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use airspeed mode parameter to decide which method used to publish

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control state airspeed
This commit is contained in:
tumbili 2016-06-08 11:29:29 +02:00 committed by Roman
parent 099becb353
commit c2da51ccf5
2 changed files with 45 additions and 15 deletions
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27
src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
View File

@ -141,6 +141,7 @@ private:
param_t bias_max;
param_t vibe_thresh;
param_t ext_hdg_mode;
param_t airspeed_mode;
} _params_handles; /**< handles for interesting parameters */
float _w_accel = 0.0f;
@ -154,6 +155,7 @@ private:
float _vibration_warning_threshold = 2.0f;
hrt_abstime _vibration_warning_timestamp = 0;
int _ext_hdg_mode = 0;
int _airspeed_mode = 0;
Vector<3> _gyro;
Vector<3> _accel;
@ -232,6 +234,7 @@ AttitudeEstimatorQ::AttitudeEstimatorQ() :
_params_handles.bias_max = param_find("ATT_BIAS_MAX");
_params_handles.vibe_thresh = param_find("ATT_VIBE_THRESH");
_params_handles.ext_hdg_mode = param_find("ATT_EXT_HDG_M");
_params_handles.airspeed_mode = param_find("FW_ARSP_MODE");
}
/**
@ -626,14 +629,25 @@ void AttitudeEstimatorQ::task_main()
ctrl_state.yaw_rate = _lp_yaw_rate.apply(_rates(2));
/* Airspeed - take airspeed measurement directly here as no wind is estimated */
if (PX4_ISFINITE(_airspeed.indicated_airspeed_m_s) && hrt_absolute_time() - _airspeed.timestamp < 1e6
&& _airspeed.timestamp > 0) {
ctrl_state.airspeed = _airspeed.indicated_airspeed_m_s;
ctrl_state.airspeed_valid = true;
ctrl_state.airspeed_valid = false;
// use estimated velocity for airspeed estimate
if (_airspeed_mode == 1) {
if (hrt_absolute_time() - _gpos.timestamp < 1e6) {
ctrl_state.airspeed = sqrtf(_gpos.vel_n * _gpos.vel_n + _gpos.vel_e * _gpos.vel_e +_gpos.vel_d * _gpos.vel_d);
}
// do nothing, airspeed has been declared as non-valid above, controllers will handle this assuming always trim airspeed
} else if (_airspeed_mode == 2) {
// use the measured airspeed
} else {
ctrl_state.airspeed_valid = false;
/* Airspeed - take airspeed measurement directly here as no wind is estimated */
if (PX4_ISFINITE(_airspeed.indicated_airspeed_m_s) && hrt_absolute_time() - _airspeed.timestamp < 1e6
&& _airspeed.timestamp > 0) {
ctrl_state.airspeed = _airspeed.indicated_airspeed_m_s;
ctrl_state.airspeed_valid = true;
}
}
/* the instance count is not used here */
@ -688,6 +702,7 @@ void AttitudeEstimatorQ::update_parameters(bool force)
param_get(_params_handles.bias_max, &_bias_max);
param_get(_params_handles.vibe_thresh, &_vibration_warning_threshold);
param_get(_params_handles.ext_hdg_mode, &_ext_hdg_mode);
param_get(_params_handles.airspeed_mode, &_airspeed_mode);
}
}

33
src/modules/ekf2/ekf2_main.cpp
View File

@ -271,6 +271,9 @@ private:
control::BlockParamFloat _acc_bias_init; // 1-sigma accelerometer bias uncertainty at switch-on (m/s**2)
control::BlockParamFloat _ang_err_init; // 1-sigma uncertainty in tilt angle after gravity vector alignment (rad)
// airspeed mode parameter
control::BlockParamInt _airspeed_mode;
int update_subscriptions();
};
@ -366,7 +369,8 @@ Ekf2::Ekf2():
_tau_pos(this, "EKF2_TAU_POS", false, &_params->pos_Tau),
_gyr_bias_init(this, "EKF2_GBIAS_INIT", false, &_params->switch_on_gyro_bias),
_acc_bias_init(this, "EKF2_ABIAS_INIT", false, &_params->switch_on_accel_bias),
_ang_err_init(this, "EKF2_ANGERR_INIT", false, &_params->initial_tilt_err)
_ang_err_init(this, "EKF2_ANGERR_INIT", false, &_params->initial_tilt_err),
_airspeed_mode(this, "FW_ARSP_MODE", false)
{
}
@ -655,14 +659,27 @@ void Ekf2::task_main()
1) * acceleration(1));
ctrl_state.horz_acc_mag = _acc_hor_filt;
// Airspeed - take airspeed measurement directly here as no wind is estimated
if (PX4_ISFINITE(airspeed.indicated_airspeed_m_s) && hrt_absolute_time() - airspeed.timestamp < 1e6
&& airspeed.timestamp > 0) {
ctrl_state.airspeed = airspeed.indicated_airspeed_m_s;
ctrl_state.airspeed_valid = true;
float vel[3] = {};
_ekf.get_velocity(vel);
ctrl_state.airspeed_valid = false;
// use estimated velocity for airspeed estimate
if (_airspeed_mode.get() == 1) {
if (_ekf.local_position_is_valid()) {
ctrl_state.airspeed = sqrtf(vel[0] * vel[0] + vel[1] * vel[1] +vel[2] * vel[2]);
}
// do nothing, airspeed has been declared as non-valid above, controllers will handle this assuming always trim airspeed
} else if (_airspeed_mode.get() == 2) {
// use the measured airspeed
} else {
ctrl_state.airspeed_valid = false;
/* Airspeed - take airspeed measurement directly here as no wind is estimated */
if (PX4_ISFINITE(airspeed.indicated_airspeed_m_s) && hrt_absolute_time() - airspeed.timestamp < 1e6
&& airspeed.timestamp > 0) {
ctrl_state.airspeed = airspeed.indicated_airspeed_m_s;
ctrl_state.airspeed_valid = true;
}
}
// publish control state data
@ -702,7 +719,6 @@ void Ekf2::task_main()
// generate vehicle local position data
struct vehicle_local_position_s lpos = {};
float pos[3] = {};
float vel[3] = {};
lpos.timestamp = hrt_absolute_time();
@ -713,7 +729,6 @@ void Ekf2::task_main()
lpos.z = pos[2];
// Velocity of body origin in local NED frame (m/s)
_ekf.get_velocity(vel);
lpos.vx = vel[0];
lpos.vy = vel[1];
lpos.vz = vel[2];