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sensor_combined: replace accel & gyro integral with value, use float for dt

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Reason: the value is easier to read & handle (for example plotting). In
most places the value is needed, not the integral.

Note that this breaks the replay format for sdlog2 replay
This commit is contained in:
Beat Küng
2016-07-07 11:35:50 +02:00
committed by Lorenz Meier
parent 8e136779ec
commit 9c73eae941
19 changed files with 154 additions and 202 deletions
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src/modules/ekf2/ekf2_main.cpp
+23 -21
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@@ -505,8 +505,16 @@ void Ekf2::task_main()
}
// push imu data into estimator
_ekf.setIMUData(now, sensors.gyro_integral_dt, sensors.accelerometer_integral_dt,
sensors.gyro_integral_rad, sensors.accelerometer_integral_m_s);
float gyro_integral[3];
gyro_integral[0] = sensors.gyro_rad[0] * sensors.gyro_integral_dt;
gyro_integral[1] = sensors.gyro_rad[1] * sensors.gyro_integral_dt;
gyro_integral[2] = sensors.gyro_rad[2] * sensors.gyro_integral_dt;
float accel_integral[3];
accel_integral[0] = sensors.accelerometer_m_s2[0] * sensors.accelerometer_integral_dt;
accel_integral[1] = sensors.accelerometer_m_s2[1] * sensors.accelerometer_integral_dt;
accel_integral[2] = sensors.accelerometer_m_s2[2] * sensors.accelerometer_integral_dt;
_ekf.setIMUData(now, sensors.gyro_integral_dt * 1.e6f, sensors.accelerometer_integral_dt * 1.e6f,
gyro_integral, accel_integral);
// read mag data
if (sensors.magnetometer_timestamp_relative == sensor_combined_s::RELATIVE_TIMESTAMP_INVALID) {
@@ -622,15 +630,14 @@ void Ekf2::task_main()
control_state_s ctrl_state = {};
float gyro_bias[3] = {};
_ekf.get_gyro_bias(gyro_bias);
float gyro_rad_s[3];
float gyro_dt = sensors.gyro_integral_dt / 1.e6f;
gyro_rad_s[0] = sensors.gyro_integral_rad[0] / gyro_dt - gyro_bias[0];
gyro_rad_s[1] = sensors.gyro_integral_rad[1] / gyro_dt - gyro_bias[1];
gyro_rad_s[2] = sensors.gyro_integral_rad[2] / gyro_dt - gyro_bias[2];
ctrl_state.timestamp = hrt_absolute_time();
ctrl_state.roll_rate = _lp_roll_rate.apply(gyro_rad_s[0]);
ctrl_state.pitch_rate = _lp_pitch_rate.apply(gyro_rad_s[1]);
ctrl_state.yaw_rate = _lp_yaw_rate.apply(gyro_rad_s[2]);
float gyro_rad[3];
gyro_rad[0] = sensors.gyro_rad[0] - gyro_bias[0];
gyro_rad[1] = sensors.gyro_rad[1] - gyro_bias[1];
gyro_rad[2] = sensors.gyro_rad[2] - gyro_bias[2];
ctrl_state.roll_rate = _lp_roll_rate.apply(gyro_rad[0]);
ctrl_state.pitch_rate = _lp_pitch_rate.apply(gyro_rad[1]);
ctrl_state.yaw_rate = _lp_yaw_rate.apply(gyro_rad[2]);
// Velocity in body frame
float velocity[3];
@@ -657,11 +664,7 @@ void Ekf2::task_main()
ctrl_state.q[3] = q(3);
// Acceleration data
matrix::Vector<float, 3> acceleration;
float accel_dt = sensors.accelerometer_integral_dt / 1.e6f;
acceleration(0) = sensors.accelerometer_integral_m_s[0] / accel_dt;
acceleration(1) = sensors.accelerometer_integral_m_s[1] / accel_dt;
acceleration(2) = sensors.accelerometer_integral_m_s[2] / accel_dt;
matrix::Vector<float, 3> acceleration(sensors.accelerometer_m_s2);
float accel_bias[3];
_ekf.get_accel_bias(accel_bias);
@@ -722,9 +725,9 @@ void Ekf2::task_main()
att.q[3] = q(3);
att.q_valid = true;
att.rollspeed = gyro_rad_s[0];
att.pitchspeed = gyro_rad_s[1];
att.yawspeed = gyro_rad_s[2];
att.rollspeed = gyro_rad[0];
att.pitchspeed = gyro_rad[1];
att.yawspeed = gyro_rad[2];
// publish vehicle attitude data
if (_att_pub == nullptr) {
@@ -917,9 +920,8 @@ void Ekf2::task_main()
replay.accelerometer_integral_dt = sensors.accelerometer_integral_dt;
replay.magnetometer_timestamp = sensors.timestamp + sensors.magnetometer_timestamp_relative;
replay.baro_timestamp = sensors.timestamp + sensors.baro_timestamp_relative;
memcpy(replay.gyro_integral_rad, sensors.gyro_integral_rad, sizeof(replay.gyro_integral_rad));
memcpy(replay.accelerometer_integral_m_s, sensors.accelerometer_integral_m_s,
sizeof(replay.accelerometer_integral_m_s));
memcpy(replay.gyro_rad, sensors.gyro_rad, sizeof(replay.gyro_rad));
memcpy(replay.accelerometer_m_s2, sensors.accelerometer_m_s2, sizeof(replay.accelerometer_m_s2));
memcpy(replay.magnetometer_ga, sensors.magnetometer_ga, sizeof(replay.magnetometer_ga));
replay.baro_alt_meter = sensors.baro_alt_meter;