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Moved James Gopperts EKF to the new world
This commit is contained in:
Lorenz Meier
@@ -0,0 +1,771 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file KalmanNav.cpp
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*
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* kalman filter navigation code
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*/
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#include <poll.h>
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#include "KalmanNav.hpp"
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// constants
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// Titterton pg. 52
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static const float omega = 7.2921150e-5f; // earth rotation rate, rad/s
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static const float R0 = 6378137.0f; // earth radius, m
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static const float g0 = 9.806f; // standard gravitational accel. m/s^2
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static const int8_t ret_ok = 0; // no error in function
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static const int8_t ret_error = -1; // error occurred
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KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
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SuperBlock(parent, name),
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// ekf matrices
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F(9, 9),
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G(9, 6),
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P(9, 9),
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P0(9, 9),
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V(6, 6),
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// attitude measurement ekf matrices
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HAtt(6, 9),
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RAtt(6, 6),
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// position measurement ekf matrices
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HPos(6, 9),
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RPos(6, 6),
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// attitude representations
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C_nb(),
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q(),
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// subscriptions
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_sensors(&getSubscriptions(), ORB_ID(sensor_combined), 5), // limit to 200 Hz
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_gps(&getSubscriptions(), ORB_ID(vehicle_gps_position), 100), // limit to 10 Hz
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_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
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// publications
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_pos(&getPublications(), ORB_ID(vehicle_global_position)),
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_att(&getPublications(), ORB_ID(vehicle_attitude)),
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// timestamps
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_pubTimeStamp(hrt_absolute_time()),
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_predictTimeStamp(hrt_absolute_time()),
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_attTimeStamp(hrt_absolute_time()),
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_outTimeStamp(hrt_absolute_time()),
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// frame count
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_navFrames(0),
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// miss counts
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_miss(0),
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// accelerations
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fN(0), fE(0), fD(0),
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// state
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phi(0), theta(0), psi(0),
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vN(0), vE(0), vD(0),
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lat(0), lon(0), alt(0),
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// parameters for ground station
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_vGyro(this, "V_GYRO"),
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_vAccel(this, "V_ACCEL"),
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_rMag(this, "R_MAG"),
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_rGpsVel(this, "R_GPS_VEL"),
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_rGpsPos(this, "R_GPS_POS"),
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_rGpsAlt(this, "R_GPS_ALT"),
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_rPressAlt(this, "R_PRESS_ALT"),
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_rAccel(this, "R_ACCEL"),
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_magDip(this, "ENV_MAG_DIP"),
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_magDec(this, "ENV_MAG_DEC"),
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_g(this, "ENV_G"),
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_faultPos(this, "FAULT_POS"),
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_faultAtt(this, "FAULT_ATT"),
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_attitudeInitialized(false),
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_positionInitialized(false),
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_attitudeInitCounter(0)
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{
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using namespace math;
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// initial state covariance matrix
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P0 = Matrix::identity(9) * 0.01f;
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P = P0;
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// initial state
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phi = 0.0f;
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theta = 0.0f;
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psi = 0.0f;
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vN = 0.0f;
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vE = 0.0f;
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vD = 0.0f;
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lat = 0.0f;
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lon = 0.0f;
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alt = 0.0f;
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// initialize quaternions
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q = Quaternion(EulerAngles(phi, theta, psi));
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// initialize dcm
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C_nb = Dcm(q);
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// HPos is constant
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HPos(0, 3) = 1.0f;
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HPos(1, 4) = 1.0f;
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HPos(2, 6) = 1.0e7f * M_RAD_TO_DEG_F;
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HPos(3, 7) = 1.0e7f * M_RAD_TO_DEG_F;
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HPos(4, 8) = 1.0f;
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HPos(5, 8) = 1.0f;
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// initialize all parameters
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updateParams();
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}
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void KalmanNav::update()
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{
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using namespace math;
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struct pollfd fds[1];
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fds[0].fd = _sensors.getHandle();
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fds[0].events = POLLIN;
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// poll for new data
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int ret = poll(fds, 1, 1000);
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if (ret < 0) {
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// XXX this is seriously bad - should be an emergency
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return;
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} else if (ret == 0) { // timeout
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return;
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}
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// get new timestamp
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uint64_t newTimeStamp = hrt_absolute_time();
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// check updated subscriptions
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if (_param_update.updated()) updateParams();
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bool gpsUpdate = _gps.updated();
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bool sensorsUpdate = _sensors.updated();
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// get new information from subscriptions
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// this clears update flag
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updateSubscriptions();
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// initialize attitude when sensors online
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if (!_attitudeInitialized && sensorsUpdate &&
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_sensors.accelerometer_counter > 10 &&
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_sensors.gyro_counter > 10 &&
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_sensors.magnetometer_counter > 10) {
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if (correctAtt() == ret_ok) _attitudeInitCounter++;
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if (_attitudeInitCounter > 100) {
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printf("[kalman_demo] initialized EKF attitude\n");
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printf("phi: %8.4f, theta: %8.4f, psi: %8.4f\n",
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double(phi), double(theta), double(psi));
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_attitudeInitialized = true;
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}
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}
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// initialize position when gps received
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if (!_positionInitialized &&
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_attitudeInitialized && // wait for attitude first
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gpsUpdate &&
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_gps.fix_type > 2
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//&& _gps.counter_pos_valid > 10
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) {
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vN = _gps.vel_n_m_s;
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vE = _gps.vel_e_m_s;
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vD = _gps.vel_d_m_s;
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setLatDegE7(_gps.lat);
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setLonDegE7(_gps.lon);
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setAltE3(_gps.alt);
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_positionInitialized = true;
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printf("[kalman_demo] initialized EKF state with GPS\n");
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printf("vN: %8.4f, vE: %8.4f, vD: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n",
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double(vN), double(vE), double(vD),
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lat, lon, alt);
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}
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// prediciton step
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// using sensors timestamp so we can account for packet lag
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float dt = (_sensors.timestamp - _predictTimeStamp) / 1.0e6f;
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//printf("dt: %15.10f\n", double(dt));
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_predictTimeStamp = _sensors.timestamp;
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// don't predict if time greater than a second
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if (dt < 1.0f) {
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predictState(dt);
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predictStateCovariance(dt);
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// count fast frames
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_navFrames += 1;
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}
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// count times 100 Hz rate isn't met
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if (dt > 0.01f) _miss++;
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// gps correction step
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if (_positionInitialized && gpsUpdate) {
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correctPos();
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}
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// attitude correction step
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if (_attitudeInitialized // initialized
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&& sensorsUpdate // new data
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&& _sensors.timestamp - _attTimeStamp > 1e6 / 20 // 20 Hz
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) {
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_attTimeStamp = _sensors.timestamp;
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correctAtt();
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}
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// publication
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if (newTimeStamp - _pubTimeStamp > 1e6 / 50) { // 50 Hz
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_pubTimeStamp = newTimeStamp;
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updatePublications();
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}
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// output
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if (newTimeStamp - _outTimeStamp > 10e6) { // 0.1 Hz
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_outTimeStamp = newTimeStamp;
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//printf("nav: %4d Hz, miss #: %4d\n",
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// _navFrames / 10, _miss / 10);
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_navFrames = 0;
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_miss = 0;
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}
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}
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void KalmanNav::updatePublications()
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{
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using namespace math;
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// position publication
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_pos.timestamp = _pubTimeStamp;
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_pos.time_gps_usec = _gps.timestamp_position;
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_pos.valid = true;
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_pos.lat = getLatDegE7();
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_pos.lon = getLonDegE7();
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_pos.alt = float(alt);
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_pos.relative_alt = float(alt); // TODO, make relative
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_pos.vx = vN;
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_pos.vy = vE;
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_pos.vz = vD;
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_pos.hdg = psi;
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// attitude publication
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_att.timestamp = _pubTimeStamp;
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_att.roll = phi;
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_att.pitch = theta;
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_att.yaw = psi;
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_att.rollspeed = _sensors.gyro_rad_s[0];
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_att.pitchspeed = _sensors.gyro_rad_s[1];
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_att.yawspeed = _sensors.gyro_rad_s[2];
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// TODO, add gyro offsets to filter
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_att.rate_offsets[0] = 0.0f;
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_att.rate_offsets[1] = 0.0f;
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_att.rate_offsets[2] = 0.0f;
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for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
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_att.R[i][j] = C_nb(i, j);
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for (int i = 0; i < 4; i++) _att.q[i] = q(i);
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_att.R_valid = true;
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_att.q_valid = true;
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// selectively update publications,
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// do NOT call superblock do-all method
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if (_positionInitialized)
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_pos.update();
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if (_attitudeInitialized)
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_att.update();
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}
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int KalmanNav::predictState(float dt)
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{
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using namespace math;
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// trig
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float sinL = sinf(lat);
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float cosL = cosf(lat);
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float cosLSing = cosf(lat);
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// prevent singularity
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if (fabsf(cosLSing) < 0.01f) {
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if (cosLSing > 0) cosLSing = 0.01;
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else cosLSing = -0.01;
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}
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// attitude prediction
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if (_attitudeInitialized) {
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Vector3 w(_sensors.gyro_rad_s);
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// attitude
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q = q + q.derivative(w) * dt;
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// renormalize quaternion if needed
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if (fabsf(q.norm() - 1.0f) > 1e-4f) {
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q = q.unit();
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}
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// C_nb update
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C_nb = Dcm(q);
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// euler update
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EulerAngles euler(C_nb);
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phi = euler.getPhi();
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theta = euler.getTheta();
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psi = euler.getPsi();
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// specific acceleration in nav frame
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Vector3 accelB(_sensors.accelerometer_m_s2);
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Vector3 accelN = C_nb * accelB;
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fN = accelN(0);
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fE = accelN(1);
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fD = accelN(2);
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}
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// position prediction
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if (_positionInitialized) {
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// neglects angular deflections in local gravity
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// see Titerton pg. 70
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float R = R0 + float(alt);
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float LDot = vN / R;
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float lDot = vE / (cosLSing * R);
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float rotRate = 2 * omega + lDot;
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// XXX position prediction using speed
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float vNDot = fN - vE * rotRate * sinL +
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vD * LDot;
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float vDDot = fD - vE * rotRate * cosL -
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vN * LDot + _g.get();
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float vEDot = fE + vN * rotRate * sinL +
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vDDot * rotRate * cosL;
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// rectangular integration
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vN += vNDot * dt;
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vE += vEDot * dt;
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vD += vDDot * dt;
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lat += double(LDot * dt);
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lon += double(lDot * dt);
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alt += double(-vD * dt);
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}
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return ret_ok;
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}
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int KalmanNav::predictStateCovariance(float dt)
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{
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using namespace math;
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// trig
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float sinL = sinf(lat);
|
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float cosL = cosf(lat);
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float cosLSq = cosL * cosL;
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float tanL = tanf(lat);
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// prepare for matrix
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float R = R0 + float(alt);
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float RSq = R * R;
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// F Matrix
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// Titterton pg. 291
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F(0, 1) = -(omega * sinL + vE * tanL / R);
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F(0, 2) = vN / R;
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F(0, 4) = 1.0f / R;
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F(0, 6) = -omega * sinL;
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F(0, 8) = -vE / RSq;
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||||
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||||
F(1, 0) = omega * sinL + vE * tanL / R;
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F(1, 2) = omega * cosL + vE / R;
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F(1, 3) = -1.0f / R;
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F(1, 8) = vN / RSq;
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F(2, 0) = -vN / R;
|
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F(2, 1) = -omega * cosL - vE / R;
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F(2, 4) = -tanL / R;
|
||||
F(2, 6) = -omega * cosL - vE / (R * cosLSq);
|
||||
F(2, 8) = vE * tanL / RSq;
|
||||
|
||||
F(3, 1) = -fD;
|
||||
F(3, 2) = fE;
|
||||
F(3, 3) = vD / R;
|
||||
F(3, 4) = -2 * (omega * sinL + vE * tanL / R);
|
||||
F(3, 5) = vN / R;
|
||||
F(3, 6) = -vE * (2 * omega * cosL + vE / (R * cosLSq));
|
||||
F(3, 8) = (vE * vE * tanL - vN * vD) / RSq;
|
||||
|
||||
F(4, 0) = fD;
|
||||
F(4, 2) = -fN;
|
||||
F(4, 3) = 2 * omega * sinL + vE * tanL / R;
|
||||
F(4, 4) = (vN * tanL + vD) / R;
|
||||
F(4, 5) = 2 * omega * cosL + vE / R;
|
||||
F(4, 6) = 2 * omega * (vN * cosL - vD * sinL) +
|
||||
vN * vE / (R * cosLSq);
|
||||
F(4, 8) = -vE * (vN * tanL + vD) / RSq;
|
||||
|
||||
F(5, 0) = -fE;
|
||||
F(5, 1) = fN;
|
||||
F(5, 3) = -2 * vN / R;
|
||||
F(5, 4) = -2 * (omega * cosL + vE / R);
|
||||
F(5, 6) = 2 * omega * vE * sinL;
|
||||
F(5, 8) = (vN * vN + vE * vE) / RSq;
|
||||
|
||||
F(6, 3) = 1 / R;
|
||||
F(6, 8) = -vN / RSq;
|
||||
|
||||
F(7, 4) = 1 / (R * cosL);
|
||||
F(7, 6) = vE * tanL / (R * cosL);
|
||||
F(7, 8) = -vE / (cosL * RSq);
|
||||
|
||||
F(8, 5) = -1;
|
||||
|
||||
// G Matrix
|
||||
// Titterton pg. 291
|
||||
G(0, 0) = -C_nb(0, 0);
|
||||
G(0, 1) = -C_nb(0, 1);
|
||||
G(0, 2) = -C_nb(0, 2);
|
||||
G(1, 0) = -C_nb(1, 0);
|
||||
G(1, 1) = -C_nb(1, 1);
|
||||
G(1, 2) = -C_nb(1, 2);
|
||||
G(2, 0) = -C_nb(2, 0);
|
||||
G(2, 1) = -C_nb(2, 1);
|
||||
G(2, 2) = -C_nb(2, 2);
|
||||
|
||||
G(3, 3) = C_nb(0, 0);
|
||||
G(3, 4) = C_nb(0, 1);
|
||||
G(3, 5) = C_nb(0, 2);
|
||||
G(4, 3) = C_nb(1, 0);
|
||||
G(4, 4) = C_nb(1, 1);
|
||||
G(4, 5) = C_nb(1, 2);
|
||||
G(5, 3) = C_nb(2, 0);
|
||||
G(5, 4) = C_nb(2, 1);
|
||||
G(5, 5) = C_nb(2, 2);
|
||||
|
||||
// continuous predictioon equations
|
||||
// for discrte time EKF
|
||||
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
|
||||
P = P + (F * P + P * F.transpose() + G * V * G.transpose()) * dt;
|
||||
|
||||
return ret_ok;
|
||||
}
|
||||
|
||||
int KalmanNav::correctAtt()
|
||||
{
|
||||
using namespace math;
|
||||
|
||||
// trig
|
||||
float cosPhi = cosf(phi);
|
||||
float cosTheta = cosf(theta);
|
||||
float cosPsi = cosf(psi);
|
||||
float sinPhi = sinf(phi);
|
||||
float sinTheta = sinf(theta);
|
||||
float sinPsi = sinf(psi);
|
||||
|
||||
// mag measurement
|
||||
Vector3 zMag(_sensors.magnetometer_ga);
|
||||
//float magNorm = zMag.norm();
|
||||
zMag = zMag.unit();
|
||||
|
||||
// mag predicted measurement
|
||||
// choosing some typical magnetic field properties,
|
||||
// TODO dip/dec depend on lat/ lon/ time
|
||||
float dip = _magDip.get() / M_RAD_TO_DEG_F; // dip, inclination with level
|
||||
float dec = _magDec.get() / M_RAD_TO_DEG_F; // declination, clockwise rotation from north
|
||||
float bN = cosf(dip) * cosf(dec);
|
||||
float bE = cosf(dip) * sinf(dec);
|
||||
float bD = sinf(dip);
|
||||
Vector3 bNav(bN, bE, bD);
|
||||
Vector3 zMagHat = (C_nb.transpose() * bNav).unit();
|
||||
|
||||
// accel measurement
|
||||
Vector3 zAccel(_sensors.accelerometer_m_s2);
|
||||
float accelMag = zAccel.norm();
|
||||
zAccel = zAccel.unit();
|
||||
|
||||
// ignore accel correction when accel mag not close to g
|
||||
Matrix RAttAdjust = RAtt;
|
||||
|
||||
bool ignoreAccel = fabsf(accelMag - _g.get()) > 1.1f;
|
||||
|
||||
if (ignoreAccel) {
|
||||
RAttAdjust(3, 3) = 1.0e10;
|
||||
RAttAdjust(4, 4) = 1.0e10;
|
||||
RAttAdjust(5, 5) = 1.0e10;
|
||||
|
||||
} else {
|
||||
//printf("correcting attitude with accel\n");
|
||||
}
|
||||
|
||||
// accel predicted measurement
|
||||
Vector3 zAccelHat = (C_nb.transpose() * Vector3(0, 0, -_g.get())).unit();
|
||||
|
||||
// combined measurement
|
||||
Vector zAtt(6);
|
||||
Vector zAttHat(6);
|
||||
|
||||
for (int i = 0; i < 3; i++) {
|
||||
zAtt(i) = zMag(i);
|
||||
zAtt(i + 3) = zAccel(i);
|
||||
zAttHat(i) = zMagHat(i);
|
||||
zAttHat(i + 3) = zAccelHat(i);
|
||||
}
|
||||
|
||||
// HMag , HAtt (0-2,:)
|
||||
float tmp1 =
|
||||
cosPsi * cosTheta * bN +
|
||||
sinPsi * cosTheta * bE -
|
||||
sinTheta * bD;
|
||||
HAtt(0, 1) = -(
|
||||
cosPsi * sinTheta * bN +
|
||||
sinPsi * sinTheta * bE +
|
||||
cosTheta * bD
|
||||
);
|
||||
HAtt(0, 2) = -cosTheta * (sinPsi * bN - cosPsi * bE);
|
||||
HAtt(1, 0) =
|
||||
(cosPhi * cosPsi * sinTheta + sinPhi * sinPsi) * bN +
|
||||
(cosPhi * sinPsi * sinTheta - sinPhi * cosPsi) * bE +
|
||||
cosPhi * cosTheta * bD;
|
||||
HAtt(1, 1) = sinPhi * tmp1;
|
||||
HAtt(1, 2) = -(
|
||||
(sinPhi * sinPsi * sinTheta + cosPhi * cosPsi) * bN -
|
||||
(sinPhi * cosPsi * sinTheta - cosPhi * sinPsi) * bE
|
||||
);
|
||||
HAtt(2, 0) = -(
|
||||
(sinPhi * cosPsi * sinTheta - cosPhi * sinPsi) * bN +
|
||||
(sinPhi * sinPsi * sinTheta + cosPhi * cosPsi) * bE +
|
||||
(sinPhi * cosTheta) * bD
|
||||
);
|
||||
HAtt(2, 1) = cosPhi * tmp1;
|
||||
HAtt(2, 2) = -(
|
||||
(cosPhi * sinPsi * sinTheta - sinPhi * cosTheta) * bN -
|
||||
(cosPhi * cosPsi * sinTheta + sinPhi * sinPsi) * bE
|
||||
);
|
||||
|
||||
// HAccel , HAtt (3-5,:)
|
||||
HAtt(3, 1) = cosTheta;
|
||||
HAtt(4, 0) = -cosPhi * cosTheta;
|
||||
HAtt(4, 1) = sinPhi * sinTheta;
|
||||
HAtt(5, 0) = sinPhi * cosTheta;
|
||||
HAtt(5, 1) = cosPhi * sinTheta;
|
||||
|
||||
// compute correction
|
||||
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
|
||||
Vector y = zAtt - zAttHat; // residual
|
||||
Matrix S = HAtt * P * HAtt.transpose() + RAttAdjust; // residual covariance
|
||||
Matrix K = P * HAtt.transpose() * S.inverse();
|
||||
Vector xCorrect = K * y;
|
||||
|
||||
// check correciton is sane
|
||||
for (size_t i = 0; i < xCorrect.getRows(); i++) {
|
||||
float val = xCorrect(i);
|
||||
|
||||
if (isnan(val) || isinf(val)) {
|
||||
// abort correction and return
|
||||
printf("[kalman_demo] numerical failure in att correction\n");
|
||||
// reset P matrix to P0
|
||||
P = P0;
|
||||
return ret_error;
|
||||
}
|
||||
}
|
||||
|
||||
// correct state
|
||||
if (!ignoreAccel) {
|
||||
phi += xCorrect(PHI);
|
||||
theta += xCorrect(THETA);
|
||||
}
|
||||
|
||||
psi += xCorrect(PSI);
|
||||
|
||||
// attitude also affects nav velocities
|
||||
if (_positionInitialized) {
|
||||
vN += xCorrect(VN);
|
||||
vE += xCorrect(VE);
|
||||
vD += xCorrect(VD);
|
||||
}
|
||||
|
||||
// update state covariance
|
||||
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
|
||||
P = P - K * HAtt * P;
|
||||
|
||||
// fault detection
|
||||
float beta = y.dot(S.inverse() * y);
|
||||
|
||||
if (beta > _faultAtt.get()) {
|
||||
printf("fault in attitude: beta = %8.4f\n", (double)beta);
|
||||
printf("y:\n"); y.print();
|
||||
printf("zMagHat:\n"); zMagHat.print();
|
||||
printf("zMag:\n"); zMag.print();
|
||||
printf("bNav:\n"); bNav.print();
|
||||
}
|
||||
|
||||
// update quaternions from euler
|
||||
// angle correction
|
||||
q = Quaternion(EulerAngles(phi, theta, psi));
|
||||
|
||||
return ret_ok;
|
||||
}
|
||||
|
||||
int KalmanNav::correctPos()
|
||||
{
|
||||
using namespace math;
|
||||
|
||||
// residual
|
||||
Vector y(6);
|
||||
y(0) = _gps.vel_n_m_s - vN;
|
||||
y(1) = _gps.vel_e_m_s - vE;
|
||||
y(2) = double(_gps.lat) - lat * 1.0e7 * M_RAD_TO_DEG;
|
||||
y(3) = double(_gps.lon) - lon * 1.0e7 * M_RAD_TO_DEG;
|
||||
y(4) = double(_gps.alt) / 1.0e3 - alt;
|
||||
y(5) = double(_sensors.baro_alt_meter) - alt;
|
||||
|
||||
// compute correction
|
||||
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
|
||||
Matrix S = HPos * P * HPos.transpose() + RPos; // residual covariance
|
||||
Matrix K = P * HPos.transpose() * S.inverse();
|
||||
Vector xCorrect = K * y;
|
||||
|
||||
// check correction is sane
|
||||
for (size_t i = 0; i < xCorrect.getRows(); i++) {
|
||||
float val = xCorrect(i);
|
||||
|
||||
if (isnan(val) || isinf(val)) {
|
||||
// abort correction and return
|
||||
printf("[kalman_demo] numerical failure in gps correction\n");
|
||||
// fallback to GPS
|
||||
vN = _gps.vel_n_m_s;
|
||||
vE = _gps.vel_e_m_s;
|
||||
vD = _gps.vel_d_m_s;
|
||||
setLatDegE7(_gps.lat);
|
||||
setLonDegE7(_gps.lon);
|
||||
setAltE3(_gps.alt);
|
||||
// reset P matrix to P0
|
||||
P = P0;
|
||||
return ret_error;
|
||||
}
|
||||
}
|
||||
|
||||
// correct state
|
||||
vN += xCorrect(VN);
|
||||
vE += xCorrect(VE);
|
||||
vD += xCorrect(VD);
|
||||
lat += double(xCorrect(LAT));
|
||||
lon += double(xCorrect(LON));
|
||||
alt += double(xCorrect(ALT));
|
||||
|
||||
// update state covariance
|
||||
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
|
||||
P = P - K * HPos * P;
|
||||
|
||||
// fault detetcion
|
||||
float beta = y.dot(S.inverse() * y);
|
||||
|
||||
if (beta > _faultPos.get()) {
|
||||
printf("fault in gps: beta = %8.4f\n", (double)beta);
|
||||
printf("Y/N: vN: %8.4f, vE: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n",
|
||||
double(y(0) / sqrtf(RPos(0, 0))),
|
||||
double(y(1) / sqrtf(RPos(1, 1))),
|
||||
double(y(2) / sqrtf(RPos(2, 2))),
|
||||
double(y(3) / sqrtf(RPos(3, 3))),
|
||||
double(y(4) / sqrtf(RPos(4, 4))),
|
||||
double(y(5) / sqrtf(RPos(5, 5))));
|
||||
}
|
||||
|
||||
return ret_ok;
|
||||
}
|
||||
|
||||
void KalmanNav::updateParams()
|
||||
{
|
||||
using namespace math;
|
||||
using namespace control;
|
||||
SuperBlock::updateParams();
|
||||
|
||||
// gyro noise
|
||||
V(0, 0) = _vGyro.get(); // gyro x, rad/s
|
||||
V(1, 1) = _vGyro.get(); // gyro y
|
||||
V(2, 2) = _vGyro.get(); // gyro z
|
||||
|
||||
// accel noise
|
||||
V(3, 3) = _vAccel.get(); // accel x, m/s^2
|
||||
V(4, 4) = _vAccel.get(); // accel y
|
||||
V(5, 5) = _vAccel.get(); // accel z
|
||||
|
||||
// magnetometer noise
|
||||
float noiseMin = 1e-6f;
|
||||
float noiseMagSq = _rMag.get() * _rMag.get();
|
||||
|
||||
if (noiseMagSq < noiseMin) noiseMagSq = noiseMin;
|
||||
|
||||
RAtt(0, 0) = noiseMagSq; // normalized direction
|
||||
RAtt(1, 1) = noiseMagSq;
|
||||
RAtt(2, 2) = noiseMagSq;
|
||||
|
||||
// accelerometer noise
|
||||
float noiseAccelSq = _rAccel.get() * _rAccel.get();
|
||||
|
||||
// bound noise to prevent singularities
|
||||
if (noiseAccelSq < noiseMin) noiseAccelSq = noiseMin;
|
||||
|
||||
RAtt(3, 3) = noiseAccelSq; // normalized direction
|
||||
RAtt(4, 4) = noiseAccelSq;
|
||||
RAtt(5, 5) = noiseAccelSq;
|
||||
|
||||
// gps noise
|
||||
float R = R0 + float(alt);
|
||||
float cosLSing = cosf(lat);
|
||||
|
||||
// prevent singularity
|
||||
if (fabsf(cosLSing) < 0.01f) {
|
||||
if (cosLSing > 0) cosLSing = 0.01;
|
||||
else cosLSing = -0.01;
|
||||
}
|
||||
|
||||
float noiseVel = _rGpsVel.get();
|
||||
float noiseLatDegE7 = 1.0e7f * M_RAD_TO_DEG_F * _rGpsPos.get() / R;
|
||||
float noiseLonDegE7 = noiseLatDegE7 / cosLSing;
|
||||
float noiseGpsAlt = _rGpsAlt.get();
|
||||
float noisePressAlt = _rPressAlt.get();
|
||||
|
||||
// bound noise to prevent singularities
|
||||
if (noiseVel < noiseMin) noiseVel = noiseMin;
|
||||
|
||||
if (noiseLatDegE7 < noiseMin) noiseLatDegE7 = noiseMin;
|
||||
|
||||
if (noiseLonDegE7 < noiseMin) noiseLonDegE7 = noiseMin;
|
||||
|
||||
if (noiseGpsAlt < noiseMin) noiseGpsAlt = noiseMin;
|
||||
|
||||
if (noisePressAlt < noiseMin) noisePressAlt = noiseMin;
|
||||
|
||||
RPos(0, 0) = noiseVel * noiseVel; // vn
|
||||
RPos(1, 1) = noiseVel * noiseVel; // ve
|
||||
RPos(2, 2) = noiseLatDegE7 * noiseLatDegE7; // lat
|
||||
RPos(3, 3) = noiseLonDegE7 * noiseLonDegE7; // lon
|
||||
RPos(4, 4) = noiseGpsAlt * noiseGpsAlt; // h
|
||||
RPos(5, 5) = noisePressAlt * noisePressAlt; // h
|
||||
// XXX, note that RPos depends on lat, so updateParams should
|
||||
// be called if lat changes significantly
|
||||
}
|
||||
@@ -0,0 +1,180 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file KalmanNav.hpp
|
||||
*
|
||||
* kalman filter navigation code
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
//#define MATRIX_ASSERT
|
||||
//#define VECTOR_ASSERT
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <mathlib/mathlib.h>
|
||||
#include <controllib/blocks.hpp>
|
||||
#include <controllib/block/BlockParam.hpp>
|
||||
#include <controllib/block/UOrbSubscription.hpp>
|
||||
#include <controllib/block/UOrbPublication.hpp>
|
||||
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/vehicle_global_position.h>
|
||||
#include <uORB/topics/sensor_combined.h>
|
||||
#include <uORB/topics/vehicle_gps_position.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <poll.h>
|
||||
#include <unistd.h>
|
||||
|
||||
/**
|
||||
* Kalman filter navigation class
|
||||
* http://en.wikipedia.org/wiki/Extended_Kalman_filter
|
||||
* Discrete-time extended Kalman filter
|
||||
*/
|
||||
class KalmanNav : public control::SuperBlock
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
KalmanNav(SuperBlock *parent, const char *name);
|
||||
|
||||
/**
|
||||
* Deconstuctor
|
||||
*/
|
||||
|
||||
virtual ~KalmanNav() {};
|
||||
/**
|
||||
* The main callback function for the class
|
||||
*/
|
||||
void update();
|
||||
|
||||
|
||||
/**
|
||||
* Publication update
|
||||
*/
|
||||
virtual void updatePublications();
|
||||
|
||||
/**
|
||||
* State prediction
|
||||
* Continuous, non-linear
|
||||
*/
|
||||
int predictState(float dt);
|
||||
|
||||
/**
|
||||
* State covariance prediction
|
||||
* Continuous, linear
|
||||
*/
|
||||
int predictStateCovariance(float dt);
|
||||
|
||||
/**
|
||||
* Attitude correction
|
||||
*/
|
||||
int correctAtt();
|
||||
|
||||
/**
|
||||
* Position correction
|
||||
*/
|
||||
int correctPos();
|
||||
|
||||
/**
|
||||
* Overloaded update parameters
|
||||
*/
|
||||
virtual void updateParams();
|
||||
protected:
|
||||
// kalman filter
|
||||
math::Matrix F; /**< Jacobian(f,x), where dx/dt = f(x,u) */
|
||||
math::Matrix G; /**< noise shaping matrix for gyro/accel */
|
||||
math::Matrix P; /**< state covariance matrix */
|
||||
math::Matrix P0; /**< initial state covariance matrix */
|
||||
math::Matrix V; /**< gyro/ accel noise matrix */
|
||||
math::Matrix HAtt; /**< attitude measurement matrix */
|
||||
math::Matrix RAtt; /**< attitude measurement noise matrix */
|
||||
math::Matrix HPos; /**< position measurement jacobian matrix */
|
||||
math::Matrix RPos; /**< position measurement noise matrix */
|
||||
// attitude
|
||||
math::Dcm C_nb; /**< direction cosine matrix from body to nav frame */
|
||||
math::Quaternion q; /**< quaternion from body to nav frame */
|
||||
// subscriptions
|
||||
control::UOrbSubscription<sensor_combined_s> _sensors; /**< sensors sub. */
|
||||
control::UOrbSubscription<vehicle_gps_position_s> _gps; /**< gps sub. */
|
||||
control::UOrbSubscription<parameter_update_s> _param_update; /**< parameter update sub. */
|
||||
// publications
|
||||
control::UOrbPublication<vehicle_global_position_s> _pos; /**< position pub. */
|
||||
control::UOrbPublication<vehicle_attitude_s> _att; /**< attitude pub. */
|
||||
// time stamps
|
||||
uint64_t _pubTimeStamp; /**< output data publication time stamp */
|
||||
uint64_t _predictTimeStamp; /**< prediction time stamp */
|
||||
uint64_t _attTimeStamp; /**< attitude correction time stamp */
|
||||
uint64_t _outTimeStamp; /**< output time stamp */
|
||||
// frame count
|
||||
uint16_t _navFrames; /**< navigation frames completed in output cycle */
|
||||
// miss counts
|
||||
uint16_t _miss; /**< number of times fast prediction loop missed */
|
||||
// accelerations
|
||||
float fN, fE, fD; /**< navigation frame acceleration */
|
||||
// states
|
||||
enum {PHI = 0, THETA, PSI, VN, VE, VD, LAT, LON, ALT}; /**< state enumeration */
|
||||
float phi, theta, psi; /**< 3-2-1 euler angles */
|
||||
float vN, vE, vD; /**< navigation velocity, m/s */
|
||||
double lat, lon, alt; /**< lat, lon, alt, radians */
|
||||
// parameters
|
||||
control::BlockParam<float> _vGyro; /**< gyro process noise */
|
||||
control::BlockParam<float> _vAccel; /**< accelerometer process noise */
|
||||
control::BlockParam<float> _rMag; /**< magnetometer measurement noise */
|
||||
control::BlockParam<float> _rGpsVel; /**< gps velocity measurement noise */
|
||||
control::BlockParam<float> _rGpsPos; /**< gps position measurement noise */
|
||||
control::BlockParam<float> _rGpsAlt; /**< gps altitude measurement noise */
|
||||
control::BlockParam<float> _rPressAlt; /**< press altitude measurement noise */
|
||||
control::BlockParam<float> _rAccel; /**< accelerometer measurement noise */
|
||||
control::BlockParam<float> _magDip; /**< magnetic inclination with level */
|
||||
control::BlockParam<float> _magDec; /**< magnetic declination, clockwise rotation */
|
||||
control::BlockParam<float> _g; /**< gravitational constant */
|
||||
control::BlockParam<float> _faultPos; /**< fault detection threshold for position */
|
||||
control::BlockParam<float> _faultAtt; /**< fault detection threshold for attitude */
|
||||
// status
|
||||
bool _attitudeInitialized;
|
||||
bool _positionInitialized;
|
||||
uint16_t _attitudeInitCounter;
|
||||
// accessors
|
||||
int32_t getLatDegE7() { return int32_t(lat * 1.0e7 * M_RAD_TO_DEG); }
|
||||
void setLatDegE7(int32_t val) { lat = val / 1.0e7 / M_RAD_TO_DEG; }
|
||||
int32_t getLonDegE7() { return int32_t(lon * 1.0e7 * M_RAD_TO_DEG); }
|
||||
void setLonDegE7(int32_t val) { lon = val / 1.0e7 / M_RAD_TO_DEG; }
|
||||
int32_t getAltE3() { return int32_t(alt * 1.0e3); }
|
||||
void setAltE3(int32_t val) { alt = double(val) / 1.0e3; }
|
||||
};
|
||||
@@ -0,0 +1,152 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @author Example User <mail@example.com>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* @file kalman_demo.cpp
|
||||
* Demonstration of control library
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <systemlib/param/param.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <math.h>
|
||||
#include "KalmanNav.hpp"
|
||||
|
||||
static bool thread_should_exit = false; /**< Deamon exit flag */
|
||||
static bool thread_running = false; /**< Deamon status flag */
|
||||
static int deamon_task; /**< Handle of deamon task / thread */
|
||||
|
||||
/**
|
||||
* Deamon management function.
|
||||
*/
|
||||
extern "C" __EXPORT int att_pos_estimator_ekf_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Mainloop of deamon.
|
||||
*/
|
||||
int kalman_demo_thread_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Print the correct usage.
|
||||
*/
|
||||
static void usage(const char *reason);
|
||||
|
||||
static void
|
||||
usage(const char *reason)
|
||||
{
|
||||
if (reason)
|
||||
fprintf(stderr, "%s\n", reason);
|
||||
|
||||
fprintf(stderr, "usage: kalman_demo {start|stop|status} [-p <additional params>]\n\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
/**
|
||||
* The deamon app only briefly exists to start
|
||||
* the background job. The stack size assigned in the
|
||||
* Makefile does only apply to this management task.
|
||||
*
|
||||
* The actual stack size should be set in the call
|
||||
* to task_create().
|
||||
*/
|
||||
int att_pos_estimator_ekf_main(int argc, char *argv[])
|
||||
{
|
||||
|
||||
if (argc < 1)
|
||||
usage("missing command");
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (thread_running) {
|
||||
printf("kalman_demo already running\n");
|
||||
/* this is not an error */
|
||||
exit(0);
|
||||
}
|
||||
|
||||
thread_should_exit = false;
|
||||
deamon_task = task_spawn("kalman_demo",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 5,
|
||||
4096,
|
||||
kalman_demo_thread_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
thread_should_exit = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
printf("\tkalman_demo app is running\n");
|
||||
|
||||
} else {
|
||||
printf("\tkalman_demo app not started\n");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
usage("unrecognized command");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
int kalman_demo_thread_main(int argc, char *argv[])
|
||||
{
|
||||
|
||||
printf("[kalman_demo] starting\n");
|
||||
|
||||
using namespace math;
|
||||
|
||||
thread_running = true;
|
||||
|
||||
KalmanNav nav(NULL, "KF");
|
||||
|
||||
while (!thread_should_exit) {
|
||||
nav.update();
|
||||
}
|
||||
|
||||
printf("[kalman_demo] exiting.\n");
|
||||
|
||||
thread_running = false;
|
||||
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,45 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Basic example application
|
||||
#
|
||||
|
||||
MODULE_COMMAND = att_pos_estimator_ekf
|
||||
|
||||
# XXX this might be intended for the spawned deamon, validate
|
||||
MODULE_PRIORITY = "SCHED_PRIORITY_MAX-30"
|
||||
|
||||
SRCS = kalman_main.cpp \
|
||||
KalmanNav.cpp \
|
||||
params.c
|
||||
@@ -0,0 +1,16 @@
|
||||
#include <systemlib/param/param.h>
|
||||
|
||||
/*PARAM_DEFINE_FLOAT(NAME,0.0f);*/
|
||||
PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f);
|
||||
PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 5.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 5.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_PRESS_ALT, 0.1f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_ENV_G, 9.765f);
|
||||
PARAM_DEFINE_FLOAT(KF_ENV_MAG_DIP, 60.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_ENV_MAG_DEC, 0.0f);
|
||||
Reference in New Issue
Block a user