fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'ekf_acc_comp' into vector_control2

Browse Source
This commit is contained in:
Anton Babushkin 2013-12-26 23:12:29 +04:00
commit a0355ccf76
1 changed files with 50 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

53
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
View File

@ -58,6 +58,7 @@
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/parameter_update.h>
#include <drivers/drv_hrt.h>
@ -216,6 +217,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
struct sensor_combined_s raw;
memset(&raw, 0, sizeof(raw));
struct vehicle_gps_position_s gps;
memset(&gps, 0, sizeof(gps));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct vehicle_control_mode_s control_mode;
@ -223,12 +226,18 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
uint64_t last_data = 0;
uint64_t last_measurement = 0;
uint64_t last_gps = 0;
float vel_prev[3] = { 0.0f, 0.0f, 0.0f };
/* subscribe to raw data */
int sub_raw = orb_subscribe(ORB_ID(sensor_combined));
/* rate-limit raw data updates to 333 Hz (sensors app publishes at 200, so this is just paranoid) */
orb_set_interval(sub_raw, 3);
/* subscribe to GPS */
int sub_gps = orb_subscribe(ORB_ID(vehicle_gps_position));
/* subscribe to param changes */
int sub_params = orb_subscribe(ORB_ID(parameter_update));
@ -315,6 +324,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* get latest measurements */
orb_copy(ORB_ID(sensor_combined), sub_raw, &raw);
orb_copy(ORB_ID(vehicle_gps_position), sub_gps, &gps);
if (!initialized) {
// XXX disabling init for now
@ -361,9 +371,46 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
sensor_last_timestamp[1] = raw.timestamp;
}
z_k[3] = raw.accelerometer_m_s2[0];
z_k[4] = raw.accelerometer_m_s2[1];
z_k[5] = raw.accelerometer_m_s2[2];
float acc[3];
if (gps.fix_type >= 3 && gps.eph_m < 10.0f && gps.vel_ned_valid && hrt_absolute_time() < gps.timestamp_velocity + 500000) {
if (last_gps != 0 && gps.timestamp_velocity != last_gps) {
float gps_dt = (gps.timestamp_velocity - last_gps) / 1000000.0f;
/* calculate acceleration in NED frame */
float acc_NED[3];
acc_NED[0] = (gps.vel_n_m_s - vel_prev[0]) / gps_dt;
acc_NED[1] = (gps.vel_e_m_s - vel_prev[1]) / gps_dt;
acc_NED[2] = (gps.vel_d_m_s - vel_prev[2]) / gps_dt;
/* project acceleration to body frame */
for (int i = 0; i < 3; i++) {
acc[i] = 0.0f;
for (int j = 0; j < 3; j++) {
acc[i] += att.R[j][i] * acc_NED[j];
}
}
}
} else {
acc[0] = 0.0f;
acc[1] = 0.0f;
acc[2] = 0.0f;
}
if (gps.vel_ned_valid) {
vel_prev[0] = gps.vel_n_m_s;
vel_prev[1] = gps.vel_e_m_s;
vel_prev[2] = gps.vel_d_m_s;
last_gps = gps.timestamp_velocity;
} else {
vel_prev[0] = 0.0f;
vel_prev[1] = 0.0f;
vel_prev[2] = 0.0f;
last_gps = 0;
}
z_k[3] = raw.accelerometer_m_s2[0] - acc[0];
z_k[4] = raw.accelerometer_m_s2[1] - acc[1];
z_k[5] = raw.accelerometer_m_s2[2] - acc[2];
/* update magnetometer measurements */
if (sensor_last_count[2] != raw.magnetometer_counter) {