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EKF: remove virtual getters from estimator_interface
This commit is contained in:
Daniel Agar
+74
-215
@@ -46,7 +46,6 @@
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#include "RingBuffer.h"
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#include <AlphaFilter/AlphaFilter.hpp>
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#include "imu_down_sampler.hpp"
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#include "EKFGSF_yaw.h"
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#include "sensor_range_finder.hpp"
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#include "utils.hpp"
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@@ -58,106 +57,19 @@ using namespace estimator;
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class EstimatorInterface
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{
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public:
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EstimatorInterface(): _imu_down_sampler(FILTER_UPDATE_PERIOD_S) {};
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virtual ~EstimatorInterface() = default;
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virtual bool init(uint64_t timestamp) = 0;
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virtual void reset() = 0;
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virtual bool update() = 0;
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virtual void getGpsVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) const = 0;
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virtual void getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) const = 0;
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virtual void getGpsVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) const = 0;
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virtual void getEvVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) const = 0;
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virtual void getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) const = 0;
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virtual void getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) const = 0;
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virtual void getBaroHgtInnov(float &baro_hgt_innov) const = 0;
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virtual void getBaroHgtInnovVar(float &baro_hgt_innov_var) const = 0;
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virtual void getBaroHgtInnovRatio(float &baro_hgt_innov_ratio) const = 0;
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virtual void getRngHgtInnov(float &rng_hgt_innov) const = 0;
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virtual void getRngHgtInnovVar(float &rng_hgt_innov_var) const = 0;
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virtual void getRngHgtInnovRatio(float &rng_hgt_innov_ratio) const = 0;
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virtual void getAuxVelInnov(float aux_vel_innov[2]) const = 0;
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virtual void getAuxVelInnovVar(float aux_vel_innov[2]) const = 0;
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virtual void getAuxVelInnovRatio(float &aux_vel_innov_ratio) const = 0;
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virtual void getFlowInnov(float flow_innov[2]) const = 0;
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virtual void getFlowInnovVar(float flow_innov_var[2]) const = 0;
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virtual void getFlowInnovRatio(float &flow_innov_ratio) const = 0;
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virtual const Vector2f &getFlowVelBody() const = 0;
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virtual const Vector2f &getFlowVelNE() const = 0;
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virtual const Vector2f &getFlowCompensated() const = 0;
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virtual const Vector2f &getFlowUncompensated() const = 0;
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virtual const Vector3f &getFlowGyro() const = 0;
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virtual void getHeadingInnov(float &heading_innov) const = 0;
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virtual void getHeadingInnovVar(float &heading_innov_var) const = 0;
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virtual void getHeadingInnovRatio(float &heading_innov_ratio) const = 0;
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virtual void getMagInnov(float mag_innov[3]) const = 0;
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virtual void getMagInnovVar(float mag_innov_var[3]) const = 0;
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virtual void getMagInnovRatio(float &mag_innov_ratio) const = 0;
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virtual void getDragInnov(float drag_innov[2]) const = 0;
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virtual void getDragInnovVar(float drag_innov_var[2]) const = 0;
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virtual void getDragInnovRatio(float drag_innov_ratio[2]) const = 0;
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virtual void getAirspeedInnov(float &airspeed_innov) const = 0;
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virtual void getAirspeedInnovVar(float &get_airspeed_innov_var) const = 0;
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virtual void getAirspeedInnovRatio(float &airspeed_innov_ratio) const = 0;
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virtual void getBetaInnov(float &beta_innov) const = 0;
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virtual void getBetaInnovVar(float &get_beta_innov_var) const = 0;
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virtual void getBetaInnovRatio(float &beta_innov_ratio) const = 0;
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virtual void getHaglInnov(float &hagl_innov) const = 0;
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virtual void getHaglInnovVar(float &hagl_innov_var) const = 0;
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virtual void getHaglInnovRatio(float &hagl_innov_ratio) const = 0;
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virtual matrix::Vector<float, 24> getStateAtFusionHorizonAsVector() const = 0;
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virtual Vector2f getWindVelocityVariance() const = 0;
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virtual void get_true_airspeed(float *tas) = 0;
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/*
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First argument returns GPS drift metrics in the following array locations
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0 : Horizontal position drift rate (m/s)
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1 : Vertical position drift rate (m/s)
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2 : Filtered horizontal velocity (m/s)
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Second argument returns true when IMU movement is blocking the drift calculation
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Function returns true if the metrics have been updated and not returned previously by this function
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*/
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virtual bool get_gps_drift_metrics(float drift[3], bool *blocked) = 0;
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// get the ekf WGS-84 origin position and height and the system time it was last set
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// return true if the origin is valid
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virtual bool get_ekf_origin(uint64_t *origin_time, map_projection_reference_s *origin_pos, float *origin_alt) = 0;
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// get the 1-sigma horizontal and vertical position uncertainty of the ekf WGS-84 position
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virtual void get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv) = 0;
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// get the 1-sigma horizontal and vertical position uncertainty of the ekf local position
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virtual void get_ekf_lpos_accuracy(float *ekf_eph, float *ekf_epv) = 0;
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// get the 1-sigma horizontal and vertical velocity uncertainty
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virtual void get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv) = 0;
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// get the vehicle control limits required by the estimator to keep within sensor limitations
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virtual void get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, float *hagl_max) = 0;
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// ask estimator for sensor data collection decision and do any preprocessing if required, returns true if not defined
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virtual bool collect_gps(const gps_message &gps) = 0;
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void setIMUData(const imuSample &imu_sample);
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/*
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Returns following IMU vibration metrics in the following array locations
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0 : Gyro delta angle coning metric = filtered length of (delta_angle x prev_delta_angle)
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1 : Gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle)
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2 : Accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity)
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*/
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const Vector3f &getImuVibrationMetrics() const { return _vibe_metrics; }
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void setMagData(const magSample &mag_sample);
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@@ -182,29 +94,22 @@ public:
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parameters *getParamHandle() { return &_params; }
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// set vehicle landed status data
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void set_in_air_status(bool in_air) {_control_status.flags.in_air = in_air;}
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/*
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Reset all IMU bias states and covariances to initial alignment values.
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Use when the IMU sensor has changed.
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Returns true if reset performed, false if rejected due to less than 10 seconds lapsed since last reset.
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*/
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virtual bool reset_imu_bias() = 0;
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void set_in_air_status(bool in_air) { _control_status.flags.in_air = in_air; }
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// return true if the attitude is usable
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bool attitude_valid() { return ISFINITE(_output_new.quat_nominal(0)) && _control_status.flags.tilt_align; }
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bool attitude_valid() const { return ISFINITE(_output_new.quat_nominal(0)) && _control_status.flags.tilt_align; }
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// get vehicle landed status data
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bool get_in_air_status() {return _control_status.flags.in_air;}
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bool get_in_air_status() const { return _control_status.flags.in_air; }
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// get wind estimation status
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bool get_wind_status() { return _control_status.flags.wind; }
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bool get_wind_status() const { return _control_status.flags.wind; }
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// set vehicle is fixed wing status
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void set_is_fixed_wing(bool is_fixed_wing) {_control_status.flags.fixed_wing = is_fixed_wing;}
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void set_is_fixed_wing(bool is_fixed_wing) { _control_status.flags.fixed_wing = is_fixed_wing; }
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// set flag if synthetic sideslip measurement should be fused
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void set_fuse_beta_flag(bool fuse_beta) {_control_status.flags.fuse_beta = (fuse_beta && _control_status.flags.in_air);}
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void set_fuse_beta_flag(bool fuse_beta) { _control_status.flags.fuse_beta = (fuse_beta && _control_status.flags.in_air); }
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// set flag if static pressure rise due to ground effect is expected
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// use _params.gnd_effect_deadzone to adjust for expected rise in static pressure
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@@ -216,7 +121,7 @@ public:
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}
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// set air density used by the multi-rotor specific drag force fusion
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void set_air_density(float air_density) {_air_density = air_density;}
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void set_air_density(float air_density) { _air_density = air_density; }
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// set sensor limitations reported by the rangefinder
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void set_rangefinder_limits(float min_distance, float max_distance)
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@@ -232,9 +137,6 @@ public:
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_flow_max_distance = max_distance;
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}
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// return true if the global position estimate is valid
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virtual bool global_position_is_valid() = 0;
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// the flags considered are opt_flow, gps, ev_vel and ev_pos
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bool isOnlyActiveSourceOfHorizontalAiding(bool aiding_flag) const;
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@@ -256,29 +158,16 @@ public:
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int getNumberOfActiveHorizontalAidingSources() const;
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// return true if the EKF is dead reckoning the position using inertial data only
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bool inertial_dead_reckoning() {return _is_dead_reckoning;}
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virtual bool isTerrainEstimateValid() const = 0;
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//[[deprecated("Replaced by isTerrainEstimateValid")]]
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bool get_terrain_valid() { return isTerrainEstimateValid(); }
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virtual uint8_t getTerrainEstimateSensorBitfield() const = 0;
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// get the estimated terrain vertical position relative to the NED origin
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virtual float getTerrainVertPos() const = 0;
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// return true if the local position estimate is valid
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bool local_position_is_valid();
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bool local_position_is_valid() const { return !_deadreckon_time_exceeded; }
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// return true if the EKF is dead reckoning the position using inertial data only
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bool inertial_dead_reckoning() const { return _is_dead_reckoning; }
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const matrix::Quatf &getQuaternion() const { return _output_new.quat_nominal; }
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// get the velocity of the body frame origin in local NED earth frame
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Vector3f getVelocity() const
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{
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const Vector3f vel_earth = _output_new.vel - _vel_imu_rel_body_ned;
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return vel_earth;
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}
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Vector3f getVelocity() const { return _output_new.vel - _vel_imu_rel_body_ned; }
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// get the velocity derivative in earth frame
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const Vector3f &getVelocityDerivative() const { return _vel_deriv; }
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@@ -298,7 +187,7 @@ public:
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// Get the value of magnetic declination in degrees to be saved for use at the next startup
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// Returns true when the declination can be saved
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// At the next startup, set param.mag_declination_deg to the value saved
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bool get_mag_decl_deg(float *val)
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bool get_mag_decl_deg(float *val) const
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{
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if (_NED_origin_initialised && (_params.mag_declination_source & MASK_SAVE_GEO_DECL)) {
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*val = math::degrees(_mag_declination_gps);
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@@ -310,69 +199,35 @@ public:
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}
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// get EKF mode status
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void get_control_mode(uint32_t *val) { *val = _control_status.value; }
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void get_control_mode(uint32_t *val) const { *val = _control_status.value; }
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// get EKF internal fault status
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void get_filter_fault_status(uint16_t *val) { *val = _fault_status.value; }
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void get_filter_fault_status(uint16_t *val) const { *val = _fault_status.value; }
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bool isVehicleAtRest() const { return _control_status.flags.vehicle_at_rest; }
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// get GPS check status
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virtual void get_gps_check_status(uint16_t *val) = 0;
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// return the amount the local vertical position changed in the last reset and the number of reset events
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virtual void get_posD_reset(float *delta, uint8_t *counter) = 0;
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// return the amount the local vertical velocity changed in the last reset and the number of reset events
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virtual void get_velD_reset(float *delta, uint8_t *counter) = 0;
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// return the amount the local horizontal position changed in the last reset and the number of reset events
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virtual void get_posNE_reset(float delta[2], uint8_t *counter) = 0;
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// return the amount the local horizontal velocity changed in the last reset and the number of reset events
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virtual void get_velNE_reset(float delta[2], uint8_t *counter) = 0;
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// return the amount the quaternion has changed in the last reset and the number of reset events
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virtual void get_quat_reset(float delta_quat[4], uint8_t *counter) = 0;
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// get EKF innovation consistency check status information comprising of:
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// status - a bitmask integer containing the pass/fail status for each EKF measurement innovation consistency check
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// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
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// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
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// Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned.
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virtual void get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas,
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float &hagl, float &beta) = 0;
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// return a bitmask integer that describes which state estimates can be used for flight control
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virtual void get_ekf_soln_status(uint16_t *status) = 0;
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// Getter for the average imu update period in s
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float get_dt_imu_avg() const { return _dt_imu_avg; }
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// Getter for the imu sample on the delayed time horizon
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const imuSample &get_imu_sample_delayed() { return _imu_sample_delayed; }
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const imuSample &get_imu_sample_delayed() const { return _imu_sample_delayed; }
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// Getter for the baro sample on the delayed time horizon
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const baroSample &get_baro_sample_delayed() { return _baro_sample_delayed; }
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const baroSample &get_baro_sample_delayed() const { return _baro_sample_delayed; }
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void print_status();
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static constexpr unsigned FILTER_UPDATE_PERIOD_MS{10}; // ekf prediction period in milliseconds - this should ideally be an integer multiple of the IMU time delta
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static constexpr float FILTER_UPDATE_PERIOD_S{FILTER_UPDATE_PERIOD_MS * 0.001f};
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// request the EKF reset the yaw to the estimate from the internal EKF-GSF filter
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// argment should be incremented only when a new reset is required
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virtual void requestEmergencyNavReset() = 0;
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// get ekf-gsf debug data
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virtual bool getDataEKFGSF(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF],
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float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]) = 0;
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protected:
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parameters _params; // filter parameters
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EstimatorInterface() = default;
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virtual ~EstimatorInterface() = default;
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ImuDownSampler _imu_down_sampler;
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virtual bool init(uint64_t timestamp) = 0;
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parameters _params; // filter parameters
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/*
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OBS_BUFFER_LENGTH defines how many observations (non-IMU measurements) we can buffer
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@@ -391,8 +246,6 @@ protected:
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*/
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uint8_t _imu_buffer_length{0};
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unsigned _min_obs_interval_us{0}; // minimum time interval between observations that will guarantee data is not lost (usec)
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float _dt_imu_avg{0.0f}; // average imu update period in s
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imuSample _imu_sample_delayed{}; // captures the imu sample on the delayed time horizon
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@@ -409,9 +262,6 @@ protected:
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dragSample _drag_down_sampled{}; // down sampled drag specific force data (filter prediction rate -> observation rate)
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auxVelSample _auxvel_sample_delayed{};
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// Used by the multi-rotor specific drag force fusion
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uint8_t _drag_sample_count{0}; // number of drag specific force samples assumulated at the filter prediction rate
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float _drag_sample_time_dt{0.0f}; // time integral across all samples used to form _drag_down_sampled (sec)
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float _air_density{CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C}; // air density (kg/m**3)
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// Sensor limitations
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@@ -460,13 +310,6 @@ protected:
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bool _deadreckon_time_exceeded{true}; // true if the horizontal nav solution has been deadreckoning for too long and is invalid
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bool _is_wind_dead_reckoning{false}; // true if we are navigationg reliant on wind relative measurements
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// IMU vibration and movement monitoring
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Vector3f _delta_ang_prev; // delta angle from the previous IMU measurement
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Vector3f _delta_vel_prev; // delta velocity from the previous IMU measurement
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Vector3f _vibe_metrics; // IMU vibration metrics
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// [0] Level of coning vibration in the IMU delta angles (rad^2)
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// [1] high frequency vibration level in the IMU delta angle data (rad)
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// [2] high frequency vibration level in the IMU delta velocity data (m/s)
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float _gps_drift_metrics[3] {}; // Array containing GPS drift metrics
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// [0] Horizontal position drift rate (m/s)
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// [1] Vertical position drift rate (m/s)
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@@ -488,20 +331,6 @@ protected:
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RingBuffer<dragSample> _drag_buffer;
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RingBuffer<auxVelSample> _auxvel_buffer;
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// yaw estimator instance
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EKFGSF_yaw yawEstimator;
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// observation buffer final allocation failed
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bool _gps_buffer_fail{false};
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bool _mag_buffer_fail{false};
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bool _baro_buffer_fail{false};
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bool _range_buffer_fail{false};
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bool _airspeed_buffer_fail{false};
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bool _flow_buffer_fail{false};
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bool _ev_buffer_fail{false};
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bool _drag_buffer_fail{false};
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bool _auxvel_buffer_fail{false};
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// timestamps of latest in buffer saved measurement in microseconds
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uint64_t _time_last_imu{0};
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uint64_t _time_last_gps{0};
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@@ -515,24 +344,11 @@ protected:
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//last time the baro ground effect compensation was turned on externally (uSec)
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uint64_t _time_last_gnd_effect_on{0};
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// Used to downsample magnetometer data
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Vector3f _mag_data_sum;
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uint8_t _mag_sample_count {0};
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uint64_t _mag_timestamp_sum {0};
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// Used to down sample barometer data
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float _baro_alt_sum {0.0f}; // summed pressure altitude readings (m)
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uint8_t _baro_sample_count {0}; // number of barometric altitude measurements summed
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uint64_t _baro_timestamp_sum {0}; // summed timestamp to provide the timestamp of the averaged sample
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fault_status_u _fault_status{};
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// allocate data buffers and initialize interface variables
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bool initialise_interface(uint64_t timestamp);
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// free buffer memory
|
||||
void unallocate_buffers();
|
||||
|
||||
float _mag_declination_gps{NAN}; // magnetic declination returned by the geo library using the last valid GPS position (rad)
|
||||
float _mag_inclination_gps{NAN}; // magnetic inclination returned by the geo library using the last valid GPS position (rad)
|
||||
float _mag_strength_gps{NAN}; // magnetic strength returned by the geo library using the last valid GPS position (T)
|
||||
@@ -543,12 +359,55 @@ protected:
|
||||
// this is the previous status of the filter control modes - used to detect mode transitions
|
||||
filter_control_status_u _control_status_prev{};
|
||||
|
||||
virtual float compensateBaroForDynamicPressure(const float baro_alt_uncompensated) const = 0;
|
||||
|
||||
private:
|
||||
|
||||
inline void setDragData(const imuSample &imu);
|
||||
|
||||
inline void computeVibrationMetric(const imuSample &imu);
|
||||
inline bool checkIfVehicleAtRest(float dt, const imuSample &imu);
|
||||
|
||||
virtual float compensateBaroForDynamicPressure(const float baro_alt_uncompensated) = 0;
|
||||
|
||||
void printBufferAllocationFailed(const char *buffer_name);
|
||||
|
||||
// free buffer memory
|
||||
void unallocate_buffers();
|
||||
|
||||
ImuDownSampler _imu_down_sampler{FILTER_UPDATE_PERIOD_S};
|
||||
|
||||
unsigned _min_obs_interval_us{0}; // minimum time interval between observations that will guarantee data is not lost (usec)
|
||||
|
||||
// IMU vibration and movement monitoring
|
||||
Vector3f _delta_ang_prev; // delta angle from the previous IMU measurement
|
||||
Vector3f _delta_vel_prev; // delta velocity from the previous IMU measurement
|
||||
Vector3f _vibe_metrics; // IMU vibration metrics
|
||||
// [0] Level of coning vibration in the IMU delta angles (rad^2)
|
||||
// [1] high frequency vibration level in the IMU delta angle data (rad)
|
||||
// [2] high frequency vibration level in the IMU delta velocity data (m/s)
|
||||
|
||||
// Used to down sample barometer data
|
||||
uint64_t _baro_timestamp_sum{0}; // summed timestamp to provide the timestamp of the averaged sample
|
||||
float _baro_alt_sum{0.0f}; // summed pressure altitude readings (m)
|
||||
uint8_t _baro_sample_count{0}; // number of barometric altitude measurements summed
|
||||
|
||||
// Used by the multi-rotor specific drag force fusion
|
||||
uint8_t _drag_sample_count{0}; // number of drag specific force samples assumulated at the filter prediction rate
|
||||
float _drag_sample_time_dt{0.0f}; // time integral across all samples used to form _drag_down_sampled (sec)
|
||||
|
||||
// Used to downsample magnetometer data
|
||||
uint64_t _mag_timestamp_sum{0};
|
||||
Vector3f _mag_data_sum;
|
||||
uint8_t _mag_sample_count{0};
|
||||
|
||||
// observation buffer final allocation failed
|
||||
bool _gps_buffer_fail{false};
|
||||
bool _mag_buffer_fail{false};
|
||||
bool _baro_buffer_fail{false};
|
||||
bool _range_buffer_fail{false};
|
||||
bool _airspeed_buffer_fail{false};
|
||||
bool _flow_buffer_fail{false};
|
||||
bool _ev_buffer_fail{false};
|
||||
bool _drag_buffer_fail{false};
|
||||
bool _auxvel_buffer_fail{false};
|
||||
|
||||
};
|
||||
|
||||
Reference in New Issue
Block a user