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position_estimator_inav init bugs fixed

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This commit is contained in:
Anton Babushkin
2013-07-01 09:29:06 +04:00
parent f6b0a27295
commit 843fb2d371
1 changed files with 66 additions and 25 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+66 -25
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@@ -62,6 +62,7 @@
#include <uORB/topics/optical_flow.h>
#include <mavlink/mavlink_log.h>
#include <poll.h>
#include <systemlib/err.h>
#include <systemlib/geo/geo.h>
#include <systemlib/systemlib.h>
#include <systemlib/conversions.h>
@@ -162,7 +163,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
float z_est[3] = { 0.0f, 0.0f, 0.0f };
int baro_init_cnt = 0;
int baro_init_num = 70; /* measurement for 1 second */
int baro_init_num = 200;
float baro_alt0 = 0.0f; /* to determine while start up */
double lat_current = 0.0; //[°]] --> 47.0
@@ -220,12 +221,25 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* wait for initial sensors values: baro, GPS fix, only then can we initialize the projection */
bool wait_gps = params.use_gps;
bool wait_baro = true;
hrt_abstime wait_gps_start = 0;
const hrt_abstime wait_gps_delay = 5000000; // wait for 5s after 3D fix
while (wait_gps || wait_baro) {
if (poll(fds_init, 2, 1000)) {
thread_running = true;
while ((wait_gps || wait_baro) && !thread_should_exit) {
int ret = poll(fds_init, params.use_gps ? 2 : 1, 1000);
if (ret < 0) {
/* poll error */
errx(1, "subscriptions poll error on init.");
} else if (ret > 0) {
if (fds_init[0].revents & POLLIN) {
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
if (wait_baro && sensor.baro_counter > baro_counter) {
baro_counter = sensor.baro_counter;
/* mean calculation over several measurements */
if (baro_init_cnt < baro_init_num) {
baro_alt0 += sensor.baro_alt_meter;
@@ -241,24 +255,33 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
}
}
if (fds_init[1].revents & POLLIN) {
if (params.use_gps && (fds_init[1].revents & POLLIN)) {
orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub, &gps);
if (wait_gps && gps.fix_type >= 3) {
wait_gps = false;
/* get GPS position for first initialization */
lat_current = gps.lat * 1e-7;
lon_current = gps.lon * 1e-7;
alt_current = gps.alt * 1e-3;
hrt_abstime t = hrt_absolute_time();
local_pos.home_lat = lat_current * 1e7;
local_pos.home_lon = lon_current * 1e7;
local_pos.home_hdg = 0.0f;
local_pos.home_timestamp = hrt_absolute_time();
if (wait_gps_start == 0) {
wait_gps_start = t;
/* initialize coordinates */
map_projection_init(lat_current, lon_current);
warnx("init GPS: lat = %.10f, lon = %.10f", lat_current, lon_current);
mavlink_log_info(mavlink_fd, "[inav] init GPS: %.7f, %.7f", lat_current, lon_current);
} else if (t - wait_gps_start > wait_gps_delay) {
wait_gps = false;
/* get GPS position for first initialization */
lat_current = gps.lat * 1e-7;
lon_current = gps.lon * 1e-7;
alt_current = gps.alt * 1e-3;
local_pos.home_lat = lat_current * 1e7;
local_pos.home_lon = lon_current * 1e7;
local_pos.home_hdg = 0.0f;
local_pos.home_timestamp = t;
/* initialize coordinates */
map_projection_init(lat_current, lon_current);
warnx("init GPS: lat = %.10f, lon = %.10f", lat_current, lon_current);
mavlink_log_info(mavlink_fd, "[inav] init GPS: %.7f, %.7f", lat_current, lon_current);
}
}
}
}
@@ -282,8 +305,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
float accel_corr[] = { 0.0f, 0.0f, 0.0f }; // N E D
float baro_corr = 0.0f; // D
float gps_corr[2][2] = {
{ 0.0f, 0.0f }, // N (pos, vel)
{ 0.0f, 0.0f }, // E (pos, vel)
{ 0.0f, 0.0f }, // N (pos, vel)
{ 0.0f, 0.0f }, // E (pos, vel)
};
float sonar_corr = 0.0f;
float sonar_corr_filtered = 0.0f;
@@ -293,7 +316,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
hrt_abstime sonar_time = 0;
/* main loop */
struct pollfd fds[5] = {
struct pollfd fds[6] = {
{ .fd = parameter_update_sub, .events = POLLIN },
{ .fd = vehicle_status_sub, .events = POLLIN },
{ .fd = vehicle_attitude_sub, .events = POLLIN },
@@ -302,8 +325,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
{ .fd = vehicle_gps_position_sub, .events = POLLIN }
};
thread_running = true;
warnx("main loop started.");
if (!thread_should_exit) {
warnx("main loop started.");
}
while (!thread_should_exit) {
int ret = poll(fds, params.use_gps ? 6 : 5, 10); // wait maximal this 10 ms = 100 Hz minimum rate
@@ -346,19 +370,24 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (att.R_valid) {
/* transform acceleration vector from body frame to NED frame */
float accel_NED[3];
for (int i = 0; i < 3; i++) {
accel_NED[i] = 0.0f;
for (int j = 0; j < 3; j++) {
accel_NED[i] += att.R[i][j] * sensor.accelerometer_m_s2[j];
}
}
accel_NED[2] += CONSTANTS_ONE_G;
accel_corr[0] = accel_NED[0] - x_est[2];
accel_corr[1] = accel_NED[1] - y_est[2];
accel_corr[2] = accel_NED[2] - z_est[2];
} else {
memset(accel_corr, 0, sizeof(accel_corr));
}
accel_counter = sensor.accelerometer_counter;
accel_updates++;
}
@@ -373,17 +402,20 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* optical flow */
if (fds[4].revents & POLLIN) {
orb_copy(ORB_ID(optical_flow), optical_flow_sub, &flow);
if (flow.ground_distance_m > 0.31f && flow.ground_distance_m < 4.0f && (flow.ground_distance_m != sonar_prev || t - sonar_time < 150000)) {
if (flow.ground_distance_m != sonar_prev) {
sonar_time = t;
sonar_prev = flow.ground_distance_m;
sonar_corr = -flow.ground_distance_m - z_est[0];
sonar_corr_filtered += (sonar_corr - sonar_corr_filtered) * params.sonar_filt;
if (fabsf(sonar_corr) > params.sonar_err) {
// correction is too large: spike or new ground level?
if (fabsf(sonar_corr - sonar_corr_filtered) > params.sonar_err) {
// spike detected, ignore
sonar_corr = 0.0f;
} else {
// new ground level
baro_alt0 += sonar_corr;
@@ -397,29 +429,36 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
}
}
} else {
sonar_corr = 0.0f;
}
flow_updates++;
}
if (params.use_gps && fds[5].revents & POLLIN) {
if (params.use_gps && (fds[5].revents & POLLIN)) {
/* vehicle GPS position */
orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub, &gps);
if (gps.fix_type >= 3) {
/* project GPS lat lon to plane */
float gps_proj[2];
map_projection_project(gps.lat * 1e-7, gps.lon * 1e-7, &(gps_proj[0]), &(gps_proj[1]));
gps_corr[0][0] = gps_proj[0] - x_est[0];
gps_corr[1][0] = gps_proj[1] - y_est[0];
if (gps.vel_ned_valid) {
gps_corr[0][1] = gps.vel_n_m_s;
gps_corr[1][1] = gps.vel_e_m_s;
} else {
gps_corr[0][1] = 0.0f;
gps_corr[1][1] = 0.0f;
}
gps_updates++;
} else {
memset(gps_corr, 0, sizeof(gps_corr));
}
@@ -442,6 +481,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* dont't try to estimate position when no any position source available */
bool can_estimate_pos = params.use_gps && gps.fix_type >= 3;
if (can_estimate_pos) {
/* inertial filter prediction for position */
inertial_filter_predict(dt, x_est);
@@ -454,6 +494,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (params.use_gps && gps.fix_type >= 3) {
inertial_filter_correct(gps_corr[0][0], dt, x_est, 0, params.w_pos_gps_p);
inertial_filter_correct(gps_corr[1][0], dt, y_est, 0, params.w_pos_gps_p);
if (gps.vel_ned_valid) {
inertial_filter_correct(gps_corr[0][1], dt, x_est, 1, params.w_pos_gps_v);
inertial_filter_correct(gps_corr[1][1], dt, y_est, 1, params.w_pos_gps_v);
@@ -505,8 +546,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
global_pos.valid = local_pos.valid;
double est_lat, est_lon;
map_projection_reproject(local_pos.x, local_pos.y, &est_lat, &est_lon);
global_pos.lat = (int32_t) (est_lat * 1e7);
global_pos.lon = (int32_t) (est_lon * 1e7);
global_pos.lat = (int32_t)(est_lat * 1e7);
global_pos.lon = (int32_t)(est_lon * 1e7);
global_pos.alt = -local_pos.z - local_pos.home_alt;
global_pos.relative_alt = -local_pos.z;
global_pos.vx = local_pos.vx;