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prediction and vel pos heading fusion working

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Roman
2015-12-09 17:47:52 +01:00
committed by Roman Bapst
parent 921df43d32
commit 8de8b0eb76
9 changed files with 794 additions and 135 deletions
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EKF/estimator_base.cpp
+24 -23
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@@ -53,7 +53,7 @@ EstimatorBase::~EstimatorBase()
}
// read integrated imu data and store to buffer
// Accumulate imu data and store to buffer at desired rate
void EstimatorBase::setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, uint64_t delta_vel_dt, float *delta_ang,
float *delta_vel)
{
@@ -132,7 +132,6 @@ void EstimatorBase::setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, uint64
_imu_sample_delayed = _imu_buffer.get_oldest();
}
void EstimatorBase::setMagData(uint64_t time_usec, float *data)
{
@@ -161,11 +160,9 @@ void EstimatorBase::setGpsData(uint64_t time_usec, struct gps_message *gps)
return;
}
if (time_usec - _time_last_gps > 70000 && gps_is_good(gps)) {
gpsSample gps_sample_new = {};
gps_sample_new.time_us = time_usec - _params.gps_delay_ms * 1000;
gps_sample_new.time_us = gps->time_usec - _params.gps_delay_ms * 1000;
gps_sample_new.time_us -= FILTER_UPDATE_PERRIOD_MS * 1000 / 2;
@@ -260,25 +257,24 @@ void EstimatorBase::initialiseVariables(uint64_t time_usec)
_params.mag_delay_ms = 0;
_params.baro_delay_ms = 0;
_params.gps_delay_ms = 0;
_params.gps_delay_ms = 200;
_params.airspeed_delay_ms = 0;
_params.requiredEph = 10;
_params.requiredEpv = 10;
_params.dax_noise = 0.0f;
_params.day_noise = 0.0f;
_params.daz_noise = 0.0f;
_params.dvx_noise = 0.0f;
_params.dvy_noise = 0.0f;
_params.dvz_noise = 0.0f;
_params.delta_ang_sig = 0.0f;
_params.delta_vel_sig = 0.0f;
_params.delta_pos_sig = 0.0f;
_params.delta_gyro_bias_sig = 0.0f;
_params.delta_gyro_scale_sig = 0.0f;
_params.delta_vel_bias_z_sig = 0.0f;
_params.delta_mag_body_sig = 0.0f;
_params.delta_mag_earth_sig = 0.0f;
_params.delta_wind_sig = 0.0f;
_params.requiredEph = 200;
_params.requiredEpv = 200;
_params.gyro_noise = 1e-3f;
_params.accel_noise = 1e-1f;
_params.gyro_bias_p_noise = 1e-5f;
_params.accel_bias_p_noise = 1e-3f;
_params.gyro_scale_p_noise = 1e-4f;
_params.mag_p_noise = 1e-2f;
_params.wind_vel_p_noise = 0.05f;
_params.gps_vel_noise = 0.05f;
_params.gps_pos_noise = 1.0f;
_params.baro_noise = 0.1f;
_params.mag_heading_noise = 3e-2f;
_params.mag_declination_deg = 10.0f;
_params.heading_innov_gate = 0.5f;
_dt_imu_avg = 0.0f;
_imu_time_last = time_usec;
@@ -308,6 +304,9 @@ void EstimatorBase::initialiseVariables(uint64_t time_usec)
_gps_initialised = false;
_gps_speed_valid = false;
_mag_healthy = false;
_in_air = true; // XXX get this flag from the application
_time_last_imu = 0;
_time_last_gps = 0;
_time_last_mag = 0;
@@ -315,6 +314,8 @@ void EstimatorBase::initialiseVariables(uint64_t time_usec)
_time_last_range = 0;
_time_last_airspeed = 0;
memset(&_fault_status, 0, sizeof(_fault_status));
}
void EstimatorBase::initialiseGPS(struct gps_message *gps)