mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-01 02:44:08 +08:00
Merge branch 'terrainaltfield' of github.com:PX4/Firmware into swissfang
This commit is contained in:
Lorenz Meier
commit
819c43fee6
@ -58,6 +58,7 @@
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#include <drivers/drv_accel.h>
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#include <drivers/drv_mag.h>
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#include <drivers/drv_baro.h>
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#include <drivers/drv_range_finder.h>
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#ifdef SENSOR_COMBINED_SUB
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#include <uORB/topics/sensor_combined.h>
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#endif
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@ -96,7 +97,10 @@ extern "C" __EXPORT int ekf_att_pos_estimator_main(int argc, char *argv[]);
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__EXPORT uint32_t millis();
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__EXPORT uint64_t getMicros();
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static uint64_t IMUmsec = 0;
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static uint64_t IMUusec = 0;
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static const uint64_t FILTER_INIT_DELAY = 1 * 1000 * 1000;
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uint32_t millis()
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@ -104,6 +108,11 @@ uint32_t millis()
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return IMUmsec;
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}
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uint64_t getMicros()
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{
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return IMUusec;
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}
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class FixedwingEstimator
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{
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public:
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@ -171,6 +180,7 @@ private:
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#else
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int _sensor_combined_sub;
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#endif
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int _distance_sub; /**< distance measurement */
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int _airspeed_sub; /**< airspeed subscription */
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int _baro_sub; /**< barometer subscription */
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int _gps_sub; /**< GPS subscription */
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@ -196,7 +206,8 @@ private:
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struct vehicle_global_position_s _global_pos; /**< global vehicle position */
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struct vehicle_local_position_s _local_pos; /**< local vehicle position */
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struct vehicle_gps_position_s _gps; /**< GPS position */
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struct wind_estimate_s _wind; /**< Wind estimate */
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struct wind_estimate_s _wind; /**< wind estimate */
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struct range_finder_report _distance; /**< distance estimate */
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struct gyro_scale _gyro_offsets;
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struct accel_scale _accel_offsets;
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@ -226,6 +237,7 @@ private:
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hrt_abstime _filter_start_time;
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hrt_abstime _last_sensor_timestamp;
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hrt_abstime _last_run;
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hrt_abstime _distance_last_valid;
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bool _gyro_valid;
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bool _accel_valid;
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bool _mag_valid;
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@ -342,6 +354,7 @@ FixedwingEstimator::FixedwingEstimator() :
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#else
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_sensor_combined_sub(-1),
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#endif
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_distance_sub(-1),
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_airspeed_sub(-1),
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_baro_sub(-1),
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_gps_sub(-1),
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@ -399,6 +412,7 @@ FixedwingEstimator::FixedwingEstimator() :
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_filter_start_time(0),
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_last_sensor_timestamp(0),
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_last_run(0),
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_distance_last_valid(0),
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_gyro_valid(false),
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_accel_valid(false),
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_mag_valid(false),
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@ -549,6 +563,7 @@ FixedwingEstimator::parameters_update()
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_ekf->gyroProcessNoise = _parameters.gyro_pnoise;
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_ekf->accelProcessNoise = _parameters.acc_pnoise;
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_ekf->airspeedMeasurementSigma = _parameters.eas_noise;
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_ekf->rngFinderPitch = 0.0f; // XXX base on SENS_BOARD_Y_OFF
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}
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return OK;
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@ -704,6 +719,7 @@ FixedwingEstimator::task_main()
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/*
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* do subscriptions
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*/
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_distance_sub = orb_subscribe(ORB_ID(sensor_range_finder));
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_baro_sub = orb_subscribe(ORB_ID(sensor_baro0));
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_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
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_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
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@ -753,6 +769,7 @@ FixedwingEstimator::task_main()
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bool newHgtData = false;
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bool newAdsData = false;
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bool newDataMag = false;
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bool newRangeData = false;
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float posNED[3] = {0.0f, 0.0f, 0.0f}; // North, East Down position (m)
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@ -850,7 +867,8 @@ FixedwingEstimator::task_main()
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}
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_last_sensor_timestamp = _gyro.timestamp;
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IMUmsec = _gyro.timestamp / 1e3f;
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IMUmsec = _gyro.timestamp / 1e3;
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IMUusec = _gyro.timestamp;
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float deltaT = (_gyro.timestamp - _last_run) / 1e6f;
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_last_run = _gyro.timestamp;
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@ -914,7 +932,8 @@ FixedwingEstimator::task_main()
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// Copy gyro and accel
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_last_sensor_timestamp = _sensor_combined.timestamp;
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IMUmsec = _sensor_combined.timestamp / 1e3f;
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IMUmsec = _sensor_combined.timestamp / 1e3;
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IMUusec = _sensor_combined.timestamp;
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float deltaT = (_sensor_combined.timestamp - _last_run) / 1e6f;
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@ -994,8 +1013,6 @@ FixedwingEstimator::task_main()
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if (gps_updated) {
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last_gps = _gps.timestamp_position;
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orb_copy(ORB_ID(vehicle_gps_position), _gps_sub, &_gps);
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perf_count(_perf_gps);
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@ -1008,11 +1025,17 @@ FixedwingEstimator::task_main()
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_gps_start_time = hrt_absolute_time();
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/* check if we had a GPS outage for a long time */
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if (hrt_elapsed_time(&last_gps) > 5 * 1000 * 1000) {
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float gps_elapsed = hrt_elapsed_time(&last_gps) / 1e6f;
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const float pos_reset_threshold = 5.0f; // seconds
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/* timeout of 5 seconds */
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if (gps_elapsed > pos_reset_threshold) {
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_ekf->ResetPosition();
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_ekf->ResetVelocity();
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_ekf->ResetStoredStates();
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}
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_ekf->updateDtGpsFilt(math::constrain((_gps.timestamp_position - last_gps) / 1e6f, 0.01f, pos_reset_threshold));
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/* fuse GPS updates */
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@ -1044,6 +1067,8 @@ FixedwingEstimator::task_main()
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newDataGps = true;
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last_gps = _gps.timestamp_position;
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}
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}
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@ -1052,8 +1077,15 @@ FixedwingEstimator::task_main()
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orb_check(_baro_sub, &baro_updated);
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if (baro_updated) {
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hrt_abstime baro_last = _baro.timestamp;
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orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro);
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float baro_elapsed = (_baro.timestamp - baro_last) / 1e6f;
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_ekf->updateDtHgtFilt(math::constrain(baro_elapsed, 0.001f, 0.1));
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_ekf->baroHgt = _baro.altitude;
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if (!_baro_init) {
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@ -1114,6 +1146,19 @@ FixedwingEstimator::task_main()
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newDataMag = false;
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}
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orb_check(_distance_sub, &newRangeData);
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if (newRangeData) {
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orb_copy(ORB_ID(sensor_range_finder), _distance_sub, &_distance);
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if (_distance.valid) {
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_ekf->rngMea = _distance.distance;
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_distance_last_valid = _distance.timestamp;
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} else {
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newRangeData = false;
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}
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}
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/*
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* CHECK IF ITS THE RIGHT TIME TO RUN THINGS ALREADY
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*/
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@ -1197,6 +1242,7 @@ FixedwingEstimator::task_main()
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} else if (_ekf->statesInitialised) {
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// We're apparently initialized in this case now
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// check (and reset the filter as needed)
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int check = check_filter_state();
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if (check) {
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@ -1206,21 +1252,7 @@ FixedwingEstimator::task_main()
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// Run the strapdown INS equations every IMU update
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_ekf->UpdateStrapdownEquationsNED();
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#if 0
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// debug code - could be tunred into a filter mnitoring/watchdog function
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float tempQuat[4];
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for (uint8_t j = 0; j <= 3; j++) tempQuat[j] = states[j];
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quat2eul(eulerEst, tempQuat);
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for (uint8_t j = 0; j <= 2; j++) eulerDif[j] = eulerEst[j] - ahrsEul[j];
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if (eulerDif[2] > pi) eulerDif[2] -= 2 * pi;
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if (eulerDif[2] < -pi) eulerDif[2] += 2 * pi;
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#endif
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// store the predicted states for subsequent use by measurement fusion
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_ekf->StoreStates(IMUmsec);
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// Check if on ground - status is used by covariance prediction
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@ -1334,6 +1366,13 @@ FixedwingEstimator::task_main()
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_ekf->fuseVtasData = false;
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}
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if (newRangeData) {
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_ekf->fuseRngData = true;
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_ekf->useRangeFinder = true;
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_ekf->RecallStates(_ekf->statesAtRngTime, (IMUmsec - 500.0f));
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_ekf->GroundEKF();
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}
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// Output results
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math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]);
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@ -1447,6 +1486,10 @@ FixedwingEstimator::task_main()
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_global_pos.vel_d = _local_pos.vz;
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}
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/* terrain altitude */
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_global_pos.terrain_alt = _ekf->hgtRef - _ekf->flowStates[1];
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_global_pos.terrain_alt_valid = (_distance_last_valid > 0) &&
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(hrt_elapsed_time(&_distance_last_valid) < 20 * 1000 * 1000);
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_global_pos.yaw = _local_pos.yaw;
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@ -1467,8 +1510,10 @@ FixedwingEstimator::task_main()
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if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
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_wind.timestamp = _global_pos.timestamp;
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_wind.windspeed_north = _ekf->states[14];
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_wind.windspeed_east = _ekf->states[15];
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_wind.windspeed_north = _ekf->windSpdFiltNorth;
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_wind.windspeed_east = _ekf->windSpdFiltEast;
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// XXX we need to do something smart about the covariance here
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// but we default to the estimate covariance for now
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_wind.covariance_north = _ekf->P[14][14];
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_wind.covariance_east = _ekf->P[15][15];
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@ -2,6 +2,11 @@
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#include <string.h>
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#include <stdio.h>
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#include <stdarg.h>
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#include <math.h>
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#ifndef M_PI_F
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#define M_PI_F ((float)M_PI)
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#endif
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#define EKF_COVARIANCE_DIVERGED 1.0e8f
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@ -38,13 +43,14 @@ AttPosEKF::AttPosEKF() :
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resetStates{},
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storedStates{},
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statetimeStamp{},
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lastVelPosFusion(millis()),
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statesAtVelTime{},
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statesAtPosTime{},
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statesAtHgtTime{},
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statesAtMagMeasTime{},
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statesAtVtasMeasTime{},
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statesAtRngTime{},
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statesAtOptFlowTime{},
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statesAtFlowTime{},
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correctedDelAng(),
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correctedDelVel(),
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summedDelAng(),
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@ -59,7 +65,16 @@ AttPosEKF::AttPosEKF() :
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accel(),
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dVelIMU(),
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dAngIMU(),
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dtIMU(0),
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dtIMU(0.005f),
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dtIMUfilt(0.005f),
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dtVelPos(0.01f),
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dtVelPosFilt(0.01f),
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dtHgtFilt(0.01f),
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dtGpsFilt(0.1f),
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windSpdFiltNorth(0.0f),
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windSpdFiltEast(0.0f),
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windSpdFiltAltitude(0.0f),
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windSpdFiltClimb(0.0f),
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fusionModeGPS(0),
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innovVelPos{},
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varInnovVelPos{},
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@ -103,13 +118,13 @@ AttPosEKF::AttPosEKF() :
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inhibitWindStates(true),
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inhibitMagStates(true),
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inhibitGndHgtState(true),
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inhibitGndState(true),
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onGround(true),
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staticMode(true),
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useAirspeed(true),
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useCompass(true),
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useRangeFinder(false),
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useRangeFinder(true),
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useOpticalFlow(false),
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ekfDiverged(false),
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@ -117,7 +132,24 @@ AttPosEKF::AttPosEKF() :
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current_ekf_state{},
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last_ekf_error{},
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numericalProtection(true),
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storeIndex(0)
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storeIndex(0),
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storedOmega{},
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Popt{},
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flowStates{},
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prevPosN(0.0f),
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prevPosE(0.0f),
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auxFlowObsInnov{},
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auxFlowObsInnovVar{},
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fScaleFactorVar(0.0f),
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Tnb_flow{},
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R_LOS(0.0f),
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auxFlowTestRatio{},
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auxRngTestRatio(0.0f),
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flowInnovGate(0.0f),
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auxFlowInnovGate(0.0f),
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rngInnovGate(0.0f),
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minFlowRng(0.0f),
|
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moCompR_LOS(0.0f)
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{
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memset(&last_ekf_error, 0, sizeof(last_ekf_error));
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memset(¤t_ekf_state, 0, sizeof(current_ekf_state));
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@ -260,6 +292,9 @@ void AttPosEKF::UpdateStrapdownEquationsNED()
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// Constrain states (to protect against filter divergence)
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ConstrainStates();
|
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|
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// update filtered IMU time step length
|
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dtIMUfilt = 0.99f * dtIMUfilt + 0.01f * dtIMU;
|
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}
|
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|
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void AttPosEKF::CovariancePrediction(float dt)
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@ -312,7 +347,7 @@ void AttPosEKF::CovariancePrediction(float dt)
|
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} else {
|
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for (uint8_t i=16; i<=21; i++) processNoise[i] = 0;
|
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}
|
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if (!inhibitGndHgtState) {
|
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if (!inhibitGndState) {
|
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processNoise[22] = dt * sqrtf(sq(states[4]) + sq(states[5])) * gndHgtSigma;
|
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} else {
|
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processNoise[22] = 0;
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@ -962,6 +997,21 @@ void AttPosEKF::CovariancePrediction(float dt)
|
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ConstrainVariances();
|
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}
|
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|
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void AttPosEKF::updateDtGpsFilt(float dt)
|
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{
|
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dtGpsFilt = ConstrainFloat(dt, 0.001f, 2.0f) * 0.05f + dtGpsFilt * 0.95f;
|
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}
|
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|
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void AttPosEKF::updateDtHgtFilt(float dt)
|
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{
|
||||
dtHgtFilt = ConstrainFloat(dt, 0.001f, 2.0f) * 0.05f + dtHgtFilt * 0.95f;
|
||||
}
|
||||
|
||||
void AttPosEKF::updateDtVelPosFilt(float dt)
|
||||
{
|
||||
dtVelPosFilt = ConstrainFloat(dt, 0.0005f, 2.0f) * 0.05f + dtVelPosFilt * 0.95f;
|
||||
}
|
||||
|
||||
void AttPosEKF::FuseVelposNED()
|
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{
|
||||
|
||||
@ -998,6 +1048,18 @@ void AttPosEKF::FuseVelposNED()
|
||||
// associated with sequential fusion
|
||||
if (fuseVelData || fusePosData || fuseHgtData)
|
||||
{
|
||||
uint64_t tNow = getMicros();
|
||||
updateDtVelPosFilt((tNow - lastVelPosFusion) / 1e6f);
|
||||
lastVelPosFusion = tNow;
|
||||
|
||||
// scaler according to the number of repetitions of the
|
||||
// same measurement in one fusion step
|
||||
float gpsVarianceScaler = dtGpsFilt / dtVelPosFilt;
|
||||
|
||||
// scaler according to the number of repetitions of the
|
||||
// same measurement in one fusion step
|
||||
float hgtVarianceScaler = dtHgtFilt / dtVelPosFilt;
|
||||
|
||||
// set the GPS data timeout depending on whether airspeed data is present
|
||||
if (useAirspeed) horizRetryTime = gpsRetryTime;
|
||||
else horizRetryTime = gpsRetryTimeNoTAS;
|
||||
@ -1010,12 +1072,12 @@ void AttPosEKF::FuseVelposNED()
|
||||
// Estimate the GPS Velocity, GPS horiz position and height measurement variances.
|
||||
velErr = 0.2f*accNavMag; // additional error in GPS velocities caused by manoeuvring
|
||||
posErr = 0.2f*accNavMag; // additional error in GPS position caused by manoeuvring
|
||||
R_OBS[0] = sq(vneSigma) + sq(velErr);
|
||||
R_OBS[0] = gpsVarianceScaler * sq(vneSigma) + sq(velErr);
|
||||
R_OBS[1] = R_OBS[0];
|
||||
R_OBS[2] = sq(vdSigma) + sq(velErr);
|
||||
R_OBS[3] = sq(posNeSigma) + sq(posErr);
|
||||
R_OBS[2] = gpsVarianceScaler * sq(vdSigma) + sq(velErr);
|
||||
R_OBS[3] = gpsVarianceScaler * sq(posNeSigma) + sq(posErr);
|
||||
R_OBS[4] = R_OBS[3];
|
||||
R_OBS[5] = sq(posDSigma) + sq(posErr);
|
||||
R_OBS[5] = hgtVarianceScaler * sq(posDSigma) + sq(posErr);
|
||||
|
||||
// calculate innovations and check GPS data validity using an innovation consistency check
|
||||
if (fuseVelData)
|
||||
@ -1173,7 +1235,7 @@ void AttPosEKF::FuseVelposNED()
|
||||
}
|
||||
}
|
||||
// Don't update terrain state if inhibited
|
||||
if (inhibitGndHgtState) {
|
||||
if (inhibitGndState) {
|
||||
Kfusion[22] = 0;
|
||||
}
|
||||
|
||||
@ -1356,7 +1418,7 @@ void AttPosEKF::FuseMagnetometer()
|
||||
Kfusion[i] = 0;
|
||||
}
|
||||
}
|
||||
if (!inhibitGndHgtState) {
|
||||
if (!inhibitGndState) {
|
||||
Kfusion[22] = SK_MX[0]*(P[22][19] + P[22][1]*SH_MAG[0] + P[22][3]*SH_MAG[2] + P[22][0]*SK_MX[3] - P[22][2]*SK_MX[2] - P[22][16]*SK_MX[1] + P[22][17]*SK_MX[5] - P[22][18]*SK_MX[4]);
|
||||
} else {
|
||||
Kfusion[22] = 0;
|
||||
@ -1430,11 +1492,6 @@ void AttPosEKF::FuseMagnetometer()
|
||||
Kfusion[20] = 0;
|
||||
Kfusion[21] = 0;
|
||||
}
|
||||
if (!inhibitGndHgtState) {
|
||||
Kfusion[22] = SK_MY[0]*(P[22][20] + P[22][0]*SH_MAG[2] + P[22][1]*SH_MAG[1] + P[22][2]*SH_MAG[0] - P[22][3]*SK_MY[2] - P[22][17]*SK_MY[1] - P[22][16]*SK_MY[3] + P[22][18]*SK_MY[4]);
|
||||
} else {
|
||||
Kfusion[22] = 0;
|
||||
}
|
||||
varInnovMag[1] = 1.0f/SK_MY[0];
|
||||
innovMag[1] = MagPred[1] - magData.y;
|
||||
}
|
||||
@ -1505,11 +1562,6 @@ void AttPosEKF::FuseMagnetometer()
|
||||
Kfusion[20] = 0;
|
||||
Kfusion[21] = 0;
|
||||
}
|
||||
if (!inhibitGndHgtState) {
|
||||
Kfusion[22] = SK_MZ[0]*(P[22][21] + P[22][0]*SH_MAG[1] + P[22][3]*SH_MAG[0] - P[22][1]*SK_MZ[2] + P[22][2]*SK_MZ[3] + P[22][18]*SK_MZ[1] + P[22][16]*SK_MZ[5] - P[22][17]*SK_MZ[4]);
|
||||
} else {
|
||||
Kfusion[22] = 0;
|
||||
}
|
||||
varInnovMag[2] = 1.0f/SK_MZ[0];
|
||||
innovMag[2] = MagPred[2] - magData.z;
|
||||
|
||||
@ -1616,6 +1668,32 @@ void AttPosEKF::FuseAirspeed()
|
||||
// Perform fusion of True Airspeed measurement
|
||||
if (useAirspeed && fuseVtasData && (VtasPred > 1.0f) && (VtasMeas > 8.0f))
|
||||
{
|
||||
|
||||
float altDiff = fabsf(windSpdFiltAltitude - hgtMea);
|
||||
|
||||
if (isfinite(windSpdFiltClimb)) {
|
||||
windSpdFiltClimb = ((1.0f - 0.0002f) * windSpdFiltClimb) + (0.0002f * states[6]);
|
||||
} else {
|
||||
windSpdFiltClimb = states[6];
|
||||
}
|
||||
|
||||
if (altDiff < 20.0f) {
|
||||
// Lowpass the output of the wind estimate - we want a long-term
|
||||
// stable estimate, but not start to load into the overall dynamics
|
||||
// of the system (which adjusting covariances would do)
|
||||
|
||||
// Change filter coefficient based on altitude change rate
|
||||
float windFiltCoeff = ConstrainFloat(fabsf(windSpdFiltClimb) / 1000.0f, 0.00005f, 0.2f);
|
||||
|
||||
windSpdFiltNorth = ((1.0f - windFiltCoeff) * windSpdFiltNorth) + (windFiltCoeff * vwn);
|
||||
windSpdFiltEast = ((1.0f - windFiltCoeff) * windSpdFiltEast) + (windFiltCoeff * vwe);
|
||||
} else {
|
||||
windSpdFiltNorth = vwn;
|
||||
windSpdFiltEast = vwe;
|
||||
}
|
||||
|
||||
windSpdFiltAltitude = hgtMea;
|
||||
|
||||
// Calculate observation jacobians
|
||||
SH_TAS[0] = 1/(sqrt(sq(ve - vwe) + sq(vn - vwn) + sq(vd)));
|
||||
SH_TAS[1] = (SH_TAS[0]*(2.0f*ve - 2*vwe))/2.0f;
|
||||
@ -1675,11 +1753,6 @@ void AttPosEKF::FuseAirspeed()
|
||||
Kfusion[i] = 0;
|
||||
}
|
||||
}
|
||||
if (!inhibitGndHgtState) {
|
||||
Kfusion[22] = SK_TAS*(P[22][4]*SH_TAS[2] - P[22][14]*SH_TAS[2] + P[22][5]*SH_TAS[1] - P[22][15]*SH_TAS[1] + P[22][6]*vd*SH_TAS[0]);
|
||||
} else {
|
||||
Kfusion[22] = 0;
|
||||
}
|
||||
varInnovVtas = 1.0f/SK_TAS;
|
||||
|
||||
// Calculate the measurement innovation
|
||||
@ -1811,8 +1884,11 @@ void AttPosEKF::FuseRangeFinder()
|
||||
rngPred = (ptd - pd)/cosRngTilt;
|
||||
innovRng = rngPred - rngMea;
|
||||
|
||||
// Check the innovation for consistency and don't fuse if > 5Sigma
|
||||
if ((innovRng*innovRng*SK_RNG[0]) < 25)
|
||||
// calculate the innovation consistency test ratio
|
||||
auxRngTestRatio = sq(innovRng) / (sq(rngInnovGate) * varInnovRng);
|
||||
|
||||
// Check the innovation for consistency and don't fuse if out of bounds
|
||||
if (auxRngTestRatio < 1.0f)
|
||||
{
|
||||
// correct the state vector
|
||||
states[22] = states[22] - Kfusion[22] * innovRng;
|
||||
@ -1827,285 +1903,387 @@ void AttPosEKF::FuseRangeFinder()
|
||||
|
||||
void AttPosEKF::FuseOptFlow()
|
||||
{
|
||||
static uint8_t obsIndex;
|
||||
static float SH_LOS[13];
|
||||
static float SKK_LOS[15];
|
||||
static float SK_LOS[2];
|
||||
static float q0 = 0.0f;
|
||||
static float q1 = 0.0f;
|
||||
static float q2 = 0.0f;
|
||||
static float q3 = 1.0f;
|
||||
static float vn = 0.0f;
|
||||
static float ve = 0.0f;
|
||||
static float vd = 0.0f;
|
||||
static float pd = 0.0f;
|
||||
static float ptd = 0.0f;
|
||||
static float R_LOS = 0.01f;
|
||||
static float losPred[2];
|
||||
// static uint8_t obsIndex;
|
||||
// static float SH_LOS[13];
|
||||
// static float SKK_LOS[15];
|
||||
// static float SK_LOS[2];
|
||||
// static float q0 = 0.0f;
|
||||
// static float q1 = 0.0f;
|
||||
// static float q2 = 0.0f;
|
||||
// static float q3 = 1.0f;
|
||||
// static float vn = 0.0f;
|
||||
// static float ve = 0.0f;
|
||||
// static float vd = 0.0f;
|
||||
// static float pd = 0.0f;
|
||||
// static float ptd = 0.0f;
|
||||
// static float R_LOS = 0.01f;
|
||||
// static float losPred[2];
|
||||
|
||||
// Transformation matrix from nav to body axes
|
||||
Mat3f Tnb_local;
|
||||
// Transformation matrix from body to sensor axes
|
||||
// assume camera is aligned with Z body axis plus a misalignment
|
||||
// defined by 3 small angles about X, Y and Z body axis
|
||||
Mat3f Tbs;
|
||||
Tbs.x.y = a3;
|
||||
Tbs.y.x = -a3;
|
||||
Tbs.x.z = -a2;
|
||||
Tbs.z.x = a2;
|
||||
Tbs.y.z = a1;
|
||||
Tbs.z.y = -a1;
|
||||
// Transformation matrix from navigation to sensor axes
|
||||
Mat3f Tns;
|
||||
float H_LOS[n_states];
|
||||
for (uint8_t i = 0; i < n_states; i++) {
|
||||
H_LOS[i] = 0.0f;
|
||||
// // Transformation matrix from nav to body axes
|
||||
// Mat3f Tnb_local;
|
||||
// // Transformation matrix from body to sensor axes
|
||||
// // assume camera is aligned with Z body axis plus a misalignment
|
||||
// // defined by 3 small angles about X, Y and Z body axis
|
||||
// Mat3f Tbs;
|
||||
// Tbs.x.y = a3;
|
||||
// Tbs.y.x = -a3;
|
||||
// Tbs.x.z = -a2;
|
||||
// Tbs.z.x = a2;
|
||||
// Tbs.y.z = a1;
|
||||
// Tbs.z.y = -a1;
|
||||
// // Transformation matrix from navigation to sensor axes
|
||||
// Mat3f Tns;
|
||||
// float H_LOS[n_states];
|
||||
// for (uint8_t i = 0; i < n_states; i++) {
|
||||
// H_LOS[i] = 0.0f;
|
||||
// }
|
||||
// Vector3f velNED_local;
|
||||
// Vector3f relVelSensor;
|
||||
|
||||
// // Perform sequential fusion of optical flow measurements only when in the air and tilt is less than 30 deg.
|
||||
// if (useOpticalFlow && (fuseOptFlowData || obsIndex == 1) && !onGround && Tbs.z.z > 0.866f && rngMea > 5.0f && rngMea < 39.0f)
|
||||
// {
|
||||
// // Sequential fusion of XY components to spread processing load across
|
||||
// // two prediction time steps.
|
||||
|
||||
// // Calculate observation jacobians and Kalman gains
|
||||
// if (fuseOptFlowData)
|
||||
// {
|
||||
// // Copy required states to local variable names
|
||||
// q0 = statesAtOptFlowTime[0];
|
||||
// q1 = statesAtOptFlowTime[1];
|
||||
// q2 = statesAtOptFlowTime[2];
|
||||
// q3 = statesAtOptFlowTime[3];
|
||||
// vn = statesAtOptFlowTime[4];
|
||||
// ve = statesAtOptFlowTime[5];
|
||||
// vd = statesAtOptFlowTime[6];
|
||||
// pd = statesAtOptFlowTime[9];
|
||||
// ptd = statesAtOptFlowTime[22];
|
||||
// velNED_local.x = vn;
|
||||
// velNED_local.y = ve;
|
||||
// velNED_local.z = vd;
|
||||
|
||||
// // calculate rotation from NED to body axes
|
||||
// float q00 = sq(q0);
|
||||
// float q11 = sq(q1);
|
||||
// float q22 = sq(q2);
|
||||
// float q33 = sq(q3);
|
||||
// float q01 = q0 * q1;
|
||||
// float q02 = q0 * q2;
|
||||
// float q03 = q0 * q3;
|
||||
// float q12 = q1 * q2;
|
||||
// float q13 = q1 * q3;
|
||||
// float q23 = q2 * q3;
|
||||
// Tnb_local.x.x = q00 + q11 - q22 - q33;
|
||||
// Tnb_local.y.y = q00 - q11 + q22 - q33;
|
||||
// Tnb_local.z.z = q00 - q11 - q22 + q33;
|
||||
// Tnb_local.y.x = 2*(q12 - q03);
|
||||
// Tnb_local.z.x = 2*(q13 + q02);
|
||||
// Tnb_local.x.y = 2*(q12 + q03);
|
||||
// Tnb_local.z.y = 2*(q23 - q01);
|
||||
// Tnb_local.x.z = 2*(q13 - q02);
|
||||
// Tnb_local.y.z = 2*(q23 + q01);
|
||||
|
||||
// // calculate transformation from NED to sensor axes
|
||||
// Tns = Tbs*Tnb_local;
|
||||
|
||||
// // calculate range from ground plain to centre of sensor fov assuming flat earth
|
||||
// float range = ConstrainFloat(((ptd - pd)/Tns.z.z),0.5f,100.0f);
|
||||
|
||||
// // calculate relative velocity in sensor frame
|
||||
// relVelSensor = Tns*velNED_local;
|
||||
|
||||
// // divide velocity by range and include angular rate effects to get predicted angular LOS rates relative to X and Y axes
|
||||
// losPred[0] = relVelSensor.y/range;
|
||||
// losPred[1] = -relVelSensor.x/range;
|
||||
|
||||
// //printf("relVelSensor.x=%5.1f, relVelSensor.y=%5.1f\n", relVelSensor.x, relVelSensor.y);
|
||||
// //printf("Xpred=%5.2f, Xmea=%5.2f, Ypred=%5.2f, Ymea=%5.2f, delAng.x=%4.4f, delAng.y=%4.4f\n", losPred[0], losData[0], losPred[1], losData[1], delAng.x, delAng.y);
|
||||
// //printf("omegaX=%5.2f, omegaY=%5.2f, velY=%5.1f velX=%5.1f\n, range=%5.1f\n", delAngRel.x/dt, delAngRel.y/dt, relVelSensor.y, relVelSensor.x, range);
|
||||
|
||||
// // Calculate observation jacobians
|
||||
// SH_LOS[0] = a1*(2*q0*q1 + 2*q2*q3) + a2*(2*q0*q2 - 2*q1*q3) - sq(q0) + sq(q1) + sq(q2) - sq(q3);
|
||||
// SH_LOS[1] = vd*(a2*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q2 - 2*q1*q3 - a3*(2*q0*q1 + 2*q2*q3)) - ve*(a3*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + 2*q0*q3 + 2*q1*q2 + a2*(2*q0*q1 - 2*q2*q3)) + vn*(a2*(2*q0*q2 + 2*q1*q3) + a3*(2*q0*q3 - 2*q1*q2) - sq(q0) - sq(q1) + sq(q2) + sq(q3));
|
||||
// SH_LOS[2] = ve*(a1*(2*q0*q1 - 2*q2*q3) + a3*(2*q0*q3 + 2*q1*q2) - sq(q0) + sq(q1) - sq(q2) + sq(q3)) - vd*(a1*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q1 + 2*q2*q3 + a3*(2*q0*q2 - 2*q1*q3)) + vn*(a3*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) + 2*q0*q3 - 2*q1*q2 - a1*(2*q0*q2 + 2*q1*q3));
|
||||
// SH_LOS[3] = 1/(pd - ptd);
|
||||
// SH_LOS[4] = 2*q1 - 2*a2*q3 + 2*a3*q2;
|
||||
// SH_LOS[5] = 2*a2*q2 - 2*q0 + 2*a3*q3;
|
||||
// SH_LOS[6] = 2*q2 + 2*a2*q0 - 2*a3*q1;
|
||||
// SH_LOS[7] = 1/sq(pd - ptd);
|
||||
// SH_LOS[8] = 2*q2 + 2*a1*q3 - 2*a3*q1;
|
||||
// SH_LOS[9] = 2*q3 - 2*a1*q2 + 2*a3*q0;
|
||||
// SH_LOS[10] = 2*a1*q1 - 2*q0 + 2*a3*q3;
|
||||
// SH_LOS[11] = 2*q3 + 2*a2*q1 + 2*a3*q0;
|
||||
// SH_LOS[12] = 2*q1 + 2*a1*q0 + 2*a3*q2;
|
||||
|
||||
// for (uint8_t i = 0; i < n_states; i++) H_LOS[i] = 0;
|
||||
// H_LOS[0] = - SH_LOS[2]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) - SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[10] - vd*SH_LOS[12] + vn*SH_LOS[9]);
|
||||
// H_LOS[1] = - SH_LOS[2]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[10] + ve*SH_LOS[12] - vn*SH_LOS[8]);
|
||||
// H_LOS[2] = SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[9] + ve*SH_LOS[8] + vn*SH_LOS[12]) - SH_LOS[2]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3);
|
||||
// H_LOS[3] = SH_LOS[2]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[8] - ve*SH_LOS[9] + vn*SH_LOS[10]);
|
||||
// H_LOS[4] = -SH_LOS[0]*SH_LOS[3]*(a3*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) + 2*q0*q3 - 2*q1*q2 - a1*(2*q0*q2 + 2*q1*q3));
|
||||
// H_LOS[5] = -SH_LOS[0]*SH_LOS[3]*(a1*(2*q0*q1 - 2*q2*q3) + a3*(2*q0*q3 + 2*q1*q2) - sq(q0) + sq(q1) - sq(q2) + sq(q3));
|
||||
// H_LOS[6] = SH_LOS[0]*SH_LOS[3]*(a1*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q1 + 2*q2*q3 + a3*(2*q0*q2 - 2*q1*q3));
|
||||
// H_LOS[9] = SH_LOS[0]*SH_LOS[2]*SH_LOS[7];
|
||||
// H_LOS[22] = -SH_LOS[0]*SH_LOS[2]*SH_LOS[7];
|
||||
|
||||
// // Calculate Kalman gain
|
||||
// SKK_LOS[0] = a2*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q2 - 2*q1*q3 - a3*(2*q0*q1 + 2*q2*q3);
|
||||
// SKK_LOS[1] = a3*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + 2*q0*q3 + 2*q1*q2 + a2*(2*q0*q1 - 2*q2*q3);
|
||||
// SKK_LOS[2] = a2*(2*q0*q2 + 2*q1*q3) + a3*(2*q0*q3 - 2*q1*q2) - sq(q0) - sq(q1) + sq(q2) + sq(q3);
|
||||
// SKK_LOS[3] = a1*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q1 + 2*q2*q3 + a3*(2*q0*q2 - 2*q1*q3);
|
||||
// SKK_LOS[4] = a1*(2*q0*q1 - 2*q2*q3) + a3*(2*q0*q3 + 2*q1*q2) - sq(q0) + sq(q1) - sq(q2) + sq(q3);
|
||||
// SKK_LOS[5] = a3*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) + 2*q0*q3 - 2*q1*q2 - a1*(2*q0*q2 + 2*q1*q3);
|
||||
// SKK_LOS[6] = SH_LOS[2]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[8] - ve*SH_LOS[9] + vn*SH_LOS[10]);
|
||||
// SKK_LOS[7] = SH_LOS[2]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[10] + ve*SH_LOS[12] - vn*SH_LOS[8]);
|
||||
// SKK_LOS[8] = SH_LOS[2]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) + SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[10] - vd*SH_LOS[12] + vn*SH_LOS[9]);
|
||||
// SKK_LOS[9] = SH_LOS[2]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[9] + ve*SH_LOS[8] + vn*SH_LOS[12]);
|
||||
// SKK_LOS[10] = SH_LOS[1]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[6] - ve*SH_LOS[11] + vn*SH_LOS[5]);
|
||||
// SKK_LOS[11] = SH_LOS[1]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[11] + ve*SH_LOS[6] + vn*SH_LOS[4]);
|
||||
// SKK_LOS[12] = SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6]);
|
||||
// SKK_LOS[13] = SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) - SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11]);
|
||||
// SKK_LOS[14] = SH_LOS[0];
|
||||
|
||||
// SK_LOS[0] = 1/(R_LOS + SKK_LOS[8]*(P[0][0]*SKK_LOS[8] + P[1][0]*SKK_LOS[7] + P[2][0]*SKK_LOS[9] - P[3][0]*SKK_LOS[6] - P[9][0]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][0]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][0]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][0]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][0]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SKK_LOS[7]*(P[0][1]*SKK_LOS[8] + P[1][1]*SKK_LOS[7] + P[2][1]*SKK_LOS[9] - P[3][1]*SKK_LOS[6] - P[9][1]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][1]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][1]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][1]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][1]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SKK_LOS[9]*(P[0][2]*SKK_LOS[8] + P[1][2]*SKK_LOS[7] + P[2][2]*SKK_LOS[9] - P[3][2]*SKK_LOS[6] - P[9][2]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][2]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][2]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][2]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][2]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) - SKK_LOS[6]*(P[0][3]*SKK_LOS[8] + P[1][3]*SKK_LOS[7] + P[2][3]*SKK_LOS[9] - P[3][3]*SKK_LOS[6] - P[9][3]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][3]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][3]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][3]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][3]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) - SH_LOS[2]*SH_LOS[7]*SKK_LOS[14]*(P[0][9]*SKK_LOS[8] + P[1][9]*SKK_LOS[7] + P[2][9]*SKK_LOS[9] - P[3][9]*SKK_LOS[6] - P[9][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][9]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][9]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][9]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SH_LOS[2]*SH_LOS[7]*SKK_LOS[14]*(P[0][22]*SKK_LOS[8] + P[1][22]*SKK_LOS[7] + P[2][22]*SKK_LOS[9] - P[3][22]*SKK_LOS[6] - P[9][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][22]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][22]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14]*(P[0][4]*SKK_LOS[8] + P[1][4]*SKK_LOS[7] + P[2][4]*SKK_LOS[9] - P[3][4]*SKK_LOS[6] - P[9][4]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][4]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][4]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][4]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14]*(P[0][5]*SKK_LOS[8] + P[1][5]*SKK_LOS[7] + P[2][5]*SKK_LOS[9] - P[3][5]*SKK_LOS[6] - P[9][5]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][5]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][5]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][5]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) - SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]*(P[0][6]*SKK_LOS[8] + P[1][6]*SKK_LOS[7] + P[2][6]*SKK_LOS[9] - P[3][6]*SKK_LOS[6] - P[9][6]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][6]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][6]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][6]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]));
|
||||
// Kfusion[0] = -SK_LOS[0]*(P[0][0]*SKK_LOS[8] + P[0][1]*SKK_LOS[7] - P[0][3]*SKK_LOS[6] + P[0][2]*SKK_LOS[9] - P[0][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[0][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[0][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[0][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[0][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[1] = -SK_LOS[0]*(P[1][0]*SKK_LOS[8] + P[1][1]*SKK_LOS[7] - P[1][3]*SKK_LOS[6] + P[1][2]*SKK_LOS[9] - P[1][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[1][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[1][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[1][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[1][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[2] = -SK_LOS[0]*(P[2][0]*SKK_LOS[8] + P[2][1]*SKK_LOS[7] - P[2][3]*SKK_LOS[6] + P[2][2]*SKK_LOS[9] - P[2][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[2][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[2][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[2][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[2][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[3] = -SK_LOS[0]*(P[3][0]*SKK_LOS[8] + P[3][1]*SKK_LOS[7] - P[3][3]*SKK_LOS[6] + P[3][2]*SKK_LOS[9] - P[3][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[3][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[3][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[3][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[3][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[4] = -SK_LOS[0]*(P[4][0]*SKK_LOS[8] + P[4][1]*SKK_LOS[7] - P[4][3]*SKK_LOS[6] + P[4][2]*SKK_LOS[9] - P[4][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[4][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[4][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[5] = -SK_LOS[0]*(P[5][0]*SKK_LOS[8] + P[5][1]*SKK_LOS[7] - P[5][3]*SKK_LOS[6] + P[5][2]*SKK_LOS[9] - P[5][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[5][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[5][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[5][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[6] = -SK_LOS[0]*(P[6][0]*SKK_LOS[8] + P[6][1]*SKK_LOS[7] - P[6][3]*SKK_LOS[6] + P[6][2]*SKK_LOS[9] - P[6][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[6][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[6][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[6][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[7] = -SK_LOS[0]*(P[7][0]*SKK_LOS[8] + P[7][1]*SKK_LOS[7] - P[7][3]*SKK_LOS[6] + P[7][2]*SKK_LOS[9] - P[7][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[7][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[7][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[7][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[7][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[8] = -SK_LOS[0]*(P[8][0]*SKK_LOS[8] + P[8][1]*SKK_LOS[7] - P[8][3]*SKK_LOS[6] + P[8][2]*SKK_LOS[9] - P[8][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[8][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[8][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[8][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[8][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[9] = -SK_LOS[0]*(P[9][0]*SKK_LOS[8] + P[9][1]*SKK_LOS[7] - P[9][3]*SKK_LOS[6] + P[9][2]*SKK_LOS[9] - P[9][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[9][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[9][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[9][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[9][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[10] = -SK_LOS[0]*(P[10][0]*SKK_LOS[8] + P[10][1]*SKK_LOS[7] - P[10][3]*SKK_LOS[6] + P[10][2]*SKK_LOS[9] - P[10][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[10][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[10][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[10][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[10][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[11] = -SK_LOS[0]*(P[11][0]*SKK_LOS[8] + P[11][1]*SKK_LOS[7] - P[11][3]*SKK_LOS[6] + P[11][2]*SKK_LOS[9] - P[11][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[11][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[11][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[11][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[11][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[12] = -SK_LOS[0]*(P[12][0]*SKK_LOS[8] + P[12][1]*SKK_LOS[7] - P[12][3]*SKK_LOS[6] + P[12][2]*SKK_LOS[9] - P[12][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[12][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[12][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[12][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[12][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[13] = 0.0f;//-SK_LOS[0]*(P[13][0]*SKK_LOS[8] + P[13][1]*SKK_LOS[7] - P[13][3]*SKK_LOS[6] + P[13][2]*SKK_LOS[9] - P[13][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[13][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[13][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[13][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[13][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[14] = -SK_LOS[0]*(P[14][0]*SKK_LOS[8] + P[14][1]*SKK_LOS[7] - P[14][3]*SKK_LOS[6] + P[14][2]*SKK_LOS[9] - P[14][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[14][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[14][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[14][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[14][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[15] = -SK_LOS[0]*(P[15][0]*SKK_LOS[8] + P[15][1]*SKK_LOS[7] - P[15][3]*SKK_LOS[6] + P[15][2]*SKK_LOS[9] - P[15][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[15][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[15][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[15][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[15][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[16] = -SK_LOS[0]*(P[16][0]*SKK_LOS[8] + P[16][1]*SKK_LOS[7] - P[16][3]*SKK_LOS[6] + P[16][2]*SKK_LOS[9] - P[16][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[16][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[16][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[16][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[16][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[17] = -SK_LOS[0]*(P[17][0]*SKK_LOS[8] + P[17][1]*SKK_LOS[7] - P[17][3]*SKK_LOS[6] + P[17][2]*SKK_LOS[9] - P[17][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[17][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[17][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[17][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[17][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[18] = -SK_LOS[0]*(P[18][0]*SKK_LOS[8] + P[18][1]*SKK_LOS[7] - P[18][3]*SKK_LOS[6] + P[18][2]*SKK_LOS[9] - P[18][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[18][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[18][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[18][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[18][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[19] = -SK_LOS[0]*(P[19][0]*SKK_LOS[8] + P[19][1]*SKK_LOS[7] - P[19][3]*SKK_LOS[6] + P[19][2]*SKK_LOS[9] - P[19][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[19][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[19][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[19][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[19][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[20] = -SK_LOS[0]*(P[20][0]*SKK_LOS[8] + P[20][1]*SKK_LOS[7] - P[20][3]*SKK_LOS[6] + P[20][2]*SKK_LOS[9] - P[20][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[20][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[20][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[20][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[20][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[21] = -SK_LOS[0]*(P[21][0]*SKK_LOS[8] + P[21][1]*SKK_LOS[7] - P[21][3]*SKK_LOS[6] + P[21][2]*SKK_LOS[9] - P[21][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[21][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[21][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[21][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[21][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// Kfusion[22] = -SK_LOS[0]*(P[22][0]*SKK_LOS[8] + P[22][1]*SKK_LOS[7] - P[22][3]*SKK_LOS[6] + P[22][2]*SKK_LOS[9] - P[22][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[22][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[22][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
// varInnovOptFlow[0] = 1.0f/SK_LOS[0];
|
||||
// innovOptFlow[0] = losPred[0] - losData[0];
|
||||
|
||||
// // set the observation index to 1 to fuse the y component next time round and reset the commence fusion flag
|
||||
// obsIndex = 1;
|
||||
// fuseOptFlowData = false;
|
||||
// }
|
||||
// else if (obsIndex == 1) // we are now fusing the Y measurement
|
||||
// {
|
||||
// // Calculate observation jacobians
|
||||
// for (uint8_t i = 0; i < n_states; i++) H_LOS[i] = 0;
|
||||
// H_LOS[0] = SH_LOS[1]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[6] - ve*SH_LOS[11] + vn*SH_LOS[5]);
|
||||
// H_LOS[1] = SH_LOS[1]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[11] + ve*SH_LOS[6] + vn*SH_LOS[4]);
|
||||
// H_LOS[2] = SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6]);
|
||||
// H_LOS[3] = SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11]) - SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1);
|
||||
// H_LOS[4] = SH_LOS[0]*SH_LOS[3]*(a2*(2*q0*q2 + 2*q1*q3) + a3*(2*q0*q3 - 2*q1*q2) - sq(q0) - sq(q1) + sq(q2) + sq(q3));
|
||||
// H_LOS[5] = -SH_LOS[0]*SH_LOS[3]*(a3*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + 2*q0*q3 + 2*q1*q2 + a2*(2*q0*q1 - 2*q2*q3));
|
||||
// H_LOS[6] = SH_LOS[0]*SH_LOS[3]*(a2*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q2 - 2*q1*q3 - a3*(2*q0*q1 + 2*q2*q3));
|
||||
// H_LOS[9] = -SH_LOS[0]*SH_LOS[1]*SH_LOS[7];
|
||||
// H_LOS[22] = SH_LOS[0]*SH_LOS[1]*SH_LOS[7];
|
||||
|
||||
// // Calculate Kalman gains
|
||||
// SK_LOS[1] = 1/(R_LOS + SKK_LOS[12]*(P[0][2]*SKK_LOS[10] + P[1][2]*SKK_LOS[11] + P[2][2]*SKK_LOS[12] - P[3][2]*SKK_LOS[13] - P[9][2]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][2]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][2]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][2]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][2]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) - SKK_LOS[13]*(P[0][3]*SKK_LOS[10] + P[1][3]*SKK_LOS[11] + P[2][3]*SKK_LOS[12] - P[3][3]*SKK_LOS[13] - P[9][3]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][3]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][3]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][3]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][3]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SKK_LOS[10]*(P[0][0]*SKK_LOS[10] + P[1][0]*SKK_LOS[11] + P[2][0]*(SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[3]*SKK_LOS[14]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6])) - P[3][0]*(SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) - SH_LOS[3]*SKK_LOS[14]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11])) - P[9][0]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][0]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][0]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][0]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][0]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SKK_LOS[11]*(P[0][1]*SKK_LOS[10] + P[1][1]*SKK_LOS[11] + P[2][1]*(SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[3]*SKK_LOS[14]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6])) - P[3][1]*(SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) - SH_LOS[3]*SKK_LOS[14]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11])) - P[9][1]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][1]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][1]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][1]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][1]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) - SH_LOS[1]*SH_LOS[7]*SKK_LOS[14]*(P[0][9]*SKK_LOS[10] + P[1][9]*SKK_LOS[11] + P[2][9]*SKK_LOS[12] - P[3][9]*SKK_LOS[13] - P[9][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][9]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][9]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][9]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SH_LOS[1]*SH_LOS[7]*SKK_LOS[14]*(P[0][22]*SKK_LOS[10] + P[1][22]*SKK_LOS[11] + P[2][22]*SKK_LOS[12] - P[3][22]*SKK_LOS[13] - P[9][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][22]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][22]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14]*(P[0][4]*SKK_LOS[10] + P[1][4]*SKK_LOS[11] + P[2][4]*SKK_LOS[12] - P[3][4]*SKK_LOS[13] - P[9][4]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][4]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][4]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][4]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) - SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]*(P[0][5]*SKK_LOS[10] + P[1][5]*SKK_LOS[11] + P[2][5]*SKK_LOS[12] - P[3][5]*SKK_LOS[13] - P[9][5]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][5]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][5]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][5]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]*(P[0][6]*SKK_LOS[10] + P[1][6]*SKK_LOS[11] + P[2][6]*SKK_LOS[12] - P[3][6]*SKK_LOS[13] - P[9][6]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][6]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][6]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][6]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]));
|
||||
// Kfusion[0] = SK_LOS[1]*(P[0][0]*SKK_LOS[10] - P[0][3]*SKK_LOS[13] + P[0][1]*SKK_LOS[11] + P[0][2]*SKK_LOS[12] - P[0][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[0][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[0][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[0][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[0][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[1] = SK_LOS[1]*(P[1][0]*SKK_LOS[10] - P[1][3]*SKK_LOS[13] + P[1][1]*SKK_LOS[11] + P[1][2]*SKK_LOS[12] - P[1][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[1][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[1][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[1][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[1][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[2] = SK_LOS[1]*(P[2][0]*SKK_LOS[10] - P[2][3]*SKK_LOS[13] + P[2][1]*SKK_LOS[11] + P[2][2]*SKK_LOS[12] - P[2][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[2][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[2][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[2][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[2][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[3] = SK_LOS[1]*(P[3][0]*SKK_LOS[10] - P[3][3]*SKK_LOS[13] + P[3][1]*SKK_LOS[11] + P[3][2]*SKK_LOS[12] - P[3][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[3][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[3][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[3][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[3][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[4] = SK_LOS[1]*(P[4][0]*SKK_LOS[10] - P[4][3]*SKK_LOS[13] + P[4][1]*SKK_LOS[11] + P[4][2]*SKK_LOS[12] - P[4][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[4][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[5] = SK_LOS[1]*(P[5][0]*SKK_LOS[10] - P[5][3]*SKK_LOS[13] + P[5][1]*SKK_LOS[11] + P[5][2]*SKK_LOS[12] - P[5][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[5][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[5][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[5][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[6] = SK_LOS[1]*(P[6][0]*SKK_LOS[10] - P[6][3]*SKK_LOS[13] + P[6][1]*SKK_LOS[11] + P[6][2]*SKK_LOS[12] - P[6][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[6][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[6][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[6][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[6][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[7] = SK_LOS[1]*(P[7][0]*SKK_LOS[10] - P[7][3]*SKK_LOS[13] + P[7][1]*SKK_LOS[11] + P[7][2]*SKK_LOS[12] - P[7][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[7][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[7][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[7][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[7][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[8] = SK_LOS[1]*(P[8][0]*SKK_LOS[10] - P[8][3]*SKK_LOS[13] + P[8][1]*SKK_LOS[11] + P[8][2]*SKK_LOS[12] - P[8][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[8][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[8][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[8][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[8][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[9] = SK_LOS[1]*(P[9][0]*SKK_LOS[10] - P[9][3]*SKK_LOS[13] + P[9][1]*SKK_LOS[11] + P[9][2]*SKK_LOS[12] - P[9][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[9][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[9][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[9][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[9][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[10] = SK_LOS[1]*(P[10][0]*SKK_LOS[10] - P[10][3]*SKK_LOS[13] + P[10][1]*SKK_LOS[11] + P[10][2]*SKK_LOS[12] - P[10][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[10][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[10][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[10][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[10][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[11] = SK_LOS[1]*(P[11][0]*SKK_LOS[10] - P[11][3]*SKK_LOS[13] + P[11][1]*SKK_LOS[11] + P[11][2]*SKK_LOS[12] - P[11][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[11][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[11][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[11][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[11][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[12] = SK_LOS[1]*(P[12][0]*SKK_LOS[10] - P[12][3]*SKK_LOS[13] + P[12][1]*SKK_LOS[11] + P[12][2]*SKK_LOS[12] - P[12][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[12][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[12][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[12][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[12][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[13] = 0.0f;//SK_LOS[1]*(P[13][0]*SKK_LOS[10] - P[13][3]*SKK_LOS[13] + P[13][1]*SKK_LOS[11] + P[13][2]*SKK_LOS[12] - P[13][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[13][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[13][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[13][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[13][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[14] = SK_LOS[1]*(P[14][0]*SKK_LOS[10] - P[14][3]*SKK_LOS[13] + P[14][1]*SKK_LOS[11] + P[14][2]*SKK_LOS[12] - P[14][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[14][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[14][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[14][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[14][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[15] = SK_LOS[1]*(P[15][0]*SKK_LOS[10] - P[15][3]*SKK_LOS[13] + P[15][1]*SKK_LOS[11] + P[15][2]*SKK_LOS[12] - P[15][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[15][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[15][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[15][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[15][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[16] = SK_LOS[1]*(P[16][0]*SKK_LOS[10] - P[16][3]*SKK_LOS[13] + P[16][1]*SKK_LOS[11] + P[16][2]*SKK_LOS[12] - P[16][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[16][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[16][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[16][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[16][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[17] = SK_LOS[1]*(P[17][0]*SKK_LOS[10] - P[17][3]*SKK_LOS[13] + P[17][1]*SKK_LOS[11] + P[17][2]*SKK_LOS[12] - P[17][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[17][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[17][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[17][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[17][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[18] = SK_LOS[1]*(P[18][0]*SKK_LOS[10] - P[18][3]*SKK_LOS[13] + P[18][1]*SKK_LOS[11] + P[18][2]*SKK_LOS[12] - P[18][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[18][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[18][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[18][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[18][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[19] = SK_LOS[1]*(P[19][0]*SKK_LOS[10] - P[19][3]*SKK_LOS[13] + P[19][1]*SKK_LOS[11] + P[19][2]*SKK_LOS[12] - P[19][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[19][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[19][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[19][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[19][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[20] = SK_LOS[1]*(P[20][0]*SKK_LOS[10] - P[20][3]*SKK_LOS[13] + P[20][1]*SKK_LOS[11] + P[20][2]*SKK_LOS[12] - P[20][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[20][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[20][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[20][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[20][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[21] = SK_LOS[1]*(P[21][0]*SKK_LOS[10] - P[21][3]*SKK_LOS[13] + P[21][1]*SKK_LOS[11] + P[21][2]*SKK_LOS[12] - P[21][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[21][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[21][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[21][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[21][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// Kfusion[22] = SK_LOS[1]*(P[22][0]*SKK_LOS[10] - P[22][3]*SKK_LOS[13] + P[22][1]*SKK_LOS[11] + P[22][2]*SKK_LOS[12] - P[22][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[22][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[22][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
// varInnovOptFlow[1] = 1.0f/SK_LOS[1];
|
||||
// innovOptFlow[1] = losPred[1] - losData[1];
|
||||
|
||||
// // reset the observation index
|
||||
// obsIndex = 0;
|
||||
// fuseOptFlowData = false;
|
||||
// }
|
||||
|
||||
// // Check the innovation for consistency and don't fuse if > 3Sigma
|
||||
// if ((innovOptFlow[obsIndex]*innovOptFlow[obsIndex]/varInnovOptFlow[obsIndex]) < 9.0f)
|
||||
// {
|
||||
// // correct the state vector
|
||||
// for (uint8_t j = 0; j < n_states; j++)
|
||||
// {
|
||||
// states[j] = states[j] - Kfusion[j] * innovOptFlow[obsIndex];
|
||||
// }
|
||||
// // normalise the quaternion states
|
||||
// float quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]);
|
||||
// if (quatMag > 1e-12f)
|
||||
// {
|
||||
// for (uint8_t j= 0; j<=3; j++)
|
||||
// {
|
||||
// float quatMagInv = 1.0f/quatMag;
|
||||
// states[j] = states[j] * quatMagInv;
|
||||
// }
|
||||
// }
|
||||
// // correct the covariance P = (I - K*H)*P
|
||||
// // take advantage of the empty columns in KH to reduce the
|
||||
// // number of operations
|
||||
// for (uint8_t i = 0; i < n_states; i++)
|
||||
// {
|
||||
// for (uint8_t j = 0; j <= 6; j++)
|
||||
// {
|
||||
// KH[i][j] = Kfusion[i] * H_LOS[j];
|
||||
// }
|
||||
// for (uint8_t j = 7; j <= 8; j++)
|
||||
// {
|
||||
// KH[i][j] = 0.0f;
|
||||
// }
|
||||
// KH[i][9] = Kfusion[i] * H_LOS[9];
|
||||
// for (uint8_t j = 10; j <= 21; j++)
|
||||
// {
|
||||
// KH[i][j] = 0.0f;
|
||||
// }
|
||||
// KH[i][22] = Kfusion[i] * H_LOS[22];
|
||||
// }
|
||||
// for (uint8_t i = 0; i < n_states; i++)
|
||||
// {
|
||||
// for (uint8_t j = 0; j < n_states; j++)
|
||||
// {
|
||||
// KHP[i][j] = 0.0f;
|
||||
// for (uint8_t k = 0; k <= 6; k++)
|
||||
// {
|
||||
// KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j];
|
||||
// }
|
||||
// KHP[i][j] = KHP[i][j] + KH[i][9] * P[9][j];
|
||||
// KHP[i][j] = KHP[i][j] + KH[i][22] * P[2][j];
|
||||
// }
|
||||
// }
|
||||
// }
|
||||
// for (uint8_t i = 0; i < n_states; i++)
|
||||
// {
|
||||
// for (uint8_t j = 0; j < n_states; j++)
|
||||
// {
|
||||
// P[i][j] = P[i][j] - KHP[i][j];
|
||||
// }
|
||||
// }
|
||||
// ForceSymmetry();
|
||||
// ConstrainVariances();
|
||||
// }
|
||||
}
|
||||
|
||||
/*
|
||||
Estimation of optical flow sensor focal length scale factor and terrain height using a two state EKF
|
||||
This fiter requires optical flow rates that are not motion compensated
|
||||
Range to ground measurement is assumed to be via a narrow beam type sensor - eg laser
|
||||
*/
|
||||
void AttPosEKF::GroundEKF()
|
||||
{
|
||||
// propagate ground position state noise each time this is called using the difference in position since the last observations and an RMS gradient assumption
|
||||
// limit distance to prevent intialisation afer bad gps causing bad numerical conditioning
|
||||
if (!inhibitGndState) {
|
||||
float distanceTravelledSq;
|
||||
distanceTravelledSq = sq(statesAtRngTime[7] - prevPosN) + sq(statesAtRngTime[8] - prevPosE);
|
||||
prevPosN = statesAtRngTime[7];
|
||||
prevPosE = statesAtRngTime[8];
|
||||
distanceTravelledSq = min(distanceTravelledSq, 100.0f);
|
||||
Popt[1][1] += (distanceTravelledSq * sq(gndHgtSigma));
|
||||
}
|
||||
Vector3f velNED_local;
|
||||
Vector3f relVelSensor;
|
||||
// we aren't using optical flow measurements in this hacked implementation so set the covariances for this state to zero to avoid numerical problems
|
||||
Popt[0][0] = 0.0f;
|
||||
Popt[0][1] = 0.0f;
|
||||
Popt[1][0] = 0.0f;
|
||||
|
||||
// Perform sequential fusion of optical flow measurements only when in the air and tilt is less than 30 deg.
|
||||
if (useOpticalFlow && (fuseOptFlowData || obsIndex == 1) && !onGround && Tbs.z.z > 0.866f && rngMea > 5.0f && rngMea < 39.0f)
|
||||
{
|
||||
// Sequential fusion of XY components to spread processing load across
|
||||
// two prediction time steps.
|
||||
// Fuse range finder data
|
||||
// Need to check that our range finder tilt angle is less than 30 degrees
|
||||
float cosRngTilt = - Tbn.z.x * sinf(rngFinderPitch) + Tbn.z.z * cosf(rngFinderPitch);
|
||||
if (useRangeFinder && fuseRngData && cosRngTilt > 0.87f) {
|
||||
float range; // range from camera to centre of image
|
||||
float q0; // quaternion at optical flow measurement time
|
||||
float q1; // quaternion at optical flow measurement time
|
||||
float q2; // quaternion at optical flow measurement time
|
||||
float q3; // quaternion at optical flow measurement time
|
||||
float R_RNG = 0.5; // range measurement variance (m^2) TODO make this a function of range and tilt to allow for sensor, alignment and AHRS errors
|
||||
|
||||
// Calculate observation jacobians and Kalman gains
|
||||
if (fuseOptFlowData)
|
||||
{
|
||||
// Copy required states to local variable names
|
||||
q0 = statesAtOptFlowTime[0];
|
||||
q1 = statesAtOptFlowTime[1];
|
||||
q2 = statesAtOptFlowTime[2];
|
||||
q3 = statesAtOptFlowTime[3];
|
||||
vn = statesAtOptFlowTime[4];
|
||||
ve = statesAtOptFlowTime[5];
|
||||
vd = statesAtOptFlowTime[6];
|
||||
pd = statesAtOptFlowTime[9];
|
||||
ptd = statesAtOptFlowTime[22];
|
||||
velNED_local.x = vn;
|
||||
velNED_local.y = ve;
|
||||
velNED_local.z = vd;
|
||||
// Copy required states to local variable names
|
||||
q0 = statesAtRngTime[0];
|
||||
q1 = statesAtRngTime[1];
|
||||
q2 = statesAtRngTime[2];
|
||||
q3 = statesAtRngTime[3];
|
||||
|
||||
// calculate rotation from NED to body axes
|
||||
float q00 = sq(q0);
|
||||
float q11 = sq(q1);
|
||||
float q22 = sq(q2);
|
||||
float q33 = sq(q3);
|
||||
float q01 = q0 * q1;
|
||||
float q02 = q0 * q2;
|
||||
float q03 = q0 * q3;
|
||||
float q12 = q1 * q2;
|
||||
float q13 = q1 * q3;
|
||||
float q23 = q2 * q3;
|
||||
Tnb_local.x.x = q00 + q11 - q22 - q33;
|
||||
Tnb_local.y.y = q00 - q11 + q22 - q33;
|
||||
Tnb_local.z.z = q00 - q11 - q22 + q33;
|
||||
Tnb_local.y.x = 2*(q12 - q03);
|
||||
Tnb_local.z.x = 2*(q13 + q02);
|
||||
Tnb_local.x.y = 2*(q12 + q03);
|
||||
Tnb_local.z.y = 2*(q23 - q01);
|
||||
Tnb_local.x.z = 2*(q13 - q02);
|
||||
Tnb_local.y.z = 2*(q23 + q01);
|
||||
|
||||
// calculate transformation from NED to sensor axes
|
||||
Tns = Tbs*Tnb_local;
|
||||
|
||||
// calculate range from ground plain to centre of sensor fov assuming flat earth
|
||||
float range = ConstrainFloat(((ptd - pd)/Tns.z.z),0.5f,100.0f);
|
||||
|
||||
// calculate relative velocity in sensor frame
|
||||
relVelSensor = Tns*velNED_local;
|
||||
|
||||
// divide velocity by range and include angular rate effects to get predicted angular LOS rates relative to X and Y axes
|
||||
losPred[0] = relVelSensor.y/range;
|
||||
losPred[1] = -relVelSensor.x/range;
|
||||
|
||||
//printf("relVelSensor.x=%5.1f, relVelSensor.y=%5.1f\n", relVelSensor.x, relVelSensor.y);
|
||||
//printf("Xpred=%5.2f, Xmea=%5.2f, Ypred=%5.2f, Ymea=%5.2f, delAng.x=%4.4f, delAng.y=%4.4f\n", losPred[0], losData[0], losPred[1], losData[1], delAng.x, delAng.y);
|
||||
//printf("omegaX=%5.2f, omegaY=%5.2f, velY=%5.1f velX=%5.1f\n, range=%5.1f\n", delAngRel.x/dt, delAngRel.y/dt, relVelSensor.y, relVelSensor.x, range);
|
||||
|
||||
// Calculate observation jacobians
|
||||
SH_LOS[0] = a1*(2*q0*q1 + 2*q2*q3) + a2*(2*q0*q2 - 2*q1*q3) - sq(q0) + sq(q1) + sq(q2) - sq(q3);
|
||||
SH_LOS[1] = vd*(a2*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q2 - 2*q1*q3 - a3*(2*q0*q1 + 2*q2*q3)) - ve*(a3*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + 2*q0*q3 + 2*q1*q2 + a2*(2*q0*q1 - 2*q2*q3)) + vn*(a2*(2*q0*q2 + 2*q1*q3) + a3*(2*q0*q3 - 2*q1*q2) - sq(q0) - sq(q1) + sq(q2) + sq(q3));
|
||||
SH_LOS[2] = ve*(a1*(2*q0*q1 - 2*q2*q3) + a3*(2*q0*q3 + 2*q1*q2) - sq(q0) + sq(q1) - sq(q2) + sq(q3)) - vd*(a1*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q1 + 2*q2*q3 + a3*(2*q0*q2 - 2*q1*q3)) + vn*(a3*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) + 2*q0*q3 - 2*q1*q2 - a1*(2*q0*q2 + 2*q1*q3));
|
||||
SH_LOS[3] = 1/(pd - ptd);
|
||||
SH_LOS[4] = 2*q1 - 2*a2*q3 + 2*a3*q2;
|
||||
SH_LOS[5] = 2*a2*q2 - 2*q0 + 2*a3*q3;
|
||||
SH_LOS[6] = 2*q2 + 2*a2*q0 - 2*a3*q1;
|
||||
SH_LOS[7] = 1/sq(pd - ptd);
|
||||
SH_LOS[8] = 2*q2 + 2*a1*q3 - 2*a3*q1;
|
||||
SH_LOS[9] = 2*q3 - 2*a1*q2 + 2*a3*q0;
|
||||
SH_LOS[10] = 2*a1*q1 - 2*q0 + 2*a3*q3;
|
||||
SH_LOS[11] = 2*q3 + 2*a2*q1 + 2*a3*q0;
|
||||
SH_LOS[12] = 2*q1 + 2*a1*q0 + 2*a3*q2;
|
||||
|
||||
for (uint8_t i = 0; i < n_states; i++) H_LOS[i] = 0;
|
||||
H_LOS[0] = - SH_LOS[2]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) - SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[10] - vd*SH_LOS[12] + vn*SH_LOS[9]);
|
||||
H_LOS[1] = - SH_LOS[2]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[10] + ve*SH_LOS[12] - vn*SH_LOS[8]);
|
||||
H_LOS[2] = SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[9] + ve*SH_LOS[8] + vn*SH_LOS[12]) - SH_LOS[2]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3);
|
||||
H_LOS[3] = SH_LOS[2]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[8] - ve*SH_LOS[9] + vn*SH_LOS[10]);
|
||||
H_LOS[4] = -SH_LOS[0]*SH_LOS[3]*(a3*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) + 2*q0*q3 - 2*q1*q2 - a1*(2*q0*q2 + 2*q1*q3));
|
||||
H_LOS[5] = -SH_LOS[0]*SH_LOS[3]*(a1*(2*q0*q1 - 2*q2*q3) + a3*(2*q0*q3 + 2*q1*q2) - sq(q0) + sq(q1) - sq(q2) + sq(q3));
|
||||
H_LOS[6] = SH_LOS[0]*SH_LOS[3]*(a1*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q1 + 2*q2*q3 + a3*(2*q0*q2 - 2*q1*q3));
|
||||
H_LOS[9] = SH_LOS[0]*SH_LOS[2]*SH_LOS[7];
|
||||
H_LOS[22] = -SH_LOS[0]*SH_LOS[2]*SH_LOS[7];
|
||||
|
||||
// Calculate Kalman gain
|
||||
SKK_LOS[0] = a2*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q2 - 2*q1*q3 - a3*(2*q0*q1 + 2*q2*q3);
|
||||
SKK_LOS[1] = a3*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + 2*q0*q3 + 2*q1*q2 + a2*(2*q0*q1 - 2*q2*q3);
|
||||
SKK_LOS[2] = a2*(2*q0*q2 + 2*q1*q3) + a3*(2*q0*q3 - 2*q1*q2) - sq(q0) - sq(q1) + sq(q2) + sq(q3);
|
||||
SKK_LOS[3] = a1*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q1 + 2*q2*q3 + a3*(2*q0*q2 - 2*q1*q3);
|
||||
SKK_LOS[4] = a1*(2*q0*q1 - 2*q2*q3) + a3*(2*q0*q3 + 2*q1*q2) - sq(q0) + sq(q1) - sq(q2) + sq(q3);
|
||||
SKK_LOS[5] = a3*(sq(q0) + sq(q1) - sq(q2) - sq(q3)) + 2*q0*q3 - 2*q1*q2 - a1*(2*q0*q2 + 2*q1*q3);
|
||||
SKK_LOS[6] = SH_LOS[2]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[8] - ve*SH_LOS[9] + vn*SH_LOS[10]);
|
||||
SKK_LOS[7] = SH_LOS[2]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[10] + ve*SH_LOS[12] - vn*SH_LOS[8]);
|
||||
SKK_LOS[8] = SH_LOS[2]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) + SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[10] - vd*SH_LOS[12] + vn*SH_LOS[9]);
|
||||
SKK_LOS[9] = SH_LOS[2]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[9] + ve*SH_LOS[8] + vn*SH_LOS[12]);
|
||||
SKK_LOS[10] = SH_LOS[1]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[6] - ve*SH_LOS[11] + vn*SH_LOS[5]);
|
||||
SKK_LOS[11] = SH_LOS[1]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[11] + ve*SH_LOS[6] + vn*SH_LOS[4]);
|
||||
SKK_LOS[12] = SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6]);
|
||||
SKK_LOS[13] = SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) - SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11]);
|
||||
SKK_LOS[14] = SH_LOS[0];
|
||||
|
||||
SK_LOS[0] = 1/(R_LOS + SKK_LOS[8]*(P[0][0]*SKK_LOS[8] + P[1][0]*SKK_LOS[7] + P[2][0]*SKK_LOS[9] - P[3][0]*SKK_LOS[6] - P[9][0]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][0]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][0]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][0]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][0]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SKK_LOS[7]*(P[0][1]*SKK_LOS[8] + P[1][1]*SKK_LOS[7] + P[2][1]*SKK_LOS[9] - P[3][1]*SKK_LOS[6] - P[9][1]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][1]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][1]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][1]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][1]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SKK_LOS[9]*(P[0][2]*SKK_LOS[8] + P[1][2]*SKK_LOS[7] + P[2][2]*SKK_LOS[9] - P[3][2]*SKK_LOS[6] - P[9][2]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][2]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][2]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][2]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][2]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) - SKK_LOS[6]*(P[0][3]*SKK_LOS[8] + P[1][3]*SKK_LOS[7] + P[2][3]*SKK_LOS[9] - P[3][3]*SKK_LOS[6] - P[9][3]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][3]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][3]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][3]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][3]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) - SH_LOS[2]*SH_LOS[7]*SKK_LOS[14]*(P[0][9]*SKK_LOS[8] + P[1][9]*SKK_LOS[7] + P[2][9]*SKK_LOS[9] - P[3][9]*SKK_LOS[6] - P[9][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][9]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][9]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][9]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SH_LOS[2]*SH_LOS[7]*SKK_LOS[14]*(P[0][22]*SKK_LOS[8] + P[1][22]*SKK_LOS[7] + P[2][22]*SKK_LOS[9] - P[3][22]*SKK_LOS[6] - P[9][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][22]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][22]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14]*(P[0][4]*SKK_LOS[8] + P[1][4]*SKK_LOS[7] + P[2][4]*SKK_LOS[9] - P[3][4]*SKK_LOS[6] - P[9][4]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][4]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][4]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][4]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14]*(P[0][5]*SKK_LOS[8] + P[1][5]*SKK_LOS[7] + P[2][5]*SKK_LOS[9] - P[3][5]*SKK_LOS[6] - P[9][5]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][5]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][5]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][5]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]) - SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]*(P[0][6]*SKK_LOS[8] + P[1][6]*SKK_LOS[7] + P[2][6]*SKK_LOS[9] - P[3][6]*SKK_LOS[6] - P[9][6]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][6]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][6]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][6]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]));
|
||||
Kfusion[0] = -SK_LOS[0]*(P[0][0]*SKK_LOS[8] + P[0][1]*SKK_LOS[7] - P[0][3]*SKK_LOS[6] + P[0][2]*SKK_LOS[9] - P[0][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[0][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[0][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[0][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[0][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[1] = -SK_LOS[0]*(P[1][0]*SKK_LOS[8] + P[1][1]*SKK_LOS[7] - P[1][3]*SKK_LOS[6] + P[1][2]*SKK_LOS[9] - P[1][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[1][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[1][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[1][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[1][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[2] = -SK_LOS[0]*(P[2][0]*SKK_LOS[8] + P[2][1]*SKK_LOS[7] - P[2][3]*SKK_LOS[6] + P[2][2]*SKK_LOS[9] - P[2][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[2][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[2][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[2][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[2][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[3] = -SK_LOS[0]*(P[3][0]*SKK_LOS[8] + P[3][1]*SKK_LOS[7] - P[3][3]*SKK_LOS[6] + P[3][2]*SKK_LOS[9] - P[3][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[3][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[3][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[3][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[3][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[4] = -SK_LOS[0]*(P[4][0]*SKK_LOS[8] + P[4][1]*SKK_LOS[7] - P[4][3]*SKK_LOS[6] + P[4][2]*SKK_LOS[9] - P[4][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[4][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[4][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[5] = -SK_LOS[0]*(P[5][0]*SKK_LOS[8] + P[5][1]*SKK_LOS[7] - P[5][3]*SKK_LOS[6] + P[5][2]*SKK_LOS[9] - P[5][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[5][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[5][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[5][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[5][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[6] = -SK_LOS[0]*(P[6][0]*SKK_LOS[8] + P[6][1]*SKK_LOS[7] - P[6][3]*SKK_LOS[6] + P[6][2]*SKK_LOS[9] - P[6][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[6][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[6][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[6][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[6][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[7] = -SK_LOS[0]*(P[7][0]*SKK_LOS[8] + P[7][1]*SKK_LOS[7] - P[7][3]*SKK_LOS[6] + P[7][2]*SKK_LOS[9] - P[7][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[7][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[7][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[7][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[7][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[8] = -SK_LOS[0]*(P[8][0]*SKK_LOS[8] + P[8][1]*SKK_LOS[7] - P[8][3]*SKK_LOS[6] + P[8][2]*SKK_LOS[9] - P[8][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[8][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[8][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[8][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[8][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[9] = -SK_LOS[0]*(P[9][0]*SKK_LOS[8] + P[9][1]*SKK_LOS[7] - P[9][3]*SKK_LOS[6] + P[9][2]*SKK_LOS[9] - P[9][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[9][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[9][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[9][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[9][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[10] = -SK_LOS[0]*(P[10][0]*SKK_LOS[8] + P[10][1]*SKK_LOS[7] - P[10][3]*SKK_LOS[6] + P[10][2]*SKK_LOS[9] - P[10][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[10][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[10][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[10][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[10][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[11] = -SK_LOS[0]*(P[11][0]*SKK_LOS[8] + P[11][1]*SKK_LOS[7] - P[11][3]*SKK_LOS[6] + P[11][2]*SKK_LOS[9] - P[11][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[11][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[11][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[11][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[11][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[12] = -SK_LOS[0]*(P[12][0]*SKK_LOS[8] + P[12][1]*SKK_LOS[7] - P[12][3]*SKK_LOS[6] + P[12][2]*SKK_LOS[9] - P[12][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[12][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[12][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[12][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[12][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[13] = 0.0f;//-SK_LOS[0]*(P[13][0]*SKK_LOS[8] + P[13][1]*SKK_LOS[7] - P[13][3]*SKK_LOS[6] + P[13][2]*SKK_LOS[9] - P[13][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[13][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[13][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[13][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[13][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[14] = -SK_LOS[0]*(P[14][0]*SKK_LOS[8] + P[14][1]*SKK_LOS[7] - P[14][3]*SKK_LOS[6] + P[14][2]*SKK_LOS[9] - P[14][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[14][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[14][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[14][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[14][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[15] = -SK_LOS[0]*(P[15][0]*SKK_LOS[8] + P[15][1]*SKK_LOS[7] - P[15][3]*SKK_LOS[6] + P[15][2]*SKK_LOS[9] - P[15][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[15][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[15][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[15][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[15][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[16] = -SK_LOS[0]*(P[16][0]*SKK_LOS[8] + P[16][1]*SKK_LOS[7] - P[16][3]*SKK_LOS[6] + P[16][2]*SKK_LOS[9] - P[16][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[16][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[16][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[16][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[16][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[17] = -SK_LOS[0]*(P[17][0]*SKK_LOS[8] + P[17][1]*SKK_LOS[7] - P[17][3]*SKK_LOS[6] + P[17][2]*SKK_LOS[9] - P[17][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[17][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[17][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[17][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[17][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[18] = -SK_LOS[0]*(P[18][0]*SKK_LOS[8] + P[18][1]*SKK_LOS[7] - P[18][3]*SKK_LOS[6] + P[18][2]*SKK_LOS[9] - P[18][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[18][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[18][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[18][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[18][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[19] = -SK_LOS[0]*(P[19][0]*SKK_LOS[8] + P[19][1]*SKK_LOS[7] - P[19][3]*SKK_LOS[6] + P[19][2]*SKK_LOS[9] - P[19][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[19][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[19][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[19][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[19][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[20] = -SK_LOS[0]*(P[20][0]*SKK_LOS[8] + P[20][1]*SKK_LOS[7] - P[20][3]*SKK_LOS[6] + P[20][2]*SKK_LOS[9] - P[20][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[20][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[20][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[20][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[20][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[21] = -SK_LOS[0]*(P[21][0]*SKK_LOS[8] + P[21][1]*SKK_LOS[7] - P[21][3]*SKK_LOS[6] + P[21][2]*SKK_LOS[9] - P[21][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[21][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[21][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[21][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[21][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
Kfusion[22] = -SK_LOS[0]*(P[22][0]*SKK_LOS[8] + P[22][1]*SKK_LOS[7] - P[22][3]*SKK_LOS[6] + P[22][2]*SKK_LOS[9] - P[22][9]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[2]*SH_LOS[7]*SKK_LOS[14] + P[22][4]*SH_LOS[3]*SKK_LOS[5]*SKK_LOS[14] + P[22][5]*SH_LOS[3]*SKK_LOS[4]*SKK_LOS[14] - P[22][6]*SH_LOS[3]*SKK_LOS[3]*SKK_LOS[14]);
|
||||
varInnovOptFlow[0] = 1.0f/SK_LOS[0];
|
||||
innovOptFlow[0] = losPred[0] - losData[0];
|
||||
|
||||
// reset the observation index to 0 (we start by fusing the X
|
||||
// measurement)
|
||||
obsIndex = 0;
|
||||
fuseOptFlowData = false;
|
||||
// calculate Kalman gains
|
||||
float SK_RNG[3];
|
||||
SK_RNG[0] = sq(q0) - sq(q1) - sq(q2) + sq(q3);
|
||||
SK_RNG[1] = 1/(R_RNG + Popt[1][1]/sq(SK_RNG[0]));
|
||||
SK_RNG[2] = 1/SK_RNG[0];
|
||||
float K_RNG[2];
|
||||
if (!inhibitScaleState) {
|
||||
K_RNG[0] = Popt[0][1]*SK_RNG[1]*SK_RNG[2];
|
||||
} else {
|
||||
K_RNG[0] = 0.0f;
|
||||
}
|
||||
else if (obsIndex == 1) // we are now fusing the Y measurement
|
||||
{
|
||||
// Calculate observation jacobians
|
||||
for (uint8_t i = 0; i < n_states; i++) H_LOS[i] = 0;
|
||||
H_LOS[0] = SH_LOS[1]*SH_LOS[3]*(2*a1*q1 - 2*q0 + 2*a2*q2) + SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[6] - ve*SH_LOS[11] + vn*SH_LOS[5]);
|
||||
H_LOS[1] = SH_LOS[1]*SH_LOS[3]*(2*q1 + 2*a1*q0 - 2*a2*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[11] + ve*SH_LOS[6] + vn*SH_LOS[4]);
|
||||
H_LOS[2] = SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[0]*SH_LOS[3]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6]);
|
||||
H_LOS[3] = SH_LOS[0]*SH_LOS[3]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11]) - SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1);
|
||||
H_LOS[4] = SH_LOS[0]*SH_LOS[3]*(a2*(2*q0*q2 + 2*q1*q3) + a3*(2*q0*q3 - 2*q1*q2) - sq(q0) - sq(q1) + sq(q2) + sq(q3));
|
||||
H_LOS[5] = -SH_LOS[0]*SH_LOS[3]*(a3*(sq(q0) - sq(q1) + sq(q2) - sq(q3)) + 2*q0*q3 + 2*q1*q2 + a2*(2*q0*q1 - 2*q2*q3));
|
||||
H_LOS[6] = SH_LOS[0]*SH_LOS[3]*(a2*(sq(q0) - sq(q1) - sq(q2) + sq(q3)) + 2*q0*q2 - 2*q1*q3 - a3*(2*q0*q1 + 2*q2*q3));
|
||||
H_LOS[9] = -SH_LOS[0]*SH_LOS[1]*SH_LOS[7];
|
||||
H_LOS[22] = SH_LOS[0]*SH_LOS[1]*SH_LOS[7];
|
||||
|
||||
// Calculate Kalman gains
|
||||
SK_LOS[1] = 1/(R_LOS + SKK_LOS[12]*(P[0][2]*SKK_LOS[10] + P[1][2]*SKK_LOS[11] + P[2][2]*SKK_LOS[12] - P[3][2]*SKK_LOS[13] - P[9][2]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][2]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][2]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][2]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][2]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) - SKK_LOS[13]*(P[0][3]*SKK_LOS[10] + P[1][3]*SKK_LOS[11] + P[2][3]*SKK_LOS[12] - P[3][3]*SKK_LOS[13] - P[9][3]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][3]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][3]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][3]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][3]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SKK_LOS[10]*(P[0][0]*SKK_LOS[10] + P[1][0]*SKK_LOS[11] + P[2][0]*(SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[3]*SKK_LOS[14]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6])) - P[3][0]*(SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) - SH_LOS[3]*SKK_LOS[14]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11])) - P[9][0]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][0]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][0]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][0]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][0]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SKK_LOS[11]*(P[0][1]*SKK_LOS[10] + P[1][1]*SKK_LOS[11] + P[2][1]*(SH_LOS[1]*SH_LOS[3]*(2*q2 + 2*a2*q0 + 2*a1*q3) - SH_LOS[3]*SKK_LOS[14]*(vd*SH_LOS[5] + ve*SH_LOS[4] - vn*SH_LOS[6])) - P[3][1]*(SH_LOS[1]*SH_LOS[3]*(2*q3 - 2*a1*q2 + 2*a2*q1) - SH_LOS[3]*SKK_LOS[14]*(ve*SH_LOS[5] - vd*SH_LOS[4] + vn*SH_LOS[11])) - P[9][1]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][1]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][1]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][1]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][1]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) - SH_LOS[1]*SH_LOS[7]*SKK_LOS[14]*(P[0][9]*SKK_LOS[10] + P[1][9]*SKK_LOS[11] + P[2][9]*SKK_LOS[12] - P[3][9]*SKK_LOS[13] - P[9][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][9]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][9]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][9]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SH_LOS[1]*SH_LOS[7]*SKK_LOS[14]*(P[0][22]*SKK_LOS[10] + P[1][22]*SKK_LOS[11] + P[2][22]*SKK_LOS[12] - P[3][22]*SKK_LOS[13] - P[9][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][22]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][22]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14]*(P[0][4]*SKK_LOS[10] + P[1][4]*SKK_LOS[11] + P[2][4]*SKK_LOS[12] - P[3][4]*SKK_LOS[13] - P[9][4]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][4]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][4]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][4]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) - SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]*(P[0][5]*SKK_LOS[10] + P[1][5]*SKK_LOS[11] + P[2][5]*SKK_LOS[12] - P[3][5]*SKK_LOS[13] - P[9][5]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][5]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][5]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][5]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]) + SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]*(P[0][6]*SKK_LOS[10] + P[1][6]*SKK_LOS[11] + P[2][6]*SKK_LOS[12] - P[3][6]*SKK_LOS[13] - P[9][6]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][6]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][6]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][6]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14] + P[6][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14]));
|
||||
Kfusion[0] = SK_LOS[1]*(P[0][0]*SKK_LOS[10] - P[0][3]*SKK_LOS[13] + P[0][1]*SKK_LOS[11] + P[0][2]*SKK_LOS[12] - P[0][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[0][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[0][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[0][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[0][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[1] = SK_LOS[1]*(P[1][0]*SKK_LOS[10] - P[1][3]*SKK_LOS[13] + P[1][1]*SKK_LOS[11] + P[1][2]*SKK_LOS[12] - P[1][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[1][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[1][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[1][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[1][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[2] = SK_LOS[1]*(P[2][0]*SKK_LOS[10] - P[2][3]*SKK_LOS[13] + P[2][1]*SKK_LOS[11] + P[2][2]*SKK_LOS[12] - P[2][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[2][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[2][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[2][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[2][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[3] = SK_LOS[1]*(P[3][0]*SKK_LOS[10] - P[3][3]*SKK_LOS[13] + P[3][1]*SKK_LOS[11] + P[3][2]*SKK_LOS[12] - P[3][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[3][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[3][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[3][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[3][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[4] = SK_LOS[1]*(P[4][0]*SKK_LOS[10] - P[4][3]*SKK_LOS[13] + P[4][1]*SKK_LOS[11] + P[4][2]*SKK_LOS[12] - P[4][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[4][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[4][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[4][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[5] = SK_LOS[1]*(P[5][0]*SKK_LOS[10] - P[5][3]*SKK_LOS[13] + P[5][1]*SKK_LOS[11] + P[5][2]*SKK_LOS[12] - P[5][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[5][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[5][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[5][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[5][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[6] = SK_LOS[1]*(P[6][0]*SKK_LOS[10] - P[6][3]*SKK_LOS[13] + P[6][1]*SKK_LOS[11] + P[6][2]*SKK_LOS[12] - P[6][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[6][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[6][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[6][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[6][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[7] = SK_LOS[1]*(P[7][0]*SKK_LOS[10] - P[7][3]*SKK_LOS[13] + P[7][1]*SKK_LOS[11] + P[7][2]*SKK_LOS[12] - P[7][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[7][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[7][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[7][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[7][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[8] = SK_LOS[1]*(P[8][0]*SKK_LOS[10] - P[8][3]*SKK_LOS[13] + P[8][1]*SKK_LOS[11] + P[8][2]*SKK_LOS[12] - P[8][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[8][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[8][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[8][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[8][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[9] = SK_LOS[1]*(P[9][0]*SKK_LOS[10] - P[9][3]*SKK_LOS[13] + P[9][1]*SKK_LOS[11] + P[9][2]*SKK_LOS[12] - P[9][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[9][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[9][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[9][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[9][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[10] = SK_LOS[1]*(P[10][0]*SKK_LOS[10] - P[10][3]*SKK_LOS[13] + P[10][1]*SKK_LOS[11] + P[10][2]*SKK_LOS[12] - P[10][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[10][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[10][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[10][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[10][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[11] = SK_LOS[1]*(P[11][0]*SKK_LOS[10] - P[11][3]*SKK_LOS[13] + P[11][1]*SKK_LOS[11] + P[11][2]*SKK_LOS[12] - P[11][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[11][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[11][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[11][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[11][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[12] = SK_LOS[1]*(P[12][0]*SKK_LOS[10] - P[12][3]*SKK_LOS[13] + P[12][1]*SKK_LOS[11] + P[12][2]*SKK_LOS[12] - P[12][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[12][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[12][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[12][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[12][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[13] = 0.0f;//SK_LOS[1]*(P[13][0]*SKK_LOS[10] - P[13][3]*SKK_LOS[13] + P[13][1]*SKK_LOS[11] + P[13][2]*SKK_LOS[12] - P[13][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[13][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[13][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[13][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[13][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[14] = SK_LOS[1]*(P[14][0]*SKK_LOS[10] - P[14][3]*SKK_LOS[13] + P[14][1]*SKK_LOS[11] + P[14][2]*SKK_LOS[12] - P[14][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[14][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[14][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[14][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[14][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[15] = SK_LOS[1]*(P[15][0]*SKK_LOS[10] - P[15][3]*SKK_LOS[13] + P[15][1]*SKK_LOS[11] + P[15][2]*SKK_LOS[12] - P[15][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[15][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[15][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[15][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[15][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[16] = SK_LOS[1]*(P[16][0]*SKK_LOS[10] - P[16][3]*SKK_LOS[13] + P[16][1]*SKK_LOS[11] + P[16][2]*SKK_LOS[12] - P[16][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[16][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[16][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[16][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[16][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[17] = SK_LOS[1]*(P[17][0]*SKK_LOS[10] - P[17][3]*SKK_LOS[13] + P[17][1]*SKK_LOS[11] + P[17][2]*SKK_LOS[12] - P[17][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[17][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[17][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[17][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[17][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[18] = SK_LOS[1]*(P[18][0]*SKK_LOS[10] - P[18][3]*SKK_LOS[13] + P[18][1]*SKK_LOS[11] + P[18][2]*SKK_LOS[12] - P[18][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[18][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[18][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[18][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[18][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[19] = SK_LOS[1]*(P[19][0]*SKK_LOS[10] - P[19][3]*SKK_LOS[13] + P[19][1]*SKK_LOS[11] + P[19][2]*SKK_LOS[12] - P[19][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[19][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[19][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[19][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[19][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[20] = SK_LOS[1]*(P[20][0]*SKK_LOS[10] - P[20][3]*SKK_LOS[13] + P[20][1]*SKK_LOS[11] + P[20][2]*SKK_LOS[12] - P[20][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[20][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[20][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[20][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[20][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[21] = SK_LOS[1]*(P[21][0]*SKK_LOS[10] - P[21][3]*SKK_LOS[13] + P[21][1]*SKK_LOS[11] + P[21][2]*SKK_LOS[12] - P[21][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[21][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[21][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[21][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[21][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
Kfusion[22] = SK_LOS[1]*(P[22][0]*SKK_LOS[10] - P[22][3]*SKK_LOS[13] + P[22][1]*SKK_LOS[11] + P[22][2]*SKK_LOS[12] - P[22][9]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][22]*SH_LOS[1]*SH_LOS[7]*SKK_LOS[14] + P[22][6]*SH_LOS[3]*SKK_LOS[0]*SKK_LOS[14] + P[22][4]*SH_LOS[3]*SKK_LOS[2]*SKK_LOS[14] - P[22][5]*SH_LOS[3]*SKK_LOS[1]*SKK_LOS[14]);
|
||||
varInnovOptFlow[1] = 1.0f/SK_LOS[1];
|
||||
innovOptFlow[1] = losPred[1] - losData[1];
|
||||
if (!inhibitGndState) {
|
||||
K_RNG[1] = Popt[1][1]*SK_RNG[1]*SK_RNG[2];
|
||||
} else {
|
||||
K_RNG[1] = 0.0f;
|
||||
}
|
||||
|
||||
// Check the innovation for consistency and don't fuse if > 3Sigma
|
||||
if ((innovOptFlow[obsIndex]*innovOptFlow[obsIndex]/varInnovOptFlow[obsIndex]) < 9.0f)
|
||||
// Calculate the innovation variance for data logging
|
||||
varInnovRng = 1.0f/SK_RNG[1];
|
||||
|
||||
// constrain terrain height to be below the vehicle
|
||||
flowStates[1] = maxf(flowStates[1], statesAtRngTime[9] + minFlowRng);
|
||||
|
||||
// estimate range to centre of image
|
||||
range = (flowStates[1] - statesAtRngTime[9]) * SK_RNG[2];
|
||||
|
||||
// Calculate the measurement innovation
|
||||
innovRng = range - rngMea;
|
||||
|
||||
// calculate the innovation consistency test ratio
|
||||
auxRngTestRatio = sq(innovRng) / (sq(rngInnovGate) * varInnovRng);
|
||||
|
||||
// Check the innovation for consistency and don't fuse if out of bounds
|
||||
if (auxRngTestRatio < 1.0f)
|
||||
{
|
||||
// correct the state vector
|
||||
for (uint8_t j = 0; j < n_states; j++)
|
||||
{
|
||||
states[j] = states[j] - Kfusion[j] * innovOptFlow[obsIndex];
|
||||
}
|
||||
// normalise the quaternion states
|
||||
float quatMag = sqrt(states[0]*states[0] + states[1]*states[1] + states[2]*states[2] + states[3]*states[3]);
|
||||
if (quatMag > 1e-12f)
|
||||
{
|
||||
for (uint8_t j= 0; j<=3; j++)
|
||||
{
|
||||
float quatMagInv = 1.0f/quatMag;
|
||||
states[j] = states[j] * quatMagInv;
|
||||
}
|
||||
}
|
||||
// correct the covariance P = (I - K*H)*P
|
||||
// take advantage of the empty columns in KH to reduce the
|
||||
// number of operations
|
||||
for (uint8_t i = 0; i < n_states; i++)
|
||||
{
|
||||
for (uint8_t j = 0; j <= 6; j++)
|
||||
{
|
||||
KH[i][j] = Kfusion[i] * H_LOS[j];
|
||||
}
|
||||
for (uint8_t j = 7; j <= 8; j++)
|
||||
{
|
||||
KH[i][j] = 0.0f;
|
||||
}
|
||||
KH[i][9] = Kfusion[i] * H_LOS[9];
|
||||
for (uint8_t j = 10; j <= 21; j++)
|
||||
{
|
||||
KH[i][j] = 0.0f;
|
||||
}
|
||||
KH[i][22] = Kfusion[i] * H_LOS[22];
|
||||
}
|
||||
for (uint8_t i = 0; i < n_states; i++)
|
||||
{
|
||||
for (uint8_t j = 0; j < n_states; j++)
|
||||
{
|
||||
KHP[i][j] = 0.0f;
|
||||
for (uint8_t k = 0; k <= 6; k++)
|
||||
{
|
||||
KHP[i][j] = KHP[i][j] + KH[i][k] * P[k][j];
|
||||
}
|
||||
KHP[i][j] = KHP[i][j] + KH[i][9] * P[9][j];
|
||||
KHP[i][j] = KHP[i][j] + KH[i][22] * P[2][j];
|
||||
}
|
||||
}
|
||||
}
|
||||
for (uint8_t i = 0; i < n_states; i++)
|
||||
{
|
||||
for (uint8_t j = 0; j < n_states; j++)
|
||||
{
|
||||
P[i][j] = P[i][j] - KHP[i][j];
|
||||
// correct the state
|
||||
for (uint8_t i = 0; i < 2 ; i++) {
|
||||
flowStates[i] -= K_RNG[i] * innovRng;
|
||||
}
|
||||
// constrain the states
|
||||
|
||||
// constrain focal length to 0.1 to 10 mm
|
||||
flowStates[0] = ConstrainFloat(flowStates[0], 0.1f, 10.0f);
|
||||
// constrain altitude
|
||||
flowStates[1] = maxf(flowStates[1], statesAtRngTime[9] + minFlowRng);
|
||||
|
||||
// correct the covariance matrix
|
||||
float nextPopt[2][2];
|
||||
nextPopt[0][0] = Popt[0][0] - (Popt[0][1]*Popt[1][0]*SK_RNG[1]*SK_RNG[2]) * SK_RNG[2];
|
||||
nextPopt[0][1] = Popt[0][1] - (Popt[0][1]*Popt[1][1]*SK_RNG[1]*SK_RNG[2]) * SK_RNG[2];
|
||||
nextPopt[1][0] = -Popt[1][0]*((Popt[1][1]*SK_RNG[1]*SK_RNG[2]) * SK_RNG[2] - 1.0f);
|
||||
nextPopt[1][1] = -Popt[1][1]*((Popt[1][1]*SK_RNG[1]*SK_RNG[2]) * SK_RNG[2] - 1.0f);
|
||||
// prevent the state variances from becoming negative and maintain symmetry
|
||||
Popt[0][0] = maxf(nextPopt[0][0],0.0f);
|
||||
Popt[1][1] = maxf(nextPopt[1][1],0.0f);
|
||||
Popt[0][1] = 0.5f * (nextPopt[0][1] + nextPopt[1][0]);
|
||||
Popt[1][0] = Popt[0][1];
|
||||
}
|
||||
}
|
||||
obsIndex = obsIndex + 1;
|
||||
ForceSymmetry();
|
||||
ConstrainVariances();
|
||||
}
|
||||
|
||||
void AttPosEKF::zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last)
|
||||
@ -2126,6 +2304,24 @@ float AttPosEKF::sq(float valIn)
|
||||
return valIn*valIn;
|
||||
}
|
||||
|
||||
float AttPosEKF::maxf(float valIn1, float valIn2)
|
||||
{
|
||||
if (valIn1 >= valIn2) {
|
||||
return valIn1;
|
||||
} else {
|
||||
return valIn2;
|
||||
}
|
||||
}
|
||||
|
||||
float AttPosEKF::min(float valIn1, float valIn2)
|
||||
{
|
||||
if (valIn1 <= valIn2) {
|
||||
return valIn1;
|
||||
} else {
|
||||
return valIn2;
|
||||
}
|
||||
}
|
||||
|
||||
// Store states in a history array along with time stamp
|
||||
void AttPosEKF::StoreStates(uint64_t timestamp_ms)
|
||||
{
|
||||
@ -2322,9 +2518,9 @@ void AttPosEKF::OnGroundCheck()
|
||||
}
|
||||
// don't update terrain offset state if on ground
|
||||
if (onGround) {
|
||||
inhibitGndHgtState = true;
|
||||
inhibitGndState = true;
|
||||
} else {
|
||||
inhibitGndHgtState = false;
|
||||
inhibitGndState = false;
|
||||
}
|
||||
}
|
||||
|
||||
@ -3006,9 +3202,14 @@ void AttPosEKF::ZeroVariables()
|
||||
{
|
||||
|
||||
// Initialize on-init initialized variables
|
||||
|
||||
dtIMUfilt = ConstrainFloat(dtIMU, 0.001f, 0.02f);
|
||||
dtVelPosFilt = ConstrainFloat(dtVelPos, 0.04f, 0.5f);
|
||||
dtGpsFilt = 1.0f / 5.0f;
|
||||
dtHgtFilt = 1.0f / 100.0f;
|
||||
storeIndex = 0;
|
||||
|
||||
lastVelPosFusion = millis();
|
||||
|
||||
// Do the data structure init
|
||||
for (unsigned i = 0; i < n_states; i++) {
|
||||
for (unsigned j = 0; j < n_states; j++) {
|
||||
@ -3028,6 +3229,13 @@ void AttPosEKF::ZeroVariables()
|
||||
dVelIMU.zero();
|
||||
lastGyroOffset.zero();
|
||||
|
||||
windSpdFiltNorth = 0.0f;
|
||||
windSpdFiltEast = 0.0f;
|
||||
// setting the altitude to zero will give us a higher
|
||||
// gain to adjust faster in the first step
|
||||
windSpdFiltAltitude = 0.0f;
|
||||
windSpdFiltClimb = 0.0f;
|
||||
|
||||
for (unsigned i = 0; i < data_buffer_size; i++) {
|
||||
|
||||
for (unsigned j = 0; j < n_states; j++) {
|
||||
|
||||
@ -80,6 +80,14 @@ public:
|
||||
airspeedMeasurementSigma = 1.4f;
|
||||
gyroProcessNoise = 1.4544411e-2f;
|
||||
accelProcessNoise = 0.5f;
|
||||
|
||||
gndHgtSigma = 0.1f; // terrain gradient 1-sigma
|
||||
R_LOS = 0.03f; // optical flow measurement noise variance (rad/sec)^2
|
||||
flowInnovGate = 3.0f; // number of standard deviations applied to the optical flow innovation consistency check
|
||||
auxFlowInnovGate = 10.0f; // number of standard deviations applied to the optical flow innovation consistency check used by the auxiliary filter
|
||||
rngInnovGate = 10.0f; // number of standard deviations applied to the rnage finder innovation consistency check
|
||||
minFlowRng = 0.01f; //minimum range between ground and flow sensor
|
||||
moCompR_LOS = 0.2; // scaler from sensor gyro rate to uncertainty in LOS rate
|
||||
}
|
||||
|
||||
struct mag_state_struct {
|
||||
@ -116,13 +124,16 @@ public:
|
||||
float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps
|
||||
uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored
|
||||
|
||||
// Times
|
||||
uint64_t lastVelPosFusion; // the time of the last velocity fusion, in the standard time unit of the filter
|
||||
|
||||
float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
|
||||
float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
|
||||
float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement
|
||||
float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time
|
||||
float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time
|
||||
float statesAtRngTime[n_states]; // filter states at the effective measurement time
|
||||
float statesAtOptFlowTime[n_states]; // States at the effective optical flow measurement time
|
||||
float statesAtFlowTime[n_states]; // States at the effective optical flow measurement time
|
||||
|
||||
Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
|
||||
Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
|
||||
@ -140,7 +151,16 @@ public:
|
||||
Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2)
|
||||
Vector3f dVelIMU;
|
||||
Vector3f dAngIMU;
|
||||
float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec)
|
||||
float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec), this may have significant jitter
|
||||
float dtIMUfilt; // average time between IMU measurements (sec)
|
||||
float dtVelPos; // time lapsed since the last position / velocity fusion (seconds), this may have significant jitter
|
||||
float dtVelPosFilt; // average time between position / velocity fusion steps
|
||||
float dtHgtFilt; // average time between height measurement updates
|
||||
float dtGpsFilt; // average time between gps measurement updates
|
||||
float windSpdFiltNorth; // average wind speed north component
|
||||
float windSpdFiltEast; // average wind speed east component
|
||||
float windSpdFiltAltitude; // the last altitude used to filter wind speed
|
||||
float windSpdFiltClimb; // filtered climb rate
|
||||
uint8_t fusionModeGPS; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
|
||||
float innovVelPos[6]; // innovation output
|
||||
float varInnovVelPos[6]; // innovation variance output
|
||||
@ -192,7 +212,8 @@ public:
|
||||
|
||||
bool inhibitWindStates; // true when wind states and covariances are to remain constant
|
||||
bool inhibitMagStates; // true when magnetic field states and covariances are to remain constant
|
||||
bool inhibitGndHgtState; // true when the terrain ground height offset state and covariances are to remain constant
|
||||
bool inhibitGndState; // true when the terrain ground height offset state and covariances are to remain constant
|
||||
bool inhibitScaleState; // true when the focal length scale factor state and covariances are to remain constant
|
||||
|
||||
bool onGround; ///< boolean true when the flight vehicle is on the ground (not flying)
|
||||
bool staticMode; ///< boolean true if no position feedback is fused
|
||||
@ -211,6 +232,30 @@ public:
|
||||
|
||||
unsigned storeIndex;
|
||||
|
||||
// Optical Flow error estimation
|
||||
float storedOmega[3][data_buffer_size]; // angular rate vector stored for the last 50 time steps used by optical flow eror estimators
|
||||
|
||||
// Two state EKF used to estimate focal length scale factor and terrain position
|
||||
float Popt[2][2]; // state covariance matrix
|
||||
float flowStates[2]; // flow states [scale factor, terrain position]
|
||||
float prevPosN; // north position at last measurement
|
||||
float prevPosE; // east position at last measurement
|
||||
float auxFlowObsInnov[2]; // optical flow observation innovations from focal length scale factor estimator
|
||||
float auxFlowObsInnovVar[2]; // innovation variance for optical flow observations from focal length scale factor estimator
|
||||
float fScaleFactorVar; // optical flow sensor focal length scale factor variance
|
||||
Mat3f Tnb_flow; // Transformation matrix from nav to body at the time fo the optical flow measurement
|
||||
float R_LOS; // Optical flow observation noise variance (rad/sec)^2
|
||||
float auxFlowTestRatio[2]; // ratio of X and Y flow observation innovations to fault threshold
|
||||
float auxRngTestRatio; // ratio of range observation innovations to fault threshold
|
||||
float flowInnovGate; // number of standard deviations used for the innovation consistency check
|
||||
float auxFlowInnovGate; // number of standard deviations applied to the optical flow innovation consistency check
|
||||
float rngInnovGate; // number of standard deviations used for the innovation consistency check
|
||||
float minFlowRng; // minimum range over which to fuse optical flow measurements
|
||||
float moCompR_LOS; // scaler from sensor gyro rate to uncertainty in LOS rate
|
||||
|
||||
void updateDtGpsFilt(float dt);
|
||||
|
||||
void updateDtHgtFilt(float dt);
|
||||
|
||||
void UpdateStrapdownEquationsNED();
|
||||
|
||||
@ -226,6 +271,8 @@ void FuseRangeFinder();
|
||||
|
||||
void FuseOptFlow();
|
||||
|
||||
void GroundEKF();
|
||||
|
||||
void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
|
||||
|
||||
void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
|
||||
@ -268,6 +315,10 @@ static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]);
|
||||
|
||||
static float sq(float valIn);
|
||||
|
||||
static float maxf(float valIn1, float valIn2);
|
||||
|
||||
static float min(float valIn1, float valIn2);
|
||||
|
||||
void OnGroundCheck();
|
||||
|
||||
void CovarianceInit();
|
||||
@ -300,6 +351,8 @@ void InitializeDynamic(float (&initvelNED)[3], float declination);
|
||||
|
||||
protected:
|
||||
|
||||
void updateDtVelPosFilt(float dt);
|
||||
|
||||
bool FilterHealthy();
|
||||
|
||||
bool GyroOffsetsDiverged();
|
||||
@ -314,3 +367,5 @@ void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, fl
|
||||
|
||||
uint32_t millis();
|
||||
|
||||
uint64_t getMicros();
|
||||
|
||||
|
||||
@ -1432,6 +1432,11 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
log_msg.body.log_GPOS.vel_d = buf.global_pos.vel_d;
|
||||
log_msg.body.log_GPOS.eph = buf.global_pos.eph;
|
||||
log_msg.body.log_GPOS.epv = buf.global_pos.epv;
|
||||
if (buf.global_pos.terrain_alt_valid) {
|
||||
log_msg.body.log_GPOS.terrain_alt = buf.global_pos.terrain_alt;
|
||||
} else {
|
||||
log_msg.body.log_GPOS.terrain_alt = -1.0f;
|
||||
}
|
||||
LOGBUFFER_WRITE_AND_COUNT(GPOS);
|
||||
}
|
||||
|
||||
@ -1464,7 +1469,7 @@ int sdlog2_thread_main(int argc, char *argv[])
|
||||
log_msg.body.log_VICN.yaw = buf.vicon_pos.yaw;
|
||||
LOGBUFFER_WRITE_AND_COUNT(VICN);
|
||||
}
|
||||
|
||||
|
||||
/* --- VISION POSITION --- */
|
||||
if (copy_if_updated(ORB_ID(vision_position_estimate), subs.vision_pos_sub, &buf.vision_pos)) {
|
||||
log_msg.msg_type = LOG_VISN_MSG;
|
||||
|
||||
@ -220,6 +220,7 @@ struct log_GPOS_s {
|
||||
float vel_d;
|
||||
float eph;
|
||||
float epv;
|
||||
float terrain_alt;
|
||||
};
|
||||
|
||||
/* --- GPSP - GLOBAL POSITION SETPOINT --- */
|
||||
@ -449,7 +450,7 @@ static const struct log_format_s log_formats[] = {
|
||||
LOG_FORMAT(AIRS, "fff", "IndSpeed,TrueSpeed,AirTemp"),
|
||||
LOG_FORMAT(ARSP, "fff", "RollRateSP,PitchRateSP,YawRateSP"),
|
||||
LOG_FORMAT(FLOW, "hhfffBB", "RawX,RawY,CompX,CompY,Dist,Q,SensID"),
|
||||
LOG_FORMAT(GPOS, "LLffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV"),
|
||||
LOG_FORMAT(GPOS, "LLfffffff", "Lat,Lon,Alt,VelN,VelE,VelD,EPH,EPV,TALT"),
|
||||
LOG_FORMAT(GPSP, "BLLffBfbf", "NavState,Lat,Lon,Alt,Yaw,Type,LoitR,LoitDir,PitMin"),
|
||||
LOG_FORMAT(ESC, "HBBBHHHHHHfH", "count,nESC,Conn,N,Ver,Adr,Volt,Amp,RPM,Temp,SetP,SetPRAW"),
|
||||
LOG_FORMAT(GVSP, "fff", "VX,VY,VZ"),
|
||||
|
||||
@ -72,6 +72,8 @@ struct vehicle_global_position_s {
|
||||
float yaw; /**< Yaw in radians -PI..+PI. */
|
||||
float eph; /**< Standard deviation of position estimate horizontally */
|
||||
float epv; /**< Standard deviation of position vertically */
|
||||
float terrain_alt; /**< Terrain altitude in m, WGS84 */
|
||||
bool terrain_alt_valid; /**< Terrain altitude estimate is valid */
|
||||
};
|
||||
|
||||
/**
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user