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ekf2: make filter update period configurable
- introduces new parameter EKF2_PREDICT_US to configure the filter update period in microseconds - actual filter update period will be an integer multiple of IMU
This commit is contained in:
Daniel Agar
@@ -95,10 +95,10 @@ struct outputVert {
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struct imuSample {
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uint64_t time_us{0}; ///< timestamp of the measurement (uSec)
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Vector3f delta_ang; ///< delta angle in body frame (integrated gyro measurements) (rad)
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Vector3f delta_vel; ///< delta velocity in body frame (integrated accelerometer measurements) (m/sec)
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float delta_ang_dt; ///< delta angle integration period (sec)
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float delta_vel_dt; ///< delta velocity integration period (sec)
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Vector3f delta_ang{}; ///< delta angle in body frame (integrated gyro measurements) (rad)
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Vector3f delta_vel{}; ///< delta velocity in body frame (integrated accelerometer measurements) (m/sec)
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float delta_ang_dt{0.f}; ///< delta angle integration period (sec)
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float delta_vel_dt{0.f}; ///< delta velocity integration period (sec)
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bool delta_vel_clipping[3] {}; ///< true (per axis) if this sample contained any accelerometer clipping
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};
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@@ -214,6 +214,9 @@ enum TerrainFusionMask : int32_t {
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#define GNDEFFECT_TIMEOUT 10E6 ///< Maximum period of time that ground effect protection will be active after it was last turned on (uSec)
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struct parameters {
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int32_t filter_update_interval_us{10000}; ///< filter update interval in microseconds
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// measurement source control
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int32_t fusion_mode{MASK_USE_GPS}; ///< bitmasked integer that selects which aiding sources will be used
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int32_t vdist_sensor_type{VDIST_SENSOR_BARO}; ///< selects the primary source for height data
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@@ -800,7 +800,7 @@ void Ekf::checkVerticalAccelerationHealth()
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}
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// Check for more than 50% clipping affected IMU samples within the past 1 second
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const uint16_t clip_count_limit = 1000 / FILTER_UPDATE_PERIOD_MS;
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const uint16_t clip_count_limit = 1.f / _dt_ekf_avg;
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const bool is_clipping = _imu_sample_delayed.delta_vel_clipping[0] ||
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_imu_sample_delayed.delta_vel_clipping[1] ||
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_imu_sample_delayed.delta_vel_clipping[2];
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@@ -56,7 +56,7 @@ void Ekf::initialiseCovariance()
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_delta_angle_bias_var_accum.setZero();
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_delta_vel_bias_var_accum.setZero();
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const float dt = FILTER_UPDATE_PERIOD_S;
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const float dt = _dt_ekf_avg;
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resetQuatCov();
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@@ -122,8 +122,8 @@ void Ekf::predictCovariance()
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const float &dvz_b = _state.delta_vel_bias(2);
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// Use average update interval to reduce accumulated covariance prediction errors due to small single frame dt values
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const float dt = FILTER_UPDATE_PERIOD_S;
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const float dt_inv = 1.0f / dt;
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const float dt = _dt_ekf_avg;
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const float dt_inv = 1.f / dt;
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// convert rate of change of rate gyro bias (rad/s**2) as specified by the parameter to an expected change in delta angle (rad) since the last update
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const float d_ang_bias_sig = dt * dt * math::constrain(_params.gyro_bias_p_noise, 0.0f, 1.0f);
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@@ -285,16 +285,16 @@ void Ekf::predictState()
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float input = 0.5f * (_imu_sample_delayed.delta_vel_dt + _imu_sample_delayed.delta_ang_dt);
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// filter and limit input between -50% and +100% of nominal value
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input = math::constrain(input, 0.5f * FILTER_UPDATE_PERIOD_S, 2.0f * FILTER_UPDATE_PERIOD_S);
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const float filter_update_s = 1e-6f * _params.filter_update_interval_us;
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input = math::constrain(input, 0.5f * filter_update_s, 2.f * filter_update_s);
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_dt_ekf_avg = 0.99f * _dt_ekf_avg + 0.01f * input;
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// some calculations elsewhere in code require a raw angular rate vector so calculate here to avoid duplication
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// protect angainst possible small timesteps resulting from timing slip on previous frame that can drive spikes into the rate
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// protect against possible small timesteps resulting from timing slip on previous frame that can drive spikes into the rate
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// due to insufficient averaging
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if (_imu_sample_delayed.delta_ang_dt > 0.25f * FILTER_UPDATE_PERIOD_S) {
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if (_imu_sample_delayed.delta_ang_dt > 0.25f * _dt_ekf_avg) {
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_ang_rate_delayed_raw = _imu_sample_delayed.delta_ang / _imu_sample_delayed.delta_ang_dt;
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}
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}
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/*
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@@ -344,8 +344,6 @@ private:
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Quatf quat_change; ///< quaternion delta due to last reset - multiply pre-reset quaternion by this to get post-reset quaternion
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} _state_reset_status{}; ///< reset event monitoring structure containing velocity, position, height and yaw reset information
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float _dt_ekf_avg{FILTER_UPDATE_PERIOD_S}; ///< average update rate of the ekf
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Vector3f _ang_rate_delayed_raw{}; ///< uncorrected angular rate vector at fusion time horizon (rad/sec)
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stateSample _state{}; ///< state struct of the ekf running at the delayed time horizon
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@@ -387,9 +385,7 @@ private:
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uint64_t _time_last_gps_yaw_data{0}; ///< time the last GPS yaw measurement was available (uSec)
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uint8_t _nb_gps_yaw_reset_available{0}; ///< remaining number of resets allowed before switching to another aiding source
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Vector2f _last_known_posNE{}; ///< last known local NE position vector (m)
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float _imu_collection_time_adj{0.0f}; ///< the amount of time the IMU collection needs to be advanced to meet the target set by FILTER_UPDATE_PERIOD_MS (sec)
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uint64_t _time_acc_bias_check{0}; ///< last time the accel bias check passed (uSec)
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uint64_t _delta_time_baro_us{0}; ///< delta time between two consecutive delayed baro samples from the buffer (uSec)
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@@ -897,7 +897,7 @@ void Ekf::resetGyroBias()
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// Zero the corresponding covariances and set
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// variances to the values use for initial alignment
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P.uncorrelateCovarianceSetVariance<3>(10, sq(_params.switch_on_gyro_bias * FILTER_UPDATE_PERIOD_S));
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P.uncorrelateCovarianceSetVariance<3>(10, sq(_params.switch_on_gyro_bias * _dt_ekf_avg));
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}
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void Ekf::resetAccelBias()
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@@ -907,7 +907,7 @@ void Ekf::resetAccelBias()
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// Zero the corresponding covariances and set
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// variances to the values use for initial alignment
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P.uncorrelateCovarianceSetVariance<3>(13, sq(_params.switch_on_accel_bias * FILTER_UPDATE_PERIOD_S));
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P.uncorrelateCovarianceSetVariance<3>(13, sq(_params.switch_on_accel_bias * _dt_ekf_avg));
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// Set previous frame values
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_prev_dvel_bias_var = P.slice<3, 3>(13, 13).diag();
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@@ -141,7 +141,7 @@ void EstimatorInterface::setMagData(const magSample &mag_sample)
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mag_sample_new.time_us = mag_sample.time_us;
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mag_sample_new.time_us -= static_cast<uint64_t>(_params.mag_delay_ms * 1000);
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mag_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;
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mag_sample_new.time_us -= static_cast<uint64_t>(_dt_ekf_avg * 5e5f); // seconds to microseconds divided by 2
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mag_sample_new.mag = mag_sample.mag;
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@@ -175,7 +175,7 @@ void EstimatorInterface::setGpsData(const gps_message &gps)
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gpsSample gps_sample_new;
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gps_sample_new.time_us = gps.time_usec - static_cast<uint64_t>(_params.gps_delay_ms * 1000);
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gps_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;
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gps_sample_new.time_us -= static_cast<uint64_t>(_dt_ekf_avg * 5e5f); // seconds to microseconds divided by 2
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gps_sample_new.vel = gps.vel_ned;
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@@ -237,7 +237,7 @@ void EstimatorInterface::setBaroData(const baroSample &baro_sample)
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baro_sample_new.time_us = baro_sample.time_us;
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baro_sample_new.time_us -= static_cast<uint64_t>(_params.baro_delay_ms * 1000);
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baro_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;
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baro_sample_new.time_us -= static_cast<uint64_t>(_dt_ekf_avg * 5e5f); // seconds to microseconds divided by 2
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_baro_buffer->push(baro_sample_new);
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} else {
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@@ -270,7 +270,7 @@ void EstimatorInterface::setAirspeedData(const airspeedSample &airspeed_sample)
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airspeedSample airspeed_sample_new = airspeed_sample;
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airspeed_sample_new.time_us -= static_cast<uint64_t>(_params.airspeed_delay_ms * 1000);
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airspeed_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;
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airspeed_sample_new.time_us -= static_cast<uint64_t>(_dt_ekf_avg * 5e5f); // seconds to microseconds divided by 2
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_airspeed_buffer->push(airspeed_sample_new);
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}
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@@ -300,7 +300,7 @@ void EstimatorInterface::setRangeData(const rangeSample &range_sample)
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rangeSample range_sample_new = range_sample;
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range_sample_new.time_us -= static_cast<uint64_t>(_params.range_delay_ms * 1000);
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range_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;
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range_sample_new.time_us -= static_cast<uint64_t>(_dt_ekf_avg * 5e5f); // seconds to microseconds divided by 2
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_range_buffer->push(range_sample_new);
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}
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@@ -331,7 +331,7 @@ void EstimatorInterface::setOpticalFlowData(const flowSample &flow)
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flowSample optflow_sample_new = flow;
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optflow_sample_new.time_us -= static_cast<uint64_t>(_params.flow_delay_ms * 1000);
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optflow_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;
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optflow_sample_new.time_us -= static_cast<uint64_t>(_dt_ekf_avg * 5e5f); // seconds to microseconds divided by 2
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_flow_buffer->push(optflow_sample_new);
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}
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@@ -363,7 +363,7 @@ void EstimatorInterface::setExtVisionData(const extVisionSample &evdata)
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extVisionSample ev_sample_new = evdata;
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// calculate the system time-stamp for the mid point of the integration period
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ev_sample_new.time_us -= static_cast<uint64_t>(_params.ev_delay_ms * 1000);
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ev_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;
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ev_sample_new.time_us -= static_cast<uint64_t>(_dt_ekf_avg * 5e5f); // seconds to microseconds divided by 2
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_ext_vision_buffer->push(ev_sample_new);
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}
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@@ -394,7 +394,7 @@ void EstimatorInterface::setAuxVelData(const auxVelSample &auxvel_sample)
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auxVelSample auxvel_sample_new = auxvel_sample;
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auxvel_sample_new.time_us -= static_cast<uint64_t>(_params.auxvel_delay_ms * 1000);
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auxvel_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;
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auxvel_sample_new.time_us -= static_cast<uint64_t>(_dt_ekf_avg * 5e5f); // seconds to microseconds divided by 2
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_auxvel_buffer->push(auxvel_sample_new);
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}
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@@ -490,14 +490,16 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
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max_time_delay_ms = math::max(_params.ev_delay_ms, max_time_delay_ms);
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}
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// calculate the IMU buffer length required to accommodate the maximum delay with some allowance for jitter
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_imu_buffer_length = ceilf(max_time_delay_ms / FILTER_UPDATE_PERIOD_MS);
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const float filter_update_period_ms = _params.filter_update_interval_us / 1000.f;
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// calculate the IMU buffer length required to accomodate the maximum delay with some allowance for jitter
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_imu_buffer_length = ceilf(max_time_delay_ms / filter_update_period_ms);
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// set the observation buffer length to handle the minimum time of arrival between observations in combination
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// with the worst case delay from current time to ekf fusion time
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// allow for worst case 50% extension of the ekf fusion time horizon delay due to timing jitter
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const float ekf_delay_ms = max_time_delay_ms * 1.5f;
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_obs_buffer_length = roundf(ekf_delay_ms / FILTER_UPDATE_PERIOD_MS);
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_obs_buffer_length = roundf(ekf_delay_ms / filter_update_period_ms);
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// limit to be no longer than the IMU buffer (we can't process data faster than the EKF prediction rate)
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_obs_buffer_length = math::min(_obs_buffer_length, _imu_buffer_length);
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@@ -558,6 +560,8 @@ void EstimatorInterface::printBufferAllocationFailed(const char *buffer_name)
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void EstimatorInterface::print_status()
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{
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printf("IMU average dt: %.6f seconds\n", (double)_dt_imu_avg);
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printf("EKF average dt: %.6f seconds\n", (double)_dt_ekf_avg);
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printf("IMU buffer: %d (%d Bytes)\n", _imu_buffer.get_length(), _imu_buffer.get_total_size());
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printf("minimum observation interval %d us\n", _min_obs_interval_us);
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@@ -253,6 +253,9 @@ public:
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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 average EKF update period in s
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float get_dt_ekf_avg() const { return _dt_ekf_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() const { return _imu_sample_delayed; }
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@@ -264,9 +267,6 @@ public:
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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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protected:
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EstimatorInterface() = default;
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@@ -293,7 +293,8 @@ protected:
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*/
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uint8_t _imu_buffer_length{0};
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float _dt_imu_avg{0.0f}; // average imu update period in s
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float _dt_imu_avg{0.005f}; // average imu update period in s
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float _dt_ekf_avg{0.010f}; ///< average update rate of the ekf in s
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imuSample _imu_sample_delayed{}; // captures the imu sample on the delayed time horizon
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@@ -426,7 +427,7 @@ private:
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void printBufferAllocationFailed(const char *buffer_name);
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ImuDownSampler _imu_down_sampler{FILTER_UPDATE_PERIOD_S};
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ImuDownSampler _imu_down_sampler{_params.filter_update_interval_us};
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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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@@ -1,23 +1,26 @@
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#include "imu_down_sampler.hpp"
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ImuDownSampler::ImuDownSampler(float target_dt_sec) : _target_dt{target_dt_sec} { reset(); }
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#include <lib/mathlib/mathlib.h>
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ImuDownSampler::ImuDownSampler(int32_t &target_dt_us) : _target_dt_us(target_dt_us)
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{
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reset();
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}
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// integrate imu samples until target dt reached
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// assumes that dt of the gyroscope is close to the dt of the accelerometer
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// returns true if target dt is reached
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bool ImuDownSampler::update(const imuSample &imu_sample_new)
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{
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if (_do_reset) {
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reset();
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}
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_delta_ang_dt_avg = 0.9f * _delta_ang_dt_avg + 0.1f * imu_sample_new.delta_ang_dt;
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// accumulate time deltas
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_imu_down_sampled.time_us = imu_sample_new.time_us;
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_imu_down_sampled.delta_ang_dt += imu_sample_new.delta_ang_dt;
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_imu_down_sampled.delta_vel_dt += imu_sample_new.delta_vel_dt;
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_imu_down_sampled.time_us = imu_sample_new.time_us;
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_imu_down_sampled.delta_vel_clipping[0] += imu_sample_new.delta_vel_clipping[0];
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_imu_down_sampled.delta_vel_clipping[1] += imu_sample_new.delta_vel_clipping[1];
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_imu_down_sampled.delta_vel_clipping[2] += imu_sample_new.delta_vel_clipping[2];
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_imu_down_sampled.delta_vel_clipping[0] |= imu_sample_new.delta_vel_clipping[0];
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_imu_down_sampled.delta_vel_clipping[1] |= imu_sample_new.delta_vel_clipping[1];
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_imu_down_sampled.delta_vel_clipping[2] |= imu_sample_new.delta_vel_clipping[2];
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// use a quaternion to accumulate delta angle data
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// this quaternion represents the rotation from the start to end of the accumulation period
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@@ -33,33 +36,34 @@ bool ImuDownSampler::update(const imuSample &imu_sample_new)
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// assume effective sample time is halfway between the previous and current rotation frame
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_imu_down_sampled.delta_vel += (imu_sample_new.delta_vel + delta_R * imu_sample_new.delta_vel) * 0.5f;
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// check if the target time delta between filter prediction steps has been exceeded
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if (_imu_down_sampled.delta_ang_dt >= _target_dt - _imu_collection_time_adj) {
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// accumulate the amount of time to advance the IMU collection time so that we meet the
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// average EKF update rate requirement
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_imu_collection_time_adj += 0.01f * (_imu_down_sampled.delta_ang_dt - _target_dt);
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_imu_collection_time_adj = math::constrain(_imu_collection_time_adj, -0.5f * _target_dt,
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0.5f * _target_dt);
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_accumulated_samples++;
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// required number of samples accumulated and the total time is at least half of the target
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// OR total time already exceeds the target
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if ((_accumulated_samples >= _required_samples && _imu_down_sampled.delta_ang_dt > _min_dt_s)
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|| (_imu_down_sampled.delta_ang_dt > _target_dt_s)) {
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_imu_down_sampled.delta_ang = AxisAnglef(_delta_angle_accumulated);
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return true;
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} else {
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return false;
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}
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return false;
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}
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void ImuDownSampler::reset()
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{
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_imu_down_sampled.delta_ang.setZero();
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_imu_down_sampled.delta_vel.setZero();
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_imu_down_sampled.delta_ang_dt = 0.0f;
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_imu_down_sampled.delta_vel_dt = 0.0f;
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_imu_down_sampled.delta_vel_clipping[0] = false;
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_imu_down_sampled.delta_vel_clipping[1] = false;
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_imu_down_sampled.delta_vel_clipping[2] = false;
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_imu_down_sampled = {};
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_delta_angle_accumulated.setIdentity();
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_do_reset = false;
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_accumulated_samples = 0;
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// target dt in seconds safely constrained
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float target_dt_s = math::constrain(_target_dt_us, (int32_t)1000, (int32_t)100000) * 1e-6f;
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||||
|
||||
_required_samples = math::max((int)roundf(target_dt_s / _delta_ang_dt_avg), 1);
|
||||
|
||||
_target_dt_s = _required_samples * _delta_ang_dt_avg;
|
||||
|
||||
// minimum delta angle dt (in addition to number of samples)
|
||||
_min_dt_s = math::max(_delta_ang_dt_avg * (_required_samples - 1.f), _delta_ang_dt_avg * 0.5f);
|
||||
}
|
||||
|
||||
@@ -48,15 +48,16 @@ using namespace estimator;
|
||||
class ImuDownSampler
|
||||
{
|
||||
public:
|
||||
explicit ImuDownSampler(float target_dt_sec);
|
||||
explicit ImuDownSampler(int32_t &target_dt_us);
|
||||
~ImuDownSampler() = default;
|
||||
|
||||
bool update(const imuSample &imu_sample_new);
|
||||
|
||||
imuSample getDownSampledImuAndTriggerReset()
|
||||
{
|
||||
_do_reset = true;
|
||||
return _imu_down_sampled;
|
||||
imuSample imu{_imu_down_sampled};
|
||||
reset();
|
||||
return imu;
|
||||
}
|
||||
|
||||
private:
|
||||
@@ -64,8 +65,15 @@ private:
|
||||
|
||||
imuSample _imu_down_sampled{};
|
||||
Quatf _delta_angle_accumulated{};
|
||||
const float _target_dt; // [sec]
|
||||
float _imu_collection_time_adj{0.f};
|
||||
bool _do_reset{true};
|
||||
|
||||
int _accumulated_samples{0};
|
||||
int _required_samples{1};
|
||||
|
||||
int32_t &_target_dt_us;
|
||||
|
||||
float _target_dt_s{0.010f};
|
||||
float _min_dt_s{0.005f};
|
||||
|
||||
float _delta_ang_dt_avg{0.005f};
|
||||
};
|
||||
#endif // !EKF_IMU_DOWN_SAMPLER_HPP
|
||||
|
||||
@@ -155,7 +155,7 @@ void Ekf::runOnGroundYawReset()
|
||||
if (_mag_inhibit_yaw_reset_req) {
|
||||
_mag_inhibit_yaw_reset_req = false;
|
||||
// Zero the yaw bias covariance and set the variance to the initial alignment uncertainty
|
||||
P.uncorrelateCovarianceSetVariance<1>(12, sq(_params.switch_on_gyro_bias * FILTER_UPDATE_PERIOD_S));
|
||||
P.uncorrelateCovarianceSetVariance<1>(12, sq(_params.switch_on_gyro_bias * _dt_ekf_avg));
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -188,7 +188,7 @@ void Ekf::runInAirYawReset()
|
||||
if (_mag_inhibit_yaw_reset_req) {
|
||||
_mag_inhibit_yaw_reset_req = false;
|
||||
// Zero the yaw bias covariance and set the variance to the initial alignment uncertainty
|
||||
P.uncorrelateCovarianceSetVariance<1>(12, sq(_params.switch_on_gyro_bias * FILTER_UPDATE_PERIOD_S));
|
||||
P.uncorrelateCovarianceSetVariance<1>(12, sq(_params.switch_on_gyro_bias * _dt_ekf_avg));
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -57,6 +57,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
|
||||
_odometry_pub(multi_mode ? ORB_ID(estimator_odometry) : ORB_ID(vehicle_odometry)),
|
||||
_wind_pub(multi_mode ? ORB_ID(estimator_wind) : ORB_ID(wind)),
|
||||
_params(_ekf.getParamHandle()),
|
||||
_param_ekf2_predict_us(_params->filter_update_interval_us),
|
||||
_param_ekf2_mag_delay(_params->mag_delay_ms),
|
||||
_param_ekf2_baro_delay(_params->baro_delay_ms),
|
||||
_param_ekf2_gps_delay(_params->gps_delay_ms),
|
||||
@@ -228,8 +229,10 @@ bool EKF2::multi_init(int imu, int mag)
|
||||
|
||||
int EKF2::print_status()
|
||||
{
|
||||
PX4_INFO_RAW("ekf2:%d attitude: %d, local position: %d, global position: %d\n", _instance, _ekf.attitude_valid(),
|
||||
PX4_INFO_RAW("ekf2:%d EKF dt: %.4fs, IMU dt: %.4fs, attitude: %d, local position: %d, global position: %d\n",
|
||||
_instance, (double)_ekf.get_dt_ekf_avg(), (double)_ekf.get_dt_imu_avg(), _ekf.attitude_valid(),
|
||||
_ekf.local_position_is_valid(), _ekf.global_position_is_valid());
|
||||
|
||||
perf_print_counter(_ecl_ekf_update_perf);
|
||||
perf_print_counter(_ecl_ekf_update_full_perf);
|
||||
perf_print_counter(_msg_missed_imu_perf);
|
||||
|
||||
@@ -315,6 +315,7 @@ private:
|
||||
parameters *_params; ///< pointer to ekf parameter struct (located in _ekf class instance)
|
||||
|
||||
DEFINE_PARAMETERS(
|
||||
(ParamExtInt<px4::params::EKF2_PREDICT_US>) _param_ekf2_predict_us,
|
||||
(ParamExtFloat<px4::params::EKF2_MAG_DELAY>)
|
||||
_param_ekf2_mag_delay, ///< magnetometer measurement delay relative to the IMU (mSec)
|
||||
(ParamExtFloat<px4::params::EKF2_BARO_DELAY>)
|
||||
|
||||
@@ -39,6 +39,19 @@
|
||||
*
|
||||
*/
|
||||
|
||||
/**
|
||||
* EKF prediction period
|
||||
*
|
||||
* EKF prediction period in microseconds. This should ideally be an integer multiple of the IMU time delta.
|
||||
* Actual filter update will be an integer multiple of IMU update.
|
||||
*
|
||||
* @group EKF2
|
||||
* @min 1000
|
||||
* @max 20000
|
||||
* @unit us
|
||||
*/
|
||||
PARAM_DEFINE_INT32(EKF2_PREDICT_US, 10000);
|
||||
|
||||
/**
|
||||
* Magnetometer measurement delay relative to IMU measurements
|
||||
*
|
||||
|
||||
@@ -1,391 +1,391 @@
|
||||
Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
|
||||
15000,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
||||
95000,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
||||
195000,1,-0.0104,-0.0107,-0.0165,-0.000374,6.45e-05,-0.00889,-1.7e-05,-1.57e-06,-0.000162,-2.26e-16,-1.05e-15,-4.03e-18,-6.4e-13,6.08e-13,-2.98e-11,0.192,0.00187,0.404,0,0,0,0,0,1.47e-06,0.00251,0.00251,0.00338,25,25,0.563,100,100,0.8,1e-06,1e-06,1e-06,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
295000,1,-0.0105,-0.011,-0.0165,0.000861,0.000804,-0.0228,-7e-06,1.2e-05,-0.00113,-4.7e-14,1.89e-13,5.79e-15,-6.6e-11,6.23e-11,-3.05e-09,0.192,0.00187,0.404,0,0,0,0,0,1.18e-06,0.00256,0.00256,0.00222,25,25,0.561,101,101,0.311,1e-06,1e-06,9.97e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
395000,1,-0.0105,-0.0113,-0.0165,0.00224,0.000881,-0.0369,6.54e-05,4.95e-05,-0.00318,-2.44e-12,3.98e-12,1.32e-13,-5.94e-10,5.68e-10,-2.74e-08,0.192,0.00187,0.404,0,0,0,0,0,1.08e-06,0.00267,0.00267,0.00169,24.8,24.8,0.557,0.29,0.29,0.209,1e-06,1e-06,9.88e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
495000,1,-0.0105,-0.0116,-0.0165,0.00476,0.000653,-0.0514,0.000411,0.000103,-0.00595,-1.62e-11,5.17e-11,1.13e-12,-3.3e-09,3.08e-09,-1.5e-07,0.192,0.00187,0.404,0,0,0,0,0,1.06e-06,0.00282,0.00282,0.00141,24.9,24.9,0.544,0.739,0.739,0.16,1e-06,1e-06,9.73e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
595000,1,-0.0106,-0.0119,-0.0165,0.00386,0.000602,-0.0631,0.000234,4.17e-05,-0.00931,1.18e-09,-4.98e-09,-7.06e-11,1.58e-09,1.33e-08,-5.01e-07,0.192,0.00187,0.404,0,0,0,0,0,1.09e-06,0.00302,0.00302,0.00125,7.8,7.8,0.523,0.267,0.267,0.137,1e-06,1e-06,9.49e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
695000,1,-0.0107,-0.0122,-0.0164,0.00668,-0.000137,-0.0757,0.000742,3.82e-05,-0.0135,1.13e-09,-4.42e-09,-6.28e-11,-1.32e-08,2.67e-08,-1.15e-06,0.192,0.00187,0.404,0,0,0,0,0,1.16e-06,0.00328,0.00328,0.00116,7.87,7.87,0.497,0.556,0.556,0.131,1e-06,1e-06,9.16e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
795000,1,-0.0108,-0.0125,-0.0164,0.00623,-1.48e-05,-0.0863,0.000404,8.15e-06,-0.0181,2.53e-09,-3.02e-08,-3.49e-10,-4.88e-09,5.21e-08,-2.3e-06,0.192,0.00187,0.404,0,0,0,0,0,1.25e-06,0.00356,0.00356,0.00111,2.63,2.63,0.466,0.218,0.218,0.131,9.99e-07,9.99e-07,8.75e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
895000,1,-0.0109,-0.0128,-0.0164,0.0104,-0.000682,-0.101,0.00123,-5.48e-05,-0.0274,2.53e-09,-3.02e-08,-3.49e-10,-4.88e-09,5.21e-08,-2.3e-06,0.192,0.00187,0.404,0,0,0,0,0,1.37e-06,0.00392,0.00392,0.00109,2.72,2.72,0.471,0.363,0.363,0.166,9.99e-07,9.99e-07,8.27e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
995000,1,-0.011,-0.0131,-0.0164,0.0114,-0.00182,-0.116,0.000851,-7.08e-05,-0.0383,-2.24e-09,-1.6e-07,-1.43e-09,1.03e-07,4.82e-08,-2.3e-06,0.192,0.00187,0.404,0,0,0,0,0,1.51e-06,0.00427,0.00427,0.00108,1.25,1.25,0.477,0.178,0.178,0.211,9.97e-07,9.97e-07,7.73e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1095000,1,-0.011,-0.0134,-0.0164,0.0157,-0.00318,-0.131,0.0022,-0.000334,-0.0506,-2.24e-09,-1.6e-07,-1.43e-09,1.03e-07,4.82e-08,-2.3e-06,0.192,0.00187,0.404,0,0,0,0,0,1.68e-06,0.00472,0.00472,0.00108,1.38,1.38,0.484,0.265,0.265,0.266,9.97e-07,9.97e-07,7.15e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1195000,1,-0.0111,-0.0136,-0.0164,0.0161,-0.00384,-0.145,0.00158,-0.000288,-0.0645,-7.37e-08,-6.43e-07,-3.39e-09,4.06e-07,3.36e-09,-2.31e-06,0.192,0.00187,0.404,0,0,0,0,0,1.83e-06,0.00506,0.00506,0.00108,0.85,0.85,0.492,0.151,0.151,0.331,9.88e-07,9.88e-07,6.56e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1295000,1,-0.0111,-0.0139,-0.0164,0.0208,-0.00482,-0.159,0.00343,-0.000751,-0.0797,-7.37e-08,-6.43e-07,-3.39e-09,4.06e-07,3.36e-09,-2.31e-06,0.192,0.00187,0.404,0,0,0,0,0,2.03e-06,0.0056,0.0056,0.00108,1.03,1.03,0.5,0.214,0.214,0.406,9.88e-07,9.88e-07,5.97e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1395000,1,-0.0112,-0.0142,-0.0164,0.0271,-0.00668,-0.172,0.00587,-0.00132,-0.0962,-7.37e-08,-6.43e-07,-3.39e-09,4.06e-07,3.36e-09,-2.31e-06,0.192,0.00187,0.404,0,0,0,0,0,2.28e-06,0.00618,0.00619,0.00108,1.26,1.26,0.509,0.301,0.301,0.491,9.88e-07,9.88e-07,5.41e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1495000,1,-0.0113,-0.0143,-0.0164,0.0271,-0.00664,-0.186,0.00498,-0.00115,-0.114,-3.28e-07,-1.97e-06,-5.04e-09,1.08e-06,-1.26e-07,-2.33e-06,0.192,0.00187,0.404,0,0,0,0,0,2.39e-06,0.00637,0.00637,0.00108,1.01,1.01,0.519,0.189,0.189,0.587,9.62e-07,9.62e-07,4.87e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1595000,1,-0.0113,-0.0146,-0.0164,0.0344,-0.00769,-0.199,0.00803,-0.00185,-0.133,-3.28e-07,-1.97e-06,-5.04e-09,1.08e-06,-1.26e-07,-2.33e-06,0.192,0.00187,0.404,0,0,0,0,0,2.67e-06,0.00702,0.00702,0.00107,1.3,1.3,0.53,0.268,0.268,0.694,9.62e-07,9.62e-07,4.38e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1695000,1,-0.0114,-0.0145,-0.0164,0.0336,-0.00924,-0.212,0.00652,-0.00158,-0.154,-8.81e-07,-4.8e-06,-3.74e-09,2.29e-06,-3.62e-07,-2.37e-06,0.192,0.00187,0.404,0,0,0,0,0,2.63e-06,0.00677,0.00677,0.00105,1.11,1.11,0.542,0.179,0.179,0.813,9.06e-07,9.06e-07,3.92e-07,3.98e-06,3.98e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1795000,1,-0.0114,-0.0148,-0.0165,0.0421,-0.0123,-0.226,0.0103,-0.00264,-0.176,-8.81e-07,-4.8e-06,-3.74e-09,2.29e-06,-3.62e-07,-2.37e-06,0.192,0.00187,0.404,0,0,0,0,0,2.93e-06,0.00744,0.00744,0.00104,1.45,1.45,0.554,0.262,0.262,0.943,9.06e-07,9.06e-07,3.51e-07,3.98e-06,3.98e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1895000,1,-0.0113,-0.0144,-0.0165,0.0378,-0.0114,-0.24,0.00777,-0.00213,-0.199,-1.95e-06,-9.54e-06,8.02e-09,3.99e-06,-7.45e-07,-2.42e-06,0.192,0.00187,0.404,0,0,0,0,0,2.65e-06,0.00658,0.00658,0.00102,1.19,1.19,0.568,0.178,0.178,1.08,8.16e-07,8.16e-07,3.15e-07,3.97e-06,3.97e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1995000,1,-0.0113,-0.0145,-0.0165,0.0454,-0.0134,-0.254,0.0119,-0.00338,-0.224,-1.95e-06,-9.54e-06,8.02e-09,3.99e-06,-7.45e-07,-2.42e-06,0.192,0.00187,0.404,0,0,0,0,0,2.91e-06,0.00722,0.00722,0.000997,1.54,1.54,0.582,0.266,0.266,1.24,8.16e-07,8.16e-07,2.82e-07,3.97e-06,3.97e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
2095000,1,-0.0111,-0.014,-0.0165,0.0361,-0.0121,-0.268,0.00818,-0.00241,-0.25,-3.5e-06,-1.58e-05,3.18e-08,5.81e-06,-1.2e-06,-2.49e-06,0.192,0.00187,0.404,0,0,0,0,0,2.44e-06,0.00588,0.00588,0.000975,1.18,1.18,0.597,0.177,0.177,1.41,7.04e-07,7.05e-07,2.52e-07,3.96e-06,3.96e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
2195000,1,-0.0112,-0.0142,-0.0165,0.0431,-0.0131,-0.283,0.0121,-0.00368,-0.278,-3.5e-06,-1.58e-05,3.18e-08,5.81e-06,-1.2e-06,-2.49e-06,0.192,0.00187,0.404,0,0,0,0,0,2.68e-06,0.00645,0.00645,0.000953,1.52,1.52,0.612,0.267,0.267,1.59,7.04e-07,7.05e-07,2.27e-07,3.96e-06,3.96e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
2295000,1,-0.0111,-0.0135,-0.0166,0.0334,-0.0109,-0.298,0.0078,-0.00239,-0.307,-5.21e-06,-2.21e-05,6.15e-08,7.28e-06,-1.59e-06,-2.54e-06,0.192,0.00187,0.404,0,0,0,0,0,2.13e-06,0.00497,0.00497,0.000929,1.09,1.09,0.629,0.173,0.173,1.78,5.92e-07,5.92e-07,2.04e-07,3.95e-06,3.95e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
2395000,1,-0.0111,-0.0136,-0.0165,0.039,-0.0123,-0.311,0.0114,-0.00359,-0.337,-5.21e-06,-2.21e-05,6.15e-08,7.28e-06,-1.59e-06,-2.54e-06,0.192,0.00187,0.404,0,0,0,0,0,2.31e-06,0.00545,0.00545,0.000906,1.39,1.39,0.646,0.259,0.259,1.99,5.92e-07,5.92e-07,1.84e-07,3.95e-06,3.95e-06,3.99e-06,0,0,0,0,0,0,0,0
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||||
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||||
|
@@ -1,351 +1,351 @@
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||||
Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
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||||
32290000,0.983,-0.00625,-0.0136,0.185,0.00439,-0.00903,0.75,-0.00699,0.0322,-0.00506,-1.36e-05,-5.67e-05,1.34e-06,5.2e-05,-2.9e-05,-0.00105,0.204,0.002,0.435,0,0,0,0,0,1.75e-06,8.26e-05,8.26e-05,4.64e-05,0.0132,0.0132,0.00799,0.0401,0.0401,0.0353,2.74e-11,2.74e-11,1.05e-10,2.81e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
32390000,0.983,-0.00636,-0.0138,0.185,0.0107,-0.0103,0.75,0.0044,0.0297,0.0689,-1.35e-05,-5.67e-05,1.31e-06,5.51e-05,-2.8e-05,-0.00105,0.204,0.002,0.435,0,0,0,0,0,1.75e-06,8.22e-05,8.22e-05,4.63e-05,0.0123,0.0123,0.00796,0.0367,0.0367,0.0354,2.7e-11,2.7e-11,1.04e-10,2.8e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
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|
||||
32590000,0.983,-0.00915,-0.0116,0.185,0.0358,-0.0742,-0.126,0.0195,0.0198,0.0522,-1.36e-05,-5.66e-05,1.35e-06,5.51e-05,-2.79e-05,-0.00105,0.204,0.002,0.435,0,0,0,0,0,1.73e-06,8.11e-05,8.11e-05,4.59e-05,0.0156,0.0156,0.00754,0.0368,0.0368,0.0351,2.67e-11,2.67e-11,1.02e-10,2.8e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
32690000,0.983,-0.00913,-0.0115,0.185,0.0315,-0.0798,-0.128,0.0229,0.0121,0.0366,-1.36e-05,-5.66e-05,1.34e-06,5.51e-05,-2.79e-05,-0.00105,0.204,0.002,0.435,0,0,0,0,0,1.72e-06,8.13e-05,8.13e-05,4.57e-05,0.0186,0.0187,0.00736,0.0404,0.0404,0.0351,2.68e-11,2.68e-11,1.01e-10,2.8e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
32790000,0.983,-0.00882,-0.0116,0.185,0.0301,-0.0774,-0.129,0.0327,0.0102,0.0208,-1.37e-05,-5.66e-05,1.42e-06,5.51e-05,-2.79e-05,-0.00105,0.204,0.002,0.435,0,0,0,0,0,1.72e-06,7.86e-05,7.86e-05,4.57e-05,0.0195,0.0195,0.00713,0.037,0.037,0.0351,2.64e-11,2.64e-11,1.01e-10,2.8e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
32890000,0.983,-0.00878,-0.0116,0.185,0.0297,-0.0832,-0.13,0.0357,0.00215,0.00492,-1.37e-05,-5.66e-05,1.45e-06,5.51e-05,-2.79e-05,-0.00105,0.204,0.002,0.435,0,0,0,0,0,1.71e-06,7.87e-05,7.87e-05,4.55e-05,0.0235,0.0235,0.00696,0.0408,0.0408,0.035,2.65e-11,2.65e-11,9.97e-11,2.8e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
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|
||||
33090000,0.983,-0.00847,-0.0116,0.185,0.023,-0.083,-0.126,0.0462,-0.00913,-0.0158,-1.37e-05,-5.65e-05,1.52e-06,5.51e-05,-2.79e-05,-0.00105,0.204,0.002,0.435,0,0,0,0,0,1.7e-06,7.44e-05,7.45e-05,4.52e-05,0.029,0.029,0.00661,0.0416,0.0416,0.0349,2.62e-11,2.62e-11,9.79e-11,2.8e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33190000,0.983,-0.00816,-0.0115,0.185,0.0192,-0.0785,-0.125,0.0524,-0.011,-0.0223,-1.38e-05,-5.65e-05,1.47e-06,5.49e-05,-3.18e-05,-0.00105,0.204,0.002,0.435,0,0,0,0,0,1.69e-06,6.85e-05,6.85e-05,4.5e-05,0.0295,0.0295,0.0064,0.038,0.038,0.0345,2.59e-11,2.59e-11,9.7e-11,2.8e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33290000,0.983,-0.0082,-0.0115,0.185,0.016,-0.0798,-0.124,0.0541,-0.0189,-0.0302,-1.38e-05,-5.65e-05,1.57e-06,5.49e-05,-3.18e-05,-0.00105,0.204,0.002,0.435,0,0,0,0,0,1.69e-06,6.86e-05,6.86e-05,4.49e-05,0.0356,0.0356,0.00629,0.0426,0.0426,0.0344,2.6e-11,2.6e-11,9.61e-11,2.8e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33390000,0.983,-0.00775,-0.0116,0.185,0.0115,-0.0656,-0.122,0.0574,-0.0139,-0.0388,-1.39e-05,-5.65e-05,1.58e-06,4.91e-05,-5.51e-05,-0.00105,0.204,0.002,0.435,0,0,0,0,0,1.68e-06,6.15e-05,6.15e-05,4.48e-05,0.0356,0.0356,0.00616,0.0389,0.0389,0.0343,2.57e-11,2.57e-11,9.53e-11,2.79e-06,2.78e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33490000,0.983,-0.00773,-0.0115,0.185,0.00702,-0.0665,-0.121,0.0583,-0.0205,-0.0484,-1.39e-05,-5.65e-05,1.59e-06,4.91e-05,-5.51e-05,-0.00105,0.204,0.002,0.435,0,0,0,0,0,1.67e-06,6.16e-05,6.16e-05,4.46e-05,0.0427,0.0428,0.00608,0.044,0.044,0.0342,2.58e-11,2.58e-11,9.44e-11,2.79e-06,2.78e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33590000,0.983,-0.00736,-0.0116,0.185,0.00366,-0.0572,-0.117,0.061,-0.0167,-0.0553,-1.4e-05,-5.64e-05,1.64e-06,4.09e-05,-7.99e-05,-0.00105,0.204,0.002,0.435,0,0,0,0,0,1.67e-06,5.43e-05,5.43e-05,4.44e-05,0.0412,0.0412,0.00596,0.0399,0.0399,0.0338,2.55e-11,2.55e-11,9.36e-11,2.74e-06,2.74e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33690000,0.983,-0.00736,-0.0116,0.185,-0.00098,-0.0576,-0.118,0.0612,-0.0225,-0.0636,-1.4e-05,-5.64e-05,1.65e-06,4.09e-05,-7.99e-05,-0.00105,0.204,0.002,0.435,0,0,0,0,0,1.66e-06,5.44e-05,5.44e-05,4.44e-05,0.0489,0.0489,0.00594,0.0456,0.0456,0.0339,2.56e-11,2.56e-11,9.28e-11,2.74e-06,2.74e-06,5.01e-08,0,0,0,0,0,0,0,0
|
||||
33790000,0.983,-0.00712,-0.0116,0.185,-0.00359,-0.0468,-0.112,0.0653,-0.0178,-0.0696,-1.4e-05,-5.64e-05,1.6e-06,2.74e-05,-0.000106,-0.00105,0.204,0.002,0.435,0,0,0,0,0,1.66e-06,4.76e-05,4.76e-05,4.42e-05,0.0453,0.0453,0.00585,0.0411,0.0411,0.0335,2.55e-11,2.55e-11,9.2e-11,2.67e-06,2.67e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33890000,0.983,-0.00713,-0.0116,0.185,-0.00771,-0.0445,-0.111,0.0646,-0.0224,-0.0761,-1.4e-05,-5.64e-05,1.65e-06,2.72e-05,-0.000106,-0.00105,0.204,0.002,0.435,0,0,0,0,0,1.65e-06,4.77e-05,4.77e-05,4.4e-05,0.0531,0.0531,0.00584,0.0472,0.0472,0.0334,2.56e-11,2.56e-11,9.12e-11,2.67e-06,2.67e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33990000,0.983,-0.00684,-0.0118,0.185,-0.00683,-0.0302,-0.107,0.0681,-0.0149,-0.0788,-1.4e-05,-5.63e-05,1.58e-06,2.22e-06,-0.000136,-0.00105,0.204,0.002,0.435,0,0,0,0,0,1.64e-06,4.18e-05,4.18e-05,4.38e-05,0.0477,0.0477,0.00578,0.0422,0.0422,0.033,2.55e-11,2.55e-11,9.03e-11,2.57e-06,2.57e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34090000,0.983,-0.00679,-0.0118,0.185,-0.011,-0.0303,-0.105,0.0673,-0.018,-0.0832,-1.4e-05,-5.63e-05,1.55e-06,1.8e-06,-0.000136,-0.00105,0.204,0.002,0.435,0,0,0,0,0,1.64e-06,4.19e-05,4.19e-05,4.38e-05,0.0552,0.0552,0.00582,0.0487,0.0487,0.0331,2.56e-11,2.56e-11,8.96e-11,2.57e-06,2.57e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34190000,0.983,-0.00671,-0.0119,0.185,-0.0113,-0.0197,-0.102,0.071,-0.0125,-0.0857,-1.4e-05,-5.63e-05,1.57e-06,-1.65e-05,-0.000155,-0.00105,0.204,0.002,0.435,0,0,0,0,0,1.63e-06,3.73e-05,3.73e-05,4.36e-05,0.0484,0.0484,0.00579,0.0432,0.0432,0.0327,2.56e-11,2.56e-11,8.89e-11,2.47e-06,2.46e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34290000,0.983,-0.00658,-0.0119,0.185,-0.0117,-0.0189,-0.101,0.0699,-0.0145,-0.0913,-1.4e-05,-5.63e-05,1.58e-06,-1.69e-05,-0.000155,-0.00105,0.204,0.002,0.435,0,0,0,0,0,1.63e-06,3.74e-05,3.74e-05,4.34e-05,0.0553,0.0553,0.00583,0.05,0.05,0.0326,2.57e-11,2.57e-11,8.81e-11,2.47e-06,2.46e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34390000,0.983,-0.00648,-0.0119,0.185,-0.0125,-0.00944,-0.0957,0.0716,-0.00979,-0.0953,-1.41e-05,-5.63e-05,1.57e-06,-3.26e-05,-0.000168,-0.00106,0.204,0.002,0.435,0,0,0,0,0,1.62e-06,3.39e-05,3.39e-05,4.34e-05,0.0477,0.0477,0.00585,0.044,0.044,0.0325,2.57e-11,2.57e-11,8.74e-11,2.35e-06,2.35e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34490000,0.983,-0.00655,-0.0119,0.185,-0.0152,-0.00849,-0.0936,0.0703,-0.0108,-0.0976,-1.41e-05,-5.63e-05,1.6e-06,-3.35e-05,-0.000168,-0.00106,0.204,0.002,0.435,0,0,0,0,0,1.62e-06,3.4e-05,3.4e-05,4.32e-05,0.054,0.054,0.00591,0.051,0.051,0.0324,2.58e-11,2.58e-11,8.66e-11,2.35e-06,2.35e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34590000,0.983,-0.0065,-0.0117,0.185,-0.0119,-0.00457,0.702,0.0723,-0.00855,-0.0685,-1.41e-05,-5.63e-05,1.57e-06,-4.68e-05,-0.000169,-0.00106,0.204,0.002,0.435,0,0,0,0,0,1.61e-06,3.14e-05,3.14e-05,4.3e-05,0.0444,0.0444,0.00592,0.0446,0.0446,0.0321,2.58e-11,2.58e-11,8.59e-11,2.25e-06,2.24e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34690000,0.983,-0.00649,-0.0114,0.185,-0.0123,-0.00272,1.69,0.0711,-0.0089,0.0498,-1.41e-05,-5.63e-05,1.55e-06,-4.66e-05,-0.000169,-0.00106,0.204,0.002,0.435,0,0,0,0,0,1.61e-06,3.15e-05,3.15e-05,4.3e-05,0.0479,0.0479,0.00602,0.0514,0.0514,0.0322,2.59e-11,2.59e-11,8.53e-11,2.25e-06,2.24e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34790000,0.983,-0.00647,-0.0112,0.185,-0.0121,0.00161,2.66,0.0721,-0.00658,0.225,-1.41e-05,-5.63e-05,1.53e-06,-3.14e-05,-0.000186,-0.00103,0.204,0.002,0.435,0,0,0,0,0,1.6e-06,3.01e-05,3.01e-05,4.28e-05,0.0403,0.0403,0.00605,0.045,0.045,0.0319,2.6e-11,2.6e-11,8.45e-11,2.13e-06,2.12e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34890000,0.983,-0.00645,-0.0109,0.185,-0.0131,0.00378,3.64,0.0708,-0.00615,0.514,-1.41e-05,-5.63e-05,1.51e-06,-2.71e-05,-0.000188,-0.00103,0.204,0.002,0.435,0,0,0,0,0,1.6e-06,3.02e-05,3.02e-05,4.27e-05,0.044,0.044,0.00614,0.0514,0.0514,0.0318,2.61e-11,2.61e-11,8.38e-11,2.13e-06,2.12e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
|
||||
|
@@ -387,9 +387,9 @@ TEST_F(EkfFusionLogicTest, doRangeHeightFusion)
|
||||
// THEN: EKF should intend to fuse range height
|
||||
EXPECT_TRUE(_ekf_wrapper.isIntendingRangeHeightFusion());
|
||||
|
||||
const float dt = 8e-3f;
|
||||
const float dt = 5e-3f;
|
||||
|
||||
for (int i = 0; i < 5; i++) {
|
||||
for (int i = 0; i < 10; i++) {
|
||||
_sensor_simulator.runSeconds(dt);
|
||||
// THEN: EKF should intend to fuse range height, even if
|
||||
// there is no new data at each EKF iteration (EKF rate > sensor rate)
|
||||
|
||||
@@ -64,8 +64,8 @@ TEST_P(EkfImuSamplingTest, imuSamplingAtMultipleRates)
|
||||
// WHEN: adding imu samples at a same or lower rate than the update loop
|
||||
// THEN: imu sample should reach buffer unchanged
|
||||
|
||||
uint32_t dt_us = std::get<0>(GetParam()) * (_ekf.FILTER_UPDATE_PERIOD_MS * 1000);
|
||||
uint32_t expected_dt_us = std::get<1>(GetParam()) * (_ekf.FILTER_UPDATE_PERIOD_MS * 1000);
|
||||
uint32_t dt_us = std::get<0>(GetParam()) * (10 * 1000);
|
||||
uint32_t expected_dt_us = std::get<1>(GetParam()) * (10 * 1000);
|
||||
|
||||
Vector3f ang_vel = std::get<2>(GetParam());
|
||||
Vector3f accel = std::get<3>(GetParam());
|
||||
@@ -78,7 +78,7 @@ TEST_P(EkfImuSamplingTest, imuSamplingAtMultipleRates)
|
||||
// The higher the imu rate is the more measurements we have to set before reaching the FILTER_UPDATE_PERIOD
|
||||
int n_samples = 0;
|
||||
|
||||
for (int i = 0; i < (int)20 / std::get<0>(GetParam()); ++i) {
|
||||
for (int i = 0; i < (int)30 / std::get<0>(GetParam()); ++i) {
|
||||
n_samples++;
|
||||
imu_sample.time_us = _t_us;
|
||||
_ekf.setIMUData(imu_sample);
|
||||
@@ -122,7 +122,8 @@ INSTANTIATE_TEST_SUITE_P(imuSamplingAtMultipleRates,
|
||||
|
||||
TEST_F(EkfImuSamplingTest, accelDownSampling)
|
||||
{
|
||||
ImuDownSampler sampler(0.008f);
|
||||
int32_t target_dt_us = 8000;
|
||||
ImuDownSampler sampler(target_dt_us);
|
||||
|
||||
Vector3f ang_vel{0.0f, 0.0f, 0.0f};
|
||||
Vector3f accel{-0.46f, 0.87f, 0.0f};
|
||||
@@ -150,7 +151,8 @@ TEST_F(EkfImuSamplingTest, accelDownSampling)
|
||||
|
||||
TEST_F(EkfImuSamplingTest, gyroDownSampling)
|
||||
{
|
||||
ImuDownSampler sampler(0.008f);
|
||||
int32_t target_dt_us = 8000;
|
||||
ImuDownSampler sampler(target_dt_us);
|
||||
|
||||
Vector3f ang_vel{0.0f, 0.0f, 1.0f};
|
||||
Vector3f accel{0.0f, 0.0f, 0.0f};
|
||||
|
||||
@@ -73,7 +73,7 @@ public:
|
||||
_ekf_wrapper.enableGpsFusion();
|
||||
_ekf_wrapper.setBaroHeight();
|
||||
_sensor_simulator.runSeconds(2); // Run to pass the GPS checks
|
||||
_sensor_simulator.runSeconds(3.2); // And a bit more to start the GPS fusion TODO: this shouldn't be necessary
|
||||
_sensor_simulator.runSeconds(3.5); // And a bit more to start the GPS fusion TODO: this shouldn't be necessary
|
||||
EXPECT_TRUE(_ekf_wrapper.isIntendingGpsFusion());
|
||||
|
||||
const Vector3f simulated_velocity(0.5f, -1.0f, 0.f);
|
||||
|
||||
@@ -145,9 +145,9 @@ bool VehicleIMU::ParametersUpdate(bool force)
|
||||
}
|
||||
}
|
||||
|
||||
// constrain IMU integration time 1-10 milliseconds (100-1000 Hz)
|
||||
// constrain IMU integration time 1-20 milliseconds (50-1000 Hz)
|
||||
int32_t imu_integration_rate_hz = constrain(_param_imu_integ_rate.get(),
|
||||
(int32_t)100, math::max(_param_imu_gyro_ratemax.get(), (int32_t) 1000));
|
||||
(int32_t)50, math::max(_param_imu_gyro_ratemax.get(), (int32_t) 1000));
|
||||
|
||||
if (imu_integration_rate_hz != _param_imu_integ_rate.get()) {
|
||||
PX4_WARN("IMU_INTEG_RATE updated %" PRId32 " -> %" PRIu32, _param_imu_integ_rate.get(), imu_integration_rate_hz);
|
||||
|
||||
Reference in New Issue
Block a user