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Move mag downsampling to ECL lib

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kamilritz
2020-01-21 13:36:08 +03:00
committed by Roman Bapst
parent 4e8665082e
commit a3d2254e44
1 changed files with 1 additions and 33 deletions
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src/modules/ekf2/ekf2_main.cpp
+1 -33
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@@ -183,12 +183,6 @@ private:
// Initialise time stamps used to send sensor data to the EKF and for logging // Initialise time stamps used to send sensor data to the EKF and for logging
uint8_t _invalid_mag_id_count = 0; ///< number of times an invalid magnetomer device ID has been detected uint8_t _invalid_mag_id_count = 0; ///< number of times an invalid magnetomer device ID has been detected
// Used to down sample magnetometer data
float _mag_data_sum[3] = {}; ///< summed magnetometer readings (Gauss)
uint64_t _mag_time_sum_ms = 0; ///< summed magnetoemter time stamps (mSec)
uint8_t _mag_sample_count = 0; ///< number of magnetometer measurements summed during downsampling
int32_t _mag_time_ms_last_used = 0; ///< time stamp of the last averaged magnetometer measurement sent to the EKF (mSec)
// Used to check, save and use learned magnetometer biases // Used to check, save and use learned magnetometer biases
hrt_abstime _last_magcal_us = 0; ///< last time the EKF was operating a mode that estimates magnetomer biases (uSec) hrt_abstime _last_magcal_us = 0; ///< last time the EKF was operating a mode that estimates magnetomer biases (uSec)
hrt_abstime _total_cal_time_us = 0; ///< accumulated calibration time since the last save hrt_abstime _total_cal_time_us = 0; ///< accumulated calibration time since the last save
@@ -825,33 +819,7 @@ void Ekf2::Run()
PX4_INFO("Mag sensor ID changed to %i", _param_ekf2_magbias_id.get()); PX4_INFO("Mag sensor ID changed to %i", _param_ekf2_magbias_id.get());
} }
// If the time last used by the EKF is less than specified, then accumulate the _ekf.setMagData(magnetometer.timestamp, magnetometer.magnetometer_ga);
// data and push the average when the specified interval is reached.
_mag_time_sum_ms += magnetometer.timestamp / 1000;
_mag_sample_count++;
_mag_data_sum[0] += magnetometer.magnetometer_ga[0];
_mag_data_sum[1] += magnetometer.magnetometer_ga[1];
_mag_data_sum[2] += magnetometer.magnetometer_ga[2];
int32_t mag_time_ms = _mag_time_sum_ms / _mag_sample_count;
if ((mag_time_ms - _mag_time_ms_last_used) > _params->sensor_interval_min_ms) {
const float mag_sample_count_inv = 1.0f / _mag_sample_count;
// calculate mean of measurements and correct for learned bias offsets
float mag_data_avg_ga[3] = {_mag_data_sum[0] *mag_sample_count_inv - _param_ekf2_magbias_x.get(),
_mag_data_sum[1] *mag_sample_count_inv - _param_ekf2_magbias_y.get(),
_mag_data_sum[2] *mag_sample_count_inv - _param_ekf2_magbias_z.get()
};
_ekf.setMagData(1000 * (uint64_t)mag_time_ms, mag_data_avg_ga);
_mag_time_ms_last_used = mag_time_ms;
_mag_time_sum_ms = 0;
_mag_sample_count = 0;
_mag_data_sum[0] = 0.0f;
_mag_data_sum[1] = 0.0f;
_mag_data_sum[2] = 0.0f;
}
ekf2_timestamps.vehicle_magnetometer_timestamp_rel = (int16_t)((int64_t)magnetometer.timestamp / 100 - ekf2_timestamps.vehicle_magnetometer_timestamp_rel = (int16_t)((int64_t)magnetometer.timestamp / 100 -
(int64_t)ekf2_timestamps.timestamp / 100); (int64_t)ekf2_timestamps.timestamp / 100);
} }