC ambient temperature
const float pressure_to_density = 1.0f / (CONSTANTS_AIR_GAS_CONST * (20.0f - CONSTANTS_ABSOLUTE_NULL_CELSIUS));
const float rho = pressure_to_density * sensors.baro_pressure_pa;
_ekf.set_air_density(rho);
_ekf.set_air_density(airdata.rho);
// calculate static pressure error = Pmeas - Ptruth
// model position error sensitivity as a body fixed ellipse with different scale in the positive and negtive X direction
@@ -819,11 +816,11 @@ void Ekf2::run()
const float y_v2 = fminf(vel_body_wind(1) * vel_body_wind(1), max_airspeed_sq);
const float z_v2 = fminf(vel_body_wind(2) * vel_body_wind(2), max_airspeed_sq);
const float pstatic_err = 0.5f * rho * (K_pstatic_coef_x * x_v2) + (_K_pstatic_coef_y.get() * y_v2) +
(_K_pstatic_coef_z.get() * z_v2);
const float pstatic_err = 0.5f * airdata.rho *
(K_pstatic_coef_x * x_v2) + (_K_pstatic_coef_y.get() * y_v2) + (_K_pstatic_coef_z.get() * z_v2);
// correct baro measurement using pressure error estimate and assuming sea level gravity
balt_data_avg += pstatic_err / (rho * CONSTANTS_ONE_G);
balt_data_avg += pstatic_err / (airdata.rho * CONSTANTS_ONE_G);
// push to estimator
_ekf.setBaroData(1000 * (uint64_t)balt_time_ms, balt_data_avg);
@@ -1112,8 +1109,6 @@ void Ekf2::run()
global_pos.terrain_alt = 0.0f; // Terrain altitude in m, WGS84
}
global_pos.pressure_alt = sensors.baro_alt_meter; // Pressure altitude AMSL (m)
global_pos.dead_reckoning = _ekf.inertial_dead_reckoning(); // True if this position is estimated through dead-reckoning
_vehicle_global_position_pub.update();
@@ -1128,18 +1123,10 @@ void Ekf2::run()
bias.timestamp = now;
bias.gyro_x = sensors.gyro_rad[0] - gyro_bias[0];
bias.gyro_y = sensors.gyro_rad[1] - gyro_bias[1];
bias.gyro_z = sensors.gyro_rad[2] - gyro_bias[2];
bias.accel_x = sensors.accelerometer_m_s2[0] - accel_bias[0];
bias.accel_y = sensors.accelerometer_m_s2[1] - accel_bias[1];
bias.accel_z = sensors.accelerometer_m_s2[2] - accel_bias[2];
bias.mag_x = sensors.magnetometer_ga[0] - (_last_valid_mag_cal[0] / 1000.0f); // mGauss -> Gauss
bias.mag_y = sensors.magnetometer_ga[1] - (_last_valid_mag_cal[1] / 1000.0f); // mGauss -> Gauss
bias.mag_z = sensors.magnetometer_ga[2] - (_last_valid_mag_cal[2] / 1000.0f); // mGauss -> Gauss
bias.gyro_x_bias = gyro_bias[0];
bias.gyro_y_bias = gyro_bias[1];
bias.gyro_z_bias = gyro_bias[2];