fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 02:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

LPE land bug fix and switch to fusion bit mask.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/local_position_estimator/sensors/vision.cpp
+11 -12
View File
@@ -34,8 +34,8 @@ void BlockLocalPositionEstimator::visionInit()
double(_visionStats.getStdDev()(0)),
double(_visionStats.getStdDev()(1)),
double(_visionStats.getStdDev()(2)));
_visionInitialized = true;
_visionFault = FAULT_NONE;
_sensorTimeout &= ~SENSOR_VISION;
_sensorFault &= ~SENSOR_VISION;
if (!_altOriginInitialized) {
_altOriginInitialized = true;
@@ -91,21 +91,20 @@ void BlockLocalPositionEstimator::visionCorrect()
float beta = (r.transpose() * (S_I * r))(0, 0);
if (beta > BETA_TABLE[n_y_vision]) {
if (_visionFault < FAULT_MINOR) {
//mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] vision position fault, beta %5.2f", double(beta));
_visionFault = FAULT_MINOR;
if (!(_sensorFault & SENSOR_VISION)) {
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] vision position fault, beta %5.2f", double(beta));
_sensorFault |= SENSOR_VISION;
}
} else if (_visionFault) {
_visionFault = FAULT_NONE;
//mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] vision position OK");
} else if (_sensorFault & SENSOR_VISION) {
_sensorFault &= ~SENSOR_VISION;
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] vision position OK");
}
// kalman filter correction if no fault
if (_visionFault < fault_lvl_disable) {
if (!(_sensorFault & SENSOR_VISION)) {
Matrix<float, n_x, n_y_vision> K = _P * C.transpose() * S_I;
Vector<float, n_x> dx = K * r;
correctionLogic(dx);
_x += dx;
_P -= K * C * _P;
}
@@ -114,8 +113,8 @@ void BlockLocalPositionEstimator::visionCorrect()
void BlockLocalPositionEstimator::visionCheckTimeout()
{
if (_timeStamp - _time_last_vision_p > VISION_TIMEOUT) {
if (_visionInitialized) {
_visionInitialized = false;
if (!(_sensorTimeout & SENSOR_VISION)) {
_sensorTimeout |= SENSOR_VISION;
_visionStats.reset();
mavlink_log_critical(&mavlink_log_pub, "[lpe] vision position timeout ");
}