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ekf2: move ExtVisionSample update to UpdateExtVisionSample()

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This commit is contained in:
Daniel Agar
2020-11-11 20:17:52 -05:00
parent 0f56793116
commit b29f3c7ce5
2 changed files with 95 additions and 84 deletions
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src/modules/ekf2/EKF2.cpp
+94 -84
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@@ -497,91 +497,8 @@ void EKF2::Run()
_range_finder_sub_index = getRangeSubIndex();
}
// get external vision data
bool new_ev_data_received = false;
vehicle_odometry_s ev_odom;
if (_ev_odom_sub.update(&ev_odom)) {
extVisionSample ev_data{};
// if error estimates are unavailable, use parameter defined defaults
// check for valid velocity data
if (PX4_ISFINITE(ev_odom.vx) && PX4_ISFINITE(ev_odom.vy) && PX4_ISFINITE(ev_odom.vz)) {
ev_data.vel(0) = ev_odom.vx;
ev_data.vel(1) = ev_odom.vy;
ev_data.vel(2) = ev_odom.vz;
if (ev_odom.velocity_frame == vehicle_odometry_s::BODY_FRAME_FRD) {
ev_data.vel_frame = estimator::BODY_FRAME_FRD;
} else {
ev_data.vel_frame = estimator::LOCAL_FRAME_FRD;
}
// velocity measurement error from ev_data or parameters
float param_evv_noise_var = sq(_param_ekf2_evv_noise.get());
if (!_param_ekf2_ev_noise_md.get() && PX4_ISFINITE(ev_odom.velocity_covariance[ev_odom.COVARIANCE_MATRIX_VX_VARIANCE])
&& PX4_ISFINITE(ev_odom.velocity_covariance[ev_odom.COVARIANCE_MATRIX_VY_VARIANCE])
&& PX4_ISFINITE(ev_odom.velocity_covariance[ev_odom.COVARIANCE_MATRIX_VZ_VARIANCE])) {
ev_data.velCov(0, 0) = ev_odom.velocity_covariance[ev_odom.COVARIANCE_MATRIX_VX_VARIANCE];
ev_data.velCov(0, 1) = ev_data.velCov(1, 0) = ev_odom.velocity_covariance[1];
ev_data.velCov(0, 2) = ev_data.velCov(2, 0) = ev_odom.velocity_covariance[2];
ev_data.velCov(1, 1) = ev_odom.velocity_covariance[ev_odom.COVARIANCE_MATRIX_VY_VARIANCE];
ev_data.velCov(1, 2) = ev_data.velCov(2, 1) = ev_odom.velocity_covariance[7];
ev_data.velCov(2, 2) = ev_odom.velocity_covariance[ev_odom.COVARIANCE_MATRIX_VZ_VARIANCE];
} else {
ev_data.velCov = matrix::eye<float, 3>() * param_evv_noise_var;
}
}
// check for valid position data
if (PX4_ISFINITE(ev_odom.x) && PX4_ISFINITE(ev_odom.y) && PX4_ISFINITE(ev_odom.z)) {
ev_data.pos(0) = ev_odom.x;
ev_data.pos(1) = ev_odom.y;
ev_data.pos(2) = ev_odom.z;
float param_evp_noise_var = sq(_param_ekf2_evp_noise.get());
// position measurement error from ev_data or parameters
if (!_param_ekf2_ev_noise_md.get() && PX4_ISFINITE(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_X_VARIANCE])
&& PX4_ISFINITE(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_Y_VARIANCE])
&& PX4_ISFINITE(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_Z_VARIANCE])) {
ev_data.posVar(0) = fmaxf(param_evp_noise_var, ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_X_VARIANCE]);
ev_data.posVar(1) = fmaxf(param_evp_noise_var, ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_Y_VARIANCE]);
ev_data.posVar(2) = fmaxf(param_evp_noise_var, ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_Z_VARIANCE]);
} else {
ev_data.posVar.setAll(param_evp_noise_var);
}
}
// check for valid orientation data
if (PX4_ISFINITE(ev_odom.q[0])) {
ev_data.quat = Quatf(ev_odom.q);
// orientation measurement error from ev_data or parameters
float param_eva_noise_var = sq(_param_ekf2_eva_noise.get());
if (!_param_ekf2_ev_noise_md.get() && PX4_ISFINITE(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_YAW_VARIANCE])) {
ev_data.angVar = fmaxf(param_eva_noise_var, ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_YAW_VARIANCE]);
} else {
ev_data.angVar = param_eva_noise_var;
}
}
// use timestamp from external computer, clocks are synchronized when using MAVROS
ev_data.time_us = ev_odom.timestamp_sample;
_ekf.setExtVisionData(ev_data);
ekf2_timestamps.visual_odometry_timestamp_rel = (int16_t)((int64_t)ev_odom.timestamp / 100 -
(int64_t)ekf2_timestamps.timestamp / 100);
new_ev_data_received = true;
}
const bool new_ev_data_received = UpdateExtVisionSample(ekf2_timestamps, ev_odom);
if (_vehicle_land_detected_sub.updated()) {
vehicle_land_detected_s vehicle_land_detected;
@@ -1377,6 +1294,99 @@ void EKF2::UpdateBaroSample(ekf2_timestamps_s &ekf2_timestamps)
}
}
bool EKF2::UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps, vehicle_odometry_s &ev_odom)
{
bool new_ev_odom = false;
// EKF external vision sample
if (_ev_odom_sub.update(&ev_odom)) {
if (_param_ekf2_aid_mask.get() & (MASK_USE_EVPOS | MASK_USE_EVYAW | MASK_USE_EVVEL)) {
extVisionSample ev_data{};
// if error estimates are unavailable, use parameter defined defaults
// check for valid velocity data
if (PX4_ISFINITE(ev_odom.vx) && PX4_ISFINITE(ev_odom.vy) && PX4_ISFINITE(ev_odom.vz)) {
ev_data.vel(0) = ev_odom.vx;
ev_data.vel(1) = ev_odom.vy;
ev_data.vel(2) = ev_odom.vz;
if (ev_odom.velocity_frame == vehicle_odometry_s::BODY_FRAME_FRD) {
ev_data.vel_frame = estimator::BODY_FRAME_FRD;
} else {
ev_data.vel_frame = estimator::LOCAL_FRAME_FRD;
}
// velocity measurement error from ev_data or parameters
float param_evv_noise_var = sq(_param_ekf2_evv_noise.get());
if (!_param_ekf2_ev_noise_md.get() && PX4_ISFINITE(ev_odom.velocity_covariance[ev_odom.COVARIANCE_MATRIX_VX_VARIANCE])
&& PX4_ISFINITE(ev_odom.velocity_covariance[ev_odom.COVARIANCE_MATRIX_VY_VARIANCE])
&& PX4_ISFINITE(ev_odom.velocity_covariance[ev_odom.COVARIANCE_MATRIX_VZ_VARIANCE])) {
ev_data.velCov(0, 0) = ev_odom.velocity_covariance[ev_odom.COVARIANCE_MATRIX_VX_VARIANCE];
ev_data.velCov(0, 1) = ev_data.velCov(1, 0) = ev_odom.velocity_covariance[1];
ev_data.velCov(0, 2) = ev_data.velCov(2, 0) = ev_odom.velocity_covariance[2];
ev_data.velCov(1, 1) = ev_odom.velocity_covariance[ev_odom.COVARIANCE_MATRIX_VY_VARIANCE];
ev_data.velCov(1, 2) = ev_data.velCov(2, 1) = ev_odom.velocity_covariance[7];
ev_data.velCov(2, 2) = ev_odom.velocity_covariance[ev_odom.COVARIANCE_MATRIX_VZ_VARIANCE];
} else {
ev_data.velCov = matrix::eye<float, 3>() * param_evv_noise_var;
}
}
// check for valid position data
if (PX4_ISFINITE(ev_odom.x) && PX4_ISFINITE(ev_odom.y) && PX4_ISFINITE(ev_odom.z)) {
ev_data.pos(0) = ev_odom.x;
ev_data.pos(1) = ev_odom.y;
ev_data.pos(2) = ev_odom.z;
float param_evp_noise_var = sq(_param_ekf2_evp_noise.get());
// position measurement error from ev_data or parameters
if (!_param_ekf2_ev_noise_md.get() && PX4_ISFINITE(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_X_VARIANCE])
&& PX4_ISFINITE(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_Y_VARIANCE])
&& PX4_ISFINITE(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_Z_VARIANCE])) {
ev_data.posVar(0) = fmaxf(param_evp_noise_var, ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_X_VARIANCE]);
ev_data.posVar(1) = fmaxf(param_evp_noise_var, ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_Y_VARIANCE]);
ev_data.posVar(2) = fmaxf(param_evp_noise_var, ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_Z_VARIANCE]);
} else {
ev_data.posVar.setAll(param_evp_noise_var);
}
}
// check for valid orientation data
if (PX4_ISFINITE(ev_odom.q[0])) {
ev_data.quat = Quatf(ev_odom.q);
// orientation measurement error from ev_data or parameters
float param_eva_noise_var = sq(_param_ekf2_eva_noise.get());
if (!_param_ekf2_ev_noise_md.get() && PX4_ISFINITE(ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_YAW_VARIANCE])) {
ev_data.angVar = fmaxf(param_eva_noise_var, ev_odom.pose_covariance[ev_odom.COVARIANCE_MATRIX_YAW_VARIANCE]);
} else {
ev_data.angVar = param_eva_noise_var;
}
}
// use timestamp from external computer, clocks are synchronized when using MAVROS
ev_data.time_us = ev_odom.timestamp_sample;
_ekf.setExtVisionData(ev_data);
new_ev_odom = true;
}
ekf2_timestamps.visual_odometry_timestamp_rel = (int16_t)((int64_t)ev_odom.timestamp / 100 -
(int64_t)ekf2_timestamps.timestamp / 100);
}
return new_ev_odom;
}
void EKF2::UpdateMagCalibration(const hrt_abstime &timestamp)
{
/* Check and save learned magnetometer bias estimates */
src/modules/ekf2/EKF2.hpp
+1
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@@ -149,6 +149,7 @@ private:
void UpdateAirspeedSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateAuxVelSample(ekf2_timestamps_s &ekf2_timestamps);
void UpdateBaroSample(ekf2_timestamps_s &ekf2_timestamps);
bool UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps, vehicle_odometry_s &ev_odom);
void UpdateMagCalibration(const hrt_abstime &timestamp);