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Make baro altitude relative.

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This commit is contained in:
Lorenz Meier
2014-02-27 16:20:36 -08:00
parent 2dd5636ee0
commit 44c5726703
1 changed files with 77 additions and 20 deletions
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src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
+77 -20
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@@ -164,6 +164,8 @@ private:
struct sensor_combined_s _sensor_combined;
#endif
float _baro_ref; /**< barometer reference altitude */
perf_counter_t _loop_perf; /**< loop performance counter */
perf_counter_t _perf_gyro; ///<local performance counter for gyro updates
perf_counter_t _perf_accel; ///<local performance counter for accel updates
@@ -258,6 +260,8 @@ FixedwingEstimator::FixedwingEstimator() :
_global_pos_pub(-1),
_local_pos_pub(-1),
_baro_ref(0.0f),
/* performance counters */
_loop_perf(perf_alloc(PC_COUNT, "fw_att_pos_estimator")),
_perf_gyro(perf_alloc(PC_COUNT, "fw_ekf_gyro_upd")),
@@ -631,7 +635,7 @@ FixedwingEstimator::task_main()
if (baro_updated) {
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
baroHgt = _baro.altitude;
baroHgt = _baro.altitude - _baro_ref;
// Could use a blend of GPS and baro alt data if desired
hgtMea = 1.0f * baroHgt + 0.0f * gpsHgt;
@@ -696,7 +700,23 @@ FixedwingEstimator::task_main()
velNED[1] = _gps.vel_e_m_s;
velNED[2] = _gps.vel_d_m_s;
InitialiseFilter(velNED);
warnx("GPS REINIT");
// Initialize projection
_local_pos.ref_lat = _gps.lat;
_local_pos.ref_lon = _gps.lon;
_local_pos.ref_alt = _gps.alt;
_local_pos.ref_timestamp = _gps.timestamp_position;
// Store
_baro_ref = baroHgt;
// XXX this is not multithreading safe
double lat = _gps.lat * 1e-7;
double lon = _gps.lon * 1e-7;
float alt = _gps.alt * 1e-3;
map_projection_init(lat, lon);
mavlink_log_info(_mavlink_fd, "[position estimator] init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt);
_gps_initialized = true;
@@ -768,8 +788,8 @@ FixedwingEstimator::task_main()
fuseVelData = true;
fusePosData = true;
// recall states stored at time of measurement after adjusting for delays
RecallStates(statesAtVelTime, (IMUmsec - msecVelDelay));
RecallStates(statesAtPosTime, (IMUmsec - msecPosDelay));
RecallStates(statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms));
RecallStates(statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms));
// run the fusion step
FuseVelposNED();
@@ -788,8 +808,8 @@ FixedwingEstimator::task_main()
fuseVelData = true;
fusePosData = true;
// recall states stored at time of measurement after adjusting for delays
RecallStates(statesAtVelTime, (IMUmsec - msecVelDelay));
RecallStates(statesAtPosTime, (IMUmsec - msecPosDelay));
RecallStates(statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms));
RecallStates(statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms));
// run the fusion step
FuseVelposNED();
@@ -803,7 +823,7 @@ FixedwingEstimator::task_main()
hgtMea = 1.0f * baroHgt + 0.0f * gpsHgt;
fuseHgtData = true;
// recall states stored at time of measurement after adjusting for delays
RecallStates(statesAtHgtTime, (IMUmsec - msecHgtDelay));
RecallStates(statesAtHgtTime, (IMUmsec - _parameters.height_delay_ms));
// run the fusion step
FuseVelposNED();
@@ -814,7 +834,7 @@ FixedwingEstimator::task_main()
// Fuse Magnetometer Measurements
if (newDataMag && statesInitialised) {
fuseMagData = true;
RecallStates(statesAtMagMeasTime, (IMUmsec - msecMagDelay)); // Assume 50 msec avg delay for magnetometer data
RecallStates(statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms)); // Assume 50 msec avg delay for magnetometer data
} else {
fuseMagData = false;
@@ -825,7 +845,7 @@ FixedwingEstimator::task_main()
// Fuse Airspeed Measurements
if (newAdsData && statesInitialised && VtasMeas > 8.0f) {
fuseVtasData = true;
RecallStates(statesAtVtasMeasTime, (IMUmsec - msecTasDelay)); // assume 100 msec avg delay for airspeed data
RecallStates(statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data
FuseAirspeed();
} else {
@@ -900,10 +920,13 @@ FixedwingEstimator::task_main()
_local_pos.vy = states[5];
_local_pos.vz = states[6];
_local_pos.xy_valid = true;
_local_pos.xy_valid = _gps_initialized;
_local_pos.z_valid = true;
_local_pos.v_xy_valid = true;
_local_pos.v_xy_valid = _gps_initialized;
_local_pos.v_z_valid = true;
_local_pos.xy_global = true;
_local_pos.z_global = false;
/* lazily publish the local position only once available */
if (_local_pos_pub > 0) {
@@ -915,17 +938,51 @@ FixedwingEstimator::task_main()
_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &_local_pos);
}
_global_pos.timestamp = _gyro.timestamp;
_global_pos.timestamp = _local_pos.timestamp;
// /* lazily publish the global position only once available */
// if (_global_pos_pub > 0) {
// /* publish the attitude setpoint */
// orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &_global_pos);
_global_pos.baro_valid = true;
_global_pos.global_valid = true;
// } else {
// /* advertise and publish */
// _global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &_global_pos);
// }
if (_local_pos.xy_global) {
double est_lat, est_lon;
map_projection_reproject(_local_pos.x, _local_pos.y, &est_lat, &est_lon);
_global_pos.lat = est_lat;
_global_pos.lon = est_lon;
_global_pos.time_gps_usec = _gps.time_gps_usec;
}
/* set valid values even if position is not valid */
if (_local_pos.v_xy_valid) {
_global_pos.vel_n = _local_pos.vx;
_global_pos.vel_e = _local_pos.vy;
} else {
_global_pos.vel_n = 0.0f;
_global_pos.vel_e = 0.0f;
}
_global_pos.alt = _local_pos.ref_alt - _local_pos.z;
if (_local_pos.z_valid) {
_global_pos.baro_alt = _baro_ref - _local_pos.z;
}
if (_local_pos.v_z_valid) {
_global_pos.vel_d = _local_pos.vz;
}
_global_pos.yaw = _local_pos.yaw;
_global_pos.timestamp = _local_pos.timestamp;
/* lazily publish the global position only once available */
if (_global_pos_pub > 0) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &_global_pos);
} else {
/* advertise and publish */
_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &_global_pos);
}
}
}