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estimator_status split out estimator_states

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This commit is contained in:
Daniel Agar
2020-09-04 10:48:26 -04:00
parent 33a7fed240
commit 9ccc1db649
17 changed files with 150 additions and 108 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+22 -21
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@@ -712,45 +712,46 @@ void BlockLocalPositionEstimator::publishOdom()
void BlockLocalPositionEstimator::publishEstimatorStatus()
{
_pub_est_states.get().timestamp = _timeStamp;
_pub_est_status.get().timestamp = _timeStamp;
for (size_t i = 0; i < n_x; i++) {
_pub_est_status.get().states[i] = _x(i);
_pub_est_states.get().states[i] = _x(i);
}
// matching EKF2 covariances indexing
// quaternion - not determined, as it is a position estimator
_pub_est_status.get().covariances[0] = NAN;
_pub_est_status.get().covariances[1] = NAN;
_pub_est_status.get().covariances[2] = NAN;
_pub_est_status.get().covariances[3] = NAN;
_pub_est_states.get().covariances[0] = NAN;
_pub_est_states.get().covariances[1] = NAN;
_pub_est_states.get().covariances[2] = NAN;
_pub_est_states.get().covariances[3] = NAN;
// linear velocity
_pub_est_status.get().covariances[4] = m_P(X_vx, X_vx);
_pub_est_status.get().covariances[5] = m_P(X_vy, X_vy);
_pub_est_status.get().covariances[6] = m_P(X_vz, X_vz);
_pub_est_states.get().covariances[4] = m_P(X_vx, X_vx);
_pub_est_states.get().covariances[5] = m_P(X_vy, X_vy);
_pub_est_states.get().covariances[6] = m_P(X_vz, X_vz);
// position
_pub_est_status.get().covariances[7] = m_P(X_x, X_x);
_pub_est_status.get().covariances[8] = m_P(X_y, X_y);
_pub_est_status.get().covariances[9] = m_P(X_z, X_z);
_pub_est_states.get().covariances[7] = m_P(X_x, X_x);
_pub_est_states.get().covariances[8] = m_P(X_y, X_y);
_pub_est_states.get().covariances[9] = m_P(X_z, X_z);
// gyro bias - not determined
_pub_est_status.get().covariances[10] = NAN;
_pub_est_status.get().covariances[11] = NAN;
_pub_est_status.get().covariances[12] = NAN;
_pub_est_states.get().covariances[10] = NAN;
_pub_est_states.get().covariances[11] = NAN;
_pub_est_states.get().covariances[12] = NAN;
// accel bias
_pub_est_status.get().covariances[13] = m_P(X_bx, X_bx);
_pub_est_status.get().covariances[14] = m_P(X_by, X_by);
_pub_est_status.get().covariances[15] = m_P(X_bz, X_bz);
_pub_est_states.get().covariances[13] = m_P(X_bx, X_bx);
_pub_est_states.get().covariances[14] = m_P(X_by, X_by);
_pub_est_states.get().covariances[15] = m_P(X_bz, X_bz);
// mag - not determined
for (size_t i = 16; i <= 21; i++) {
_pub_est_status.get().covariances[i] = NAN;
_pub_est_states.get().covariances[i] = NAN;
}
// replacing the hor wind cov with terrain altitude covariance
_pub_est_status.get().covariances[22] = m_P(X_tz, X_tz);
_pub_est_status.get().covariances[23] = NAN;
_pub_est_states.get().covariances[22] = m_P(X_tz, X_tz);
_pub_est_states.get().covariances[23] = NAN;
_pub_est_status.get().n_states = n_x;
_pub_est_states.get().n_states = n_x;
_pub_est_status.get().health_flags = _sensorFault;
_pub_est_status.get().timeout_flags = _sensorTimeout;
_pub_est_status.get().pos_horiz_accuracy = _pub_gpos.get().eph;
src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
+2
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@@ -33,6 +33,7 @@
#include <uORB/Publication.hpp>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/estimator_states.h>
#include <uORB/topics/estimator_status.h>
#include <uORB/topics/estimator_innovations.h>
@@ -285,6 +286,7 @@ private:
uORB::PublicationData<vehicle_local_position_s> _pub_lpos{ORB_ID(vehicle_local_position)};
uORB::PublicationData<vehicle_global_position_s> _pub_gpos{ORB_ID(vehicle_global_position)};
uORB::PublicationData<vehicle_odometry_s> _pub_odom{ORB_ID(vehicle_odometry)};
uORB::PublicationData<estimator_states_s> _pub_est_states{ORB_ID(estimator_states)};
uORB::PublicationData<estimator_status_s> _pub_est_status{ORB_ID(estimator_status)};
uORB::PublicationData<estimator_innovations_s> _pub_innov{ORB_ID(estimator_innovations)};
uORB::PublicationData<estimator_innovations_s> _pub_innov_var{ORB_ID(estimator_innovation_variances)};