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Interfaced Pauls estimator, compiles, untested

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This commit is contained in:
Lorenz Meier
2014-01-01 16:48:15 +01:00
parent ffe5c88d98
commit 5008f79a96
2 changed files with 158 additions and 34 deletions
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src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
+155 -32
View File
@@ -55,6 +55,7 @@
#include <uORB/uORB.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
@@ -71,6 +72,8 @@
#include <systemlib/systemlib.h>
#include <mathlib/mathlib.h>
#include "../../../InertialNav/code/estimator.h"
/**
* estimator app start / stop handling function
*
@@ -78,6 +81,14 @@
*/
extern "C" __EXPORT int fw_att_pos_estimator_main(int argc, char *argv[]);
__EXPORT uint32_t millis();
static uint64_t last_run = 0;
uint32_t millis() {
return last_run / 1e3;
}
class FixedwingEstimator
{
public:
@@ -103,18 +114,19 @@ private:
bool _task_should_exit; /**< if true, sensor task should exit */
int _estimator_task; /**< task handle for sensor task */
int _global_pos_sub;
int _gyro_sub; /**< gyro sensor subscription */
int _accel_sub; /**< accel sensor subscription */
int _mag_sub; /**< mag sensor subscription */
int _attitude_sub; /**< raw rc channels data subscription */
int _airspeed_sub; /**< airspeed subscription */
int _gps_sub; /**< GPS subscription */
int _vstatus_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */
int _manual_control_sub; /**< notification of manual control updates */
int _mission_sub;
orb_advert_t _att_pub; /**< position setpoint */
orb_advert_t _att_pub; /**< vehicle attitude */
orb_advert_t _global_pos_pub; /**< global position */
struct vehicle_attitude_s _att; /**< vehicle attitude */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
@@ -125,22 +137,19 @@ private:
struct airspeed_s _airspeed; /**< airspeed */
struct vehicle_status_s _vstatus; /**< vehicle status */
struct vehicle_global_position_s _global_pos; /**< global vehicle position */
struct vehicle_gps_position_s _gps; /**< GPS position */
perf_counter_t _loop_perf; /**< loop performance counter */
unsigned _mission_items_maxcount; /**< maximum number of mission items supported */
struct mission_item_s * _mission_items; /**< storage for mission items */
bool _mission_valid; /**< flag if mission is valid */
/** manual control states */
float _seatbelt_hold_heading; /**< heading the system should hold in seatbelt mode */
float _loiter_hold_lat;
float _loiter_hold_lon;
float _loiter_hold_alt;
bool _loiter_hold;
bool _initialized;
struct {
float throttle_cruise;
float throttle_cruise;
uint32_t vel_delay_ms;
uint32_t pos_delay_ms;
uint32_t height_delay_ms;
uint32_t mag_delay_ms;
uint32_t tas_delay_ms;
} _parameters; /**< local copies of interesting parameters */
struct {
@@ -194,24 +203,23 @@ FixedwingEstimator::FixedwingEstimator() :
_estimator_task(-1),
/* subscriptions */
_global_pos_sub(-1),
_gyro_sub(-1),
_accel_sub(-1),
_mag_sub(-1),
_airspeed_sub(-1),
_gps_sub(-1),
_vstatus_sub(-1),
_params_sub(-1),
_manual_control_sub(-1),
/* publications */
_att_pub(-1),
_global_pos_pub(-1),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw_att_pos_estimator")),
/* states */
_mission_items_maxcount(20),
_mission_valid(false),
_loiter_hold(false)
_initialized(false)
{
_parameter_handles.throttle_cruise = param_find("NAV_DUMMY");
@@ -249,8 +257,15 @@ int
FixedwingEstimator::parameters_update()
{
// XXX NEED TO GET HANDLES FIRST! NEEDS PARAM INIT
//param_get(_parameter_handles.throttle_cruise, &(_parameters.throttle_cruise));
_parameters.vel_delay_ms = 230;
_parameters.pos_delay_ms = 210;
_parameters.height_delay_ms = 350;
_parameters.mag_delay_ms = 30;
_parameters.tas_delay_ms = 210;
return OK;
}
@@ -295,8 +310,10 @@ FixedwingEstimator::task_main()
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vstatus_sub, 200);
/* rate limit position updates to 50 Hz */
orb_set_interval(_global_pos_sub, 20);
/* rate limit gyro updates to 50 Hz */
/* XXX remove this!, BUT increase the data buffer size! */
orb_set_interval(_gyro_sub, 17);
parameters_update();
@@ -342,31 +359,127 @@ FixedwingEstimator::task_main()
/* only run estimator if gyro updated */
if (fds[1].revents & POLLIN) {
static uint64_t last_run = 0;
float deltaT = (hrt_absolute_time() - last_run) / 1000000.0f;
last_run = hrt_absolute_time();
/* load local copies */
orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &_gyro);
orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
float IMUmsec = _gyro.timestamp / 1e6;
float deltaT = (_gyro.timestamp - last_run) / 1000000.0f;
last_run = _gyro.timestamp / 1e6 ;
/* guard against too large deltaT's */
if (deltaT > 1.0f)
deltaT = 0.01f;
/* load local copies */
orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &_gyro);
dt = deltaT;
bool updated;
if (_initialized) {
orb_check(_accel_sub, &updated);
if (updated)
orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
/* predict states and covariances */
orb_check(_mag_sub, &updated);
if (updated)
/* run the strapdown INS every sensor update */
UpdateStrapdownEquationsNED();
/* store the predictions */
StoreStates();
/* evaluate if on ground */
OnGroundCheck();
/* prepare the delta angles and time used by the covariance prediction */
summedDelAng = summedDelAng + correctedDelAng;
summedDelVel = summedDelVel + correctedDelVel;
dt += dtIMU;
/* predict the covairance if the total delta angle has exceeded the threshold
* or the time limit will be exceeded on the next measurement update
*/
if ((dt >= (covTimeStepMax - dtIMU)) || (summedDelAng.length() > covDelAngMax)) {
CovariancePrediction();
summedDelAng = summedDelAng.zero();
summedDelVel = summedDelVel.zero();
dt = 0.0f;
}
}
bool gps_updated;
orb_check(_gps_sub, &gps_updated);
if (gps_updated) {
orb_copy(ORB_ID(vehicle_gps_position), _gps_sub, &_gps);
if (_gps.fix_type > 2 && !_initialized) {
/* initialize */
InitialiseFilter();
} else if (_gps.fix_type > 2) {
/* fuse GPS updates */
/* convert GPS measurements to horizontal NE, altitude and 3D velocity NED */
calcvelNED(velNED, gpsCourse, gpsGndSpd, gpsVelD);
calcposNED(posNED, gpsLat, gpsLon, gpsHgt, latRef, lonRef, hgtRef);
posNE[0] = posNED[0];
posNE[1] = posNED[1];
hgtMea = -posNED[2];
/* set flags for further processing */
fuseVelData = true;
fusePosData = true;
fuseHgtData = true;
/* recall states after adjusting for delays */
RecallStates(statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms));
RecallStates(statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms));
RecallStates(statesAtHgtTime, (IMUmsec - _parameters.height_delay_ms));
/* run the actual fusion */
FuseVelposNED();
} else {
/* do not fuse anything, we got no position / vel update */
fuseVelData = false;
fusePosData = false;
fuseHgtData = false;
}
}
bool mag_updated;
orb_check(_mag_sub, &mag_updated);
if (mag_updated) {
orb_copy(ORB_ID(sensor_mag), _mag_sub, &_mag);
orb_check(_airspeed_sub, &updated);
if (updated)
if (_initialized) {
fuseMagData = true;
RecallStates(statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms));
FuseMagnetometer();
}
} else {
fuseMagData = false;
}
bool airspeed_updated;
orb_check(_airspeed_sub, &airspeed_updated);
if (airspeed_updated) {
orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed);
if (_initialized && _airspeed.true_airspeed_m_s > 8.0f /* XXX magic number */) {
fuseVtasData = true;
RecallStates(statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data
FuseAirspeed();
}
} else {
fuseVtasData = false;
}
/* lazily publish the attitude only once available */
if (_att_pub > 0) {
/* publish the attitude setpoint */
@@ -377,6 +490,16 @@ FixedwingEstimator::task_main()
_att_pub = orb_advertise(ORB_ID(vehicle_attitude), &_att);
}
/* lazily publish the 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);
}
}
perf_end(_loop_perf);
src/modules/fw_att_pos_estimator/module.mk
+3 -2
View File
@@ -35,7 +35,8 @@
# Main Attitude and Position Estimator for Fixed Wing Aircraft
#
MODULE_COMMAND = navigator
MODULE_COMMAND = fw_att_pos_estimator
SRCS = fw_att_pos_estimator_main.cpp \
fw_att_pos_estimator_params.c
fw_att_pos_estimator_params.c \
../../../../InertialNav/code/estimator.cpp