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LPE land bug fix and switch to fusion bit mask.

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This commit is contained in:
James Goppert
2016-12-21 08:43:18 +01:00
committed by Lorenz Meier
parent f263ea7f7e
commit 6ff85fb927
12 changed files with 430 additions and 517 deletions
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src/modules/local_position_estimator/sensors/sonar.cpp
+10 -11
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@@ -38,8 +38,8 @@ void BlockLocalPositionEstimator::sonarInit()
"mean %d cm std %d cm",
int(100 * _sonarStats.getMean()(0)),
int(100 * _sonarStats.getStdDev()(0)));
_sonarInitialized = true;
_sonarFault = FAULT_NONE;
_sensorTimeout &= ~SENSOR_SONAR;
_sensorFault &= ~SENSOR_SONAR;
}
}
}
@@ -116,25 +116,24 @@ void BlockLocalPositionEstimator::sonarCorrect()
float beta = (r.transpose() * (S_I * r))(0, 0);
if (beta > BETA_TABLE[n_y_sonar]) {
if (_sonarFault < FAULT_MINOR) {
_sonarFault = FAULT_MINOR;
//mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] sonar fault, beta %5.2f", double(beta));
if (!(_sensorFault & SENSOR_SONAR)) {
_sensorFault |= SENSOR_SONAR;
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] sonar fault, beta %5.2f", double(beta));
}
// abort correction
return;
} else if (_sonarFault) {
_sonarFault = FAULT_NONE;
} else if (_sensorFault & SENSOR_SONAR) {
_sensorFault &= ~SENSOR_SONAR;
//mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] sonar OK");
}
// kalman filter correction if no fault
if (_sonarFault < fault_lvl_disable) {
if (!(_sensorFault & SENSOR_SONAR)) {
Matrix<float, n_x, n_y_sonar> K =
_P * C.transpose() * S_I;
Vector<float, n_x> dx = K * r;
correctionLogic(dx);
_x += dx;
_P -= K * C * _P;
}
@@ -144,8 +143,8 @@ void BlockLocalPositionEstimator::sonarCorrect()
void BlockLocalPositionEstimator::sonarCheckTimeout()
{
if (_timeStamp - _time_last_sonar > SONAR_TIMEOUT) {
if (_sonarInitialized) {
_sonarInitialized = false;
if (!(_sensorTimeout & SENSOR_SONAR)) {
_sensorTimeout |= SENSOR_SONAR;
_sonarStats.reset();
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] sonar timeout ");
}