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mavlink_receiver : Add external estimator interface

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This commit is contained in:
Kabir Mohammed
2017-02-15 21:47:51 +01:00
committed by Lorenz Meier
parent 75f6b4eb0c
commit 569251dc2e
5 changed files with 122 additions and 4 deletions
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src/modules/mavlink/mavlink_receiver.cpp
+101
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@@ -121,6 +121,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_pos_sp_triplet_pub(nullptr),
_att_pos_mocap_pub(nullptr),
_vision_position_pub(nullptr),
_vision_attitude_pub(nullptr),
_telemetry_status_pub(nullptr),
_rc_pub(nullptr),
_manual_pub(nullptr),
@@ -133,6 +134,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_gps_inject_data_pub(nullptr),
_command_ack_pub(nullptr),
_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
_global_ref_timestamp(0),
_hil_frames(0),
_old_timestamp(0),
_hil_last_frame(0),
@@ -216,6 +218,18 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_vision_position_estimate(msg);
break;
case MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV:
handle_message_attitude_quaternion_cov(msg);
break;
case MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV:
handle_message_local_position_ned_cov(msg);
break;
case MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN:
handle_message_gps_global_origin(msg);
break;
case MAVLINK_MSG_ID_RADIO_STATUS:
handle_message_radio_status(msg);
break;
@@ -1045,6 +1059,93 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
}
void
MavlinkReceiver::handle_message_gps_global_origin(mavlink_message_t *msg)
{
mavlink_gps_global_origin_t origin;
mavlink_msg_gps_global_origin_decode(msg, &origin);
if (!globallocalconverter_initialized()) {
/* Set reference point conversion of local coordiantes <--> global coordinates */
globallocalconverter_init((double)origin.latitude * 1.0e-7, (double)origin.longitude * 1.0e-7,
(float)origin.altitude * 1.0e-3f, hrt_absolute_time());
_global_ref_timestamp = hrt_absolute_time();
}
}
void
MavlinkReceiver::handle_message_attitude_quaternion_cov(mavlink_message_t *msg)
{
mavlink_attitude_quaternion_cov_t att;
mavlink_msg_attitude_quaternion_cov_decode(msg, &att);
struct vehicle_attitude_s vision_attitude = {};
vision_attitude.timestamp = sync_stamp(att.time_usec);
vision_attitude.q[0] = att.q[0];
vision_attitude.q[1] = att.q[1];
vision_attitude.q[2] = att.q[2];
vision_attitude.q[3] = att.q[3];
vision_attitude.rollspeed = att.rollspeed;
vision_attitude.pitchspeed = att.pitchspeed;
vision_attitude.yawspeed = att.yawspeed;
// TODO : full covariance matrix
int instance_id = 0;
orb_publish_auto(ORB_ID(vehicle_vision_attitude), &_vision_attitude_pub, &vision_attitude, &instance_id, ORB_PRIO_HIGH);
}
void
MavlinkReceiver::handle_message_local_position_ned_cov(mavlink_message_t *msg)
{
mavlink_local_position_ned_cov_t pos;
mavlink_msg_local_position_ned_cov_decode(msg, &pos);
struct vehicle_local_position_s vision_position = {};
vision_position.timestamp = sync_stamp(pos.time_usec);
// Use the estimator type to identify the external estimate
vision_position.estimator_type = pos.estimator_type;
vision_position.xy_valid = true;
vision_position.z_valid = true;
vision_position.v_xy_valid = true;
vision_position.v_z_valid = true;
vision_position.x = pos.x;
vision_position.y = pos.y;
vision_position.z = pos.z;
vision_position.vx = pos.vx;
vision_position.vy = pos.vy;
vision_position.vz = pos.vz;
vision_position.ax = pos.ax;
vision_position.ay = pos.ay;
vision_position.az = pos.az;
// Low risk change for now. TODO : full covariance matrix
vision_position.eph = sqrtf(fmaxf(pos.covariance[0],pos.covariance[9]));
vision_position.epv = sqrtf(pos.covariance[17]);
vision_position.xy_global = globallocalconverter_initialized();
vision_position.z_global = globallocalconverter_initialized();
vision_position.ref_timestamp = _global_ref_timestamp;
globallocalconverter_getref(&vision_position.ref_lat, &vision_position.ref_lon, &vision_position.ref_alt);
vision_position.dist_bottom_valid = false;
int instance_id = 0;
orb_publish_auto(ORB_ID(vehicle_vision_position), &_vision_position_pub, &vision_position, &instance_id, ORB_PRIO_HIGH);
}
void
MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
{