fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-06 15:08:53 +08:00
Code Issues Packages Projects Releases Wiki Activity

attitude_estimator_ekf: acc compensation and magnetic declination fixes

Browse Source
This commit is contained in:
Anton Babushkin
2013-12-27 14:39:59 +04:00
parent 94a63c9e6e
commit 61a3177979
1 changed files with 27 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+27 -15
View File
@@ -62,6 +62,8 @@
#include <uORB/topics/parameter_update.h>
#include <drivers/drv_hrt.h>
#include <lib/mathlib/mathlib.h>
#include <systemlib/systemlib.h>
#include <systemlib/perf_counter.h>
#include <systemlib/err.h>
@@ -274,6 +276,13 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
float gyro_offsets[3] = { 0.0f, 0.0f, 0.0f };
unsigned offset_count = 0;
/* actual acceleration (by GPS velocity) in body frame */
float acc[3] = { 0.0f, 0.0f, 0.0f };
/* rotation matrix for magnetic declination */
math::Matrix<3, 3> R_decl;
R_decl.identity();
/* register the perf counter */
perf_counter_t ekf_loop_perf = perf_alloc(PC_ELAPSED, "attitude_estimator_ekf");
@@ -308,6 +317,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* update parameters */
parameters_update(&ekf_param_handles, &ekf_params);
/* update mag declination rotation matrix */
R_decl.from_euler(0.0f, 0.0f, ekf_params.mag_decl);
}
/* only run filter if sensor values changed */
@@ -362,7 +374,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
sensor_last_timestamp[1] = raw.timestamp;
}
float acc[3];
if (gps.fix_type >= 3 && gps.eph_m < 10.0f && gps.vel_ned_valid && hrt_absolute_time() < gps.timestamp_velocity + 500000) {
if (last_gps != 0 && gps.timestamp_velocity != last_gps) {
float gps_dt = (gps.timestamp_velocity - last_gps) / 1000000.0f;
@@ -379,20 +390,18 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
acc[i] += att.R[j][i] * acc_NED[j];
}
}
vel_prev[0] = gps.vel_n_m_s;
vel_prev[1] = gps.vel_e_m_s;
vel_prev[2] = gps.vel_d_m_s;
}
last_gps = gps.timestamp_velocity;
} else {
acc[0] = 0.0f;
acc[1] = 0.0f;
acc[2] = 0.0f;
}
if (gps.vel_ned_valid) {
vel_prev[0] = gps.vel_n_m_s;
vel_prev[1] = gps.vel_e_m_s;
vel_prev[2] = gps.vel_d_m_s;
last_gps = gps.timestamp_velocity;
} else {
vel_prev[0] = 0.0f;
vel_prev[1] = 0.0f;
vel_prev[2] = 0.0f;
@@ -472,7 +481,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
continue;
}
if (last_data > 0 && raw.timestamp - last_data > 12000)
if (last_data > 0 && raw.timestamp - last_data > 30000)
printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data);
last_data = raw.timestamp;
@@ -480,10 +489,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* send out */
att.timestamp = raw.timestamp;
// XXX Apply the same transformation to the rotation matrix
att.roll = euler[0] - ekf_params.roll_off;
att.pitch = euler[1] - ekf_params.pitch_off;
att.yaw = euler[2] - ekf_params.yaw_off;
att.roll = euler[0];
att.pitch = euler[1];
att.yaw = euler[2] + ekf_params.mag_decl;
att.rollspeed = x_aposteriori[0];
att.pitchspeed = x_aposteriori[1];
@@ -492,12 +500,16 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
att.pitchacc = x_aposteriori[4];
att.yawacc = x_aposteriori[5];
//att.yawspeed =z_k[2] ;
/* copy offsets */
memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets));
/* magnetic declination */
math::Matrix<3, 3> R_body = (&Rot_matrix[0]);
math::Matrix<3, 3> R = R_decl * R_body;
/* copy rotation matrix */
memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix));
memcpy(&att.R[0][0], &R.data[0][0], sizeof(att.R));
att.R_valid = true;
if (isfinite(att.roll) && isfinite(att.pitch) && isfinite(att.yaw)) {