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Additional yaw compensation for flow module offset from center of rotation.
This commit is contained in:
ChristophTobler
@@ -31,7 +31,7 @@
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#
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############################################################################
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if(${OS} STREQUAL "nuttx")
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list(APPEND MODULE_CFLAGS -Wframe-larger-than=3850)
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list(APPEND MODULE_CFLAGS -Wframe-larger-than=3890)
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endif()
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px4_add_module(
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MODULE modules__position_estimator_inav
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@@ -322,16 +322,12 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
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hrt_abstime lidar_time = 0; // time of last lidar measurement (not filtered)
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hrt_abstime lidar_valid_time = 0; // time of last lidar measurement used for correction (filtered)
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//----------test--------------------------
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float flow_test[] = { 0.0f, 0.0f };
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float pos_test[] = { 0.0f, 0.0f };
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float flow_test_average[] = { 0.0f, 0.0f };
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int n_flow = 0;
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float gyro_offset_filtered[] = { 0.0f, 0.0f };
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float flow_gyrospeed[] = { 0.0f, 0.0f };
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float flow_gyrospeed_filtered[] = { 0.0f, 0.0f };
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float att_gyrospeed_filtered[] = { 0.0f, 0.0f };
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//----------------------------------------
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float gyro_offset_filtered[] = { 0.0f, 0.0f, 0.0f };
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float flow_gyrospeed[] = { 0.0f, 0.0f, 0.0f };
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float flow_gyrospeed_filtered[] = { 0.0f, 0.0f, 0.0f };
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float att_gyrospeed_filtered[] = { 0.0f, 0.0f, 0.0f };
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float yaw_comp[] = { 0.0f, 0.0f };
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bool gps_valid = false; // GPS is valid
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bool lidar_valid = false; // lidar is valid
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@@ -505,12 +501,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
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acc[i] += PX4_R(att.R, i, j) * sensor.accelerometer_m_s2[j];
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}
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}
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//------------test----------------------
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//dont convert into NED for tests
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//acc[0] = sensor.accelerometer_m_s2[0];
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//acc[1] = sensor.accelerometer_m_s2[1];
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//acc[2] = sensor.accelerometer_m_s2[2];
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//---------------------------------------
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acc[2] += CONSTANTS_ONE_G;
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@@ -580,7 +570,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
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float flow_q = flow.quality / 255.0f;
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float dist_bottom = - z_est[0] - surface_offset; //lidar.current_distance;
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if (dist_bottom > 0.21f && flow_q > params.flow_q_min /*&& (t < lidar_valid_time + lidar_valid_timeout) && PX4_R(att.R, 2, 2) > 0.7f*/) {
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if (dist_bottom > 0.21f && flow_q > params.flow_q_min) {
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/* distance to surface */
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//float flow_dist = dist_bottom / PX4_R(att.R, 2, 2); //use this if using sonar
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float flow_dist = dist_bottom; //use this if using lidar
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@@ -599,11 +589,45 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
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//this flag is not working -->
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flow_accurate = true; //already checked if flow_q > 0.3
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/*calculate offset of flow-gyro using already calibrated gyro from autopilot*/
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flow_gyrospeed[0] = flow.gyro_x_rate_integral/(float)flow.integration_timespan*1000000.0f;
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flow_gyrospeed[1] = flow.gyro_y_rate_integral/(float)flow.integration_timespan*1000000.0f;
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flow_gyrospeed[2] = flow.gyro_z_rate_integral/(float)flow.integration_timespan*1000000.0f;
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//moving average
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if (n_flow >= 100) {
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gyro_offset_filtered[0] = flow_gyrospeed_filtered[0] - att_gyrospeed_filtered[0];
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gyro_offset_filtered[1] = flow_gyrospeed_filtered[1] - att_gyrospeed_filtered[1];
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gyro_offset_filtered[2] = flow_gyrospeed_filtered[2] - att_gyrospeed_filtered[2];
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n_flow = 0;
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flow_gyrospeed_filtered[0] = 0.0f;
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flow_gyrospeed_filtered[1] = 0.0f;
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flow_gyrospeed_filtered[2] = 0.0f;
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att_gyrospeed_filtered[0] = 0.0f;
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att_gyrospeed_filtered[1] = 0.0f;
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att_gyrospeed_filtered[2] = 0.0f;
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} else {
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flow_gyrospeed_filtered[0] = (flow_gyrospeed[0] + n_flow * flow_gyrospeed_filtered[0]) / (n_flow + 1);
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flow_gyrospeed_filtered[1] = (flow_gyrospeed[1] + n_flow * flow_gyrospeed_filtered[1]) / (n_flow + 1);
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flow_gyrospeed_filtered[2] = (flow_gyrospeed[2] + n_flow * flow_gyrospeed_filtered[2]) / (n_flow + 1);
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att_gyrospeed_filtered[0] = (att.pitchspeed + n_flow * att_gyrospeed_filtered[0]) / (n_flow + 1);
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att_gyrospeed_filtered[1] = (att.rollspeed + n_flow * att_gyrospeed_filtered[1]) / (n_flow + 1);
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att_gyrospeed_filtered[2] = (att.yawspeed + n_flow * att_gyrospeed_filtered[2]) / (n_flow + 1);
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n_flow++;
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}
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/*yaw compensation (flow sensor is not in center of rotation) -> params in QGC*/
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yaw_comp[0] = params.flow_module_offset_x * (flow_gyrospeed[2] - gyro_offset_filtered[2]);
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yaw_comp[1] = - params.flow_module_offset_y * (flow_gyrospeed[2] - gyro_offset_filtered[2]);
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/* convert raw flow to angular flow (rad/s) */
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float flow_ang[2];
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//calculate flow [rad/s] and compensate for rotations (and offset of flow-gyro)
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flow_ang[0] = (flow.pixel_flow_x_integral - flow.gyro_x_rate_integral)/(float)flow.integration_timespan*1000000.0f + gyro_offset_filtered[0];//flow.flow_raw_x * params.flow_k / 1000.0f / flow_dt;
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flow_ang[1] = (flow.pixel_flow_y_integral - flow.gyro_y_rate_integral)/(float)flow.integration_timespan*1000000.0f + gyro_offset_filtered[1];//flow.flow_raw_y * params.flow_k / 1000.0f / flow_dt;
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flow_ang[0] = (flow.pixel_flow_x_integral - flow.gyro_x_rate_integral)/(float)flow.integration_timespan*1000000.0f + gyro_offset_filtered[0] - yaw_comp[0];//flow.flow_raw_x * params.flow_k / 1000.0f / flow_dt;
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flow_ang[1] = (flow.pixel_flow_y_integral - flow.gyro_y_rate_integral)/(float)flow.integration_timespan*1000000.0f + gyro_offset_filtered[1] - yaw_comp[1];//flow.flow_raw_y * params.flow_k / 1000.0f / flow_dt;
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/* flow measurements vector */
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float flow_m[3];
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flow_m[0] = -flow_ang[0] * flow_dist;
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@@ -619,43 +643,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
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}
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}
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//-----------test-------------------
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//do not transform to NED for testing
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//flow_v[0] = flow_m[0];
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//flow_v[1] = flow_m[1];
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flow_test[0] = flow_v[0];
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flow_test[1] = flow_v[1];
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flow_test_average[0] = (flow.pixel_flow_x_integral + flow_test_average[0] * n_flow) / (n_flow + 1);
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flow_test_average[1] = (flow.pixel_flow_y_integral + flow_test_average[1] * n_flow) / (n_flow + 1);
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//calculate offset of flow-gyro using already calibrated gyro from autopilot
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flow_gyrospeed[0] = flow.gyro_x_rate_integral/(float)flow.integration_timespan*1000000.0f;
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flow_gyrospeed[1] = flow.gyro_y_rate_integral/(float)flow.integration_timespan*1000000.0f;
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//moving average
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if (n_flow >= 100) {
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gyro_offset_filtered[0] = flow_gyrospeed_filtered[0] - att_gyrospeed_filtered[0];
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gyro_offset_filtered[1] = flow_gyrospeed_filtered[1] - att_gyrospeed_filtered[1];
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n_flow = 0;
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flow_gyrospeed_filtered[0] = 0.0f;
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flow_gyrospeed_filtered[1] = 0.0f;
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att_gyrospeed_filtered[0] = 0.0f;
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att_gyrospeed_filtered[1] = 0.0f;
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} else {
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flow_gyrospeed_filtered[0] = (flow_gyrospeed[0] + n_flow * flow_gyrospeed_filtered[0]) / (n_flow + 1);
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flow_gyrospeed_filtered[1] = (flow_gyrospeed[1] + n_flow * flow_gyrospeed_filtered[1]) / (n_flow + 1);
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att_gyrospeed_filtered[0] = (att.rollspeed + n_flow * att_gyrospeed_filtered[0]) / (n_flow + 1);
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att_gyrospeed_filtered[1] = (att.rollspeed + n_flow * att_gyrospeed_filtered[1]) / (n_flow + 1);
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n_flow++;
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//mavlink_log_info(mavlink_fd, "n_flow = %d\n", (int)n_flow);
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}
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//----------------------------------
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/* velocity correction */
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corr_flow[0] = flow_v[0] - x_est[1];
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corr_flow[1] = flow_v[1] - y_est[1];
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@@ -670,11 +657,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
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w_flow *= 0.05f;
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}
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//--------test-------------
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//mavlink_log_info(mavlink_fd, "flow_accurate = %d\t w_flow = %4.4f\n", (int)flow_accurate, (double)w_flow);
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//w_flow = 0.8;
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//-------------------------
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/* under ideal conditions, on 1m distance assume EPH = 10cm */
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eph_flow = 0.1f / w_flow;
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@@ -1282,27 +1264,16 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
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buf_ptr = 0;
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}
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//-------------test--------------
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pos_test[0] += flow_test[0] * dt;
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pos_test[1] += flow_test[1] * dt;
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//-------------------------------
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/* publish local position */
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local_pos.xy_valid = can_estimate_xy;
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local_pos.v_xy_valid = can_estimate_xy;
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local_pos.xy_global = local_pos.xy_valid && use_gps_xy;
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local_pos.z_global = local_pos.z_valid && use_gps_z;
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local_pos.x = corr_baro; //test
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local_pos.x = x_est[0];
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local_pos.vx = surface_offset; // flow_test[0]; //test
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local_pos.vx = x_est[1];
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local_pos.y = acc_bias[2]; //test
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local_pos.y = y_est[0];
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local_pos.vy = flow_gyrospeed_filtered[0]; //test
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local_pos.vy = y_est[1];
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local_pos.z = lidar.current_distance; //flow_test[0]; //test
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local_pos.z = z_est[0];
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local_pos.vz = - z_est[0] - surface_offset; //flow_test[1]; //test
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local_pos.vz = z_est[1];
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local_pos.yaw = att.yaw;
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local_pos.dist_bottom_valid = dist_bottom_valid;
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@@ -1311,7 +1282,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
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if (local_pos.dist_bottom_valid) {
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local_pos.dist_bottom = -z_est[0] - surface_offset;
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local_pos.dist_bottom_rate = -z_est[1] - surface_offset_rate;
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local_pos.dist_bottom_rate = - z_est[1] - surface_offset_rate;
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}
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local_pos.timestamp = t;
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@@ -289,6 +289,30 @@ PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.2f);
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*/
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PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.2f);
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/**
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* Flow module offset (center of rotation) in X direction
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*
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* Yaw X flow compensation
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*
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* @min -1.0
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* @max 1.0
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* @unit m
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_FLOW_DIST_X, 0.0f);
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/**
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* Flow module offset (center of rotation) in Y direction
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*
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* Yaw Y flow compensation
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*
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* @min -1.0
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* @max 1.0
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* @unit m
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_FLOW_DIST_Y, 0.0f);
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/**
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* Disable vision input
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*
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@@ -338,6 +362,8 @@ int inav_parameters_init(struct position_estimator_inav_param_handles *h)
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h->land_thr = param_find("INAV_LAND_THR");
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h->no_vision = param_find("CBRK_NO_VISION");
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h->delay_gps = param_find("INAV_DELAY_GPS");
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h->flow_module_offset_x = param_find("INAV_FLOW_DIST_X");
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h->flow_module_offset_y = param_find("INAV_FLOW_DIST_Y");
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return 0;
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}
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@@ -366,6 +392,8 @@ int inav_parameters_update(const struct position_estimator_inav_param_handles *h
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param_get(h->land_thr, &(p->land_thr));
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param_get(h->no_vision, &(p->no_vision));
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param_get(h->delay_gps, &(p->delay_gps));
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param_get(h->flow_module_offset_x, &(p->flow_module_offset_x));
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param_get(h->flow_module_offset_y, &(p->flow_module_offset_y));
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return 0;
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}
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@@ -65,6 +65,8 @@ struct position_estimator_inav_params {
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float land_thr;
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int32_t no_vision;
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float delay_gps;
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float flow_module_offset_x;
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float flow_module_offset_y;
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};
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struct position_estimator_inav_param_handles {
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@@ -91,6 +93,8 @@ struct position_estimator_inav_param_handles {
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param_t land_thr;
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param_t no_vision;
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param_t delay_gps;
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param_t flow_module_offset_x;
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param_t flow_module_offset_y;
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};
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#define CBRK_NO_VISION_KEY 328754
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