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Merged release_v1.0.0 branch into master

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Lorenz Meier
2015-06-25 21:45:17 +02:00
parent 74bdec2cc6 5b93d92339
commit 454becdae5
73 changed files with 2726 additions and 887 deletions
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src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+19 -10
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@@ -229,6 +229,10 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() :
_parameter_handles.eas_noise = param_find("PE_EAS_NOISE");
_parameter_handles.pos_stddev_threshold = param_find("PE_POSDEV_INIT");
/* indicate consumers that the current position data is not valid */
_gps.eph = 10000.0f;
_gps.epv = 10000.0f;
/* fetch initial parameter values */
parameters_update();
@@ -700,21 +704,20 @@ void AttitudePositionEstimatorEKF::task_main()
continue;
}
//Run EKF data fusion steps
// Run EKF data fusion steps
updateSensorFusion(_gpsIsGood, _newDataMag, _newRangeData, _newHgtData, _newAdsData);
//Publish attitude estimations
// Publish attitude estimations
publishAttitude();
//Publish Local Position estimations
// Publish Local Position estimations
publishLocalPosition();
//Publish Global Position, but only if it's any good
if (_gps_initialized && (_gpsIsGood || _global_pos.dead_reckoning)) {
publishGlobalPosition();
}
// Publish Global Position, it will have a large uncertainty
// set if only altitude is known
publishGlobalPosition();
//Publish wind estimates
// Publish wind estimates
if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
publishWindEstimate();
}
@@ -903,6 +906,10 @@ void AttitudePositionEstimatorEKF::publishGlobalPosition()
_global_pos.lat = est_lat;
_global_pos.lon = est_lon;
_global_pos.time_utc_usec = _gps.time_utc_usec;
} else {
_global_pos.lat = 0.0;
_global_pos.lon = 0.0;
_global_pos.time_utc_usec = 0;
}
if (_local_pos.v_xy_valid) {
@@ -919,6 +926,8 @@ void AttitudePositionEstimatorEKF::publishGlobalPosition()
if (_local_pos.v_z_valid) {
_global_pos.vel_d = _local_pos.vz;
} else {
_global_pos.vel_d = 0.0f;
}
/* terrain altitude */
@@ -1074,7 +1083,7 @@ void AttitudePositionEstimatorEKF::updateSensorFusion(const bool fuseGPS, const
}
// Fuse Airspeed Measurements
if (fuseAirSpeed && _ekf->VtasMeas > 7.0f) {
if (fuseAirSpeed && _airspeed.true_airspeed_m_s > 5.0f) {
_ekf->fuseVtasData = true;
_ekf->RecallStates(_ekf->statesAtVtasMeasTime,
(IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data
@@ -1332,7 +1341,7 @@ void AttitudePositionEstimatorEKF::pollData()
orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed);
perf_count(_perf_airspeed);
_ekf->VtasMeas = _airspeed.true_airspeed_m_s;
_ekf->VtasMeas = _airspeed.true_airspeed_unfiltered_m_s;
}