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EKF drop unused timestamp from collect_gps() and pass data by const reference

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This commit is contained in:
Daniel Agar
2019-03-05 17:26:19 -05:00
parent 78b899c72d
commit c66f7f4a09
7 changed files with 49 additions and 44 deletions
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CMakeLists.txt
-1
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@@ -95,7 +95,6 @@ if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
-Wextra
-Werror
-Wno-unused-parameter
-Wno-missing-field-initializers # ignore for GCC 4.8 support
)
endif()
EKF/ekf.h
+2 -2
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@@ -126,7 +126,7 @@ public:
void get_covariances(float *covariances);
// ask estimator for sensor data collection decision and do any preprocessing if required, returns true if not defined
bool collect_gps(uint64_t time_usec, struct gps_message *gps);
bool collect_gps(const gps_message &gps);
bool collect_imu(const imuSample &imu);
@@ -578,7 +578,7 @@ private:
void calcEarthRateNED(Vector3f &omega, float lat_rad) const;
// return true id the GPS quality is good enough to set an origin and start aiding
bool gps_is_good(struct gps_message *gps);
bool gps_is_good(const gps_message &gps);
// Control the filter fusion modes
void controlFusionModes();
EKF/estimator_interface.cpp
+14 -14
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@@ -190,7 +190,7 @@ void EstimatorInterface::setMagData(uint64_t time_usec, float (&data)[3])
}
}
void EstimatorInterface::setGpsData(uint64_t time_usec, struct gps_message *gps)
void EstimatorInterface::setGpsData(uint64_t time_usec, const gps_message &gps)
{
if (!_initialised || _gps_buffer_fail) {
return;
@@ -210,35 +210,35 @@ void EstimatorInterface::setGpsData(uint64_t time_usec, struct gps_message *gps)
// limit data rate to prevent data being lost
bool need_gps = (_params.fusion_mode & MASK_USE_GPS) || (_params.vdist_sensor_type == VDIST_SENSOR_GPS);
if (((time_usec - _time_last_gps) > _min_obs_interval_us) && need_gps && gps->fix_type > 2) {
if (((time_usec - _time_last_gps) > _min_obs_interval_us) && need_gps && gps.fix_type > 2) {
gpsSample gps_sample_new;
gps_sample_new.time_us = gps->time_usec - _params.gps_delay_ms * 1000;
gps_sample_new.time_us = gps.time_usec - _params.gps_delay_ms * 1000;
gps_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;
_time_last_gps = time_usec;
gps_sample_new.time_us = math::max(gps_sample_new.time_us, _imu_sample_delayed.time_us);
gps_sample_new.vel = Vector3f(gps->vel_ned);
gps_sample_new.vel = Vector3f(gps.vel_ned);
_gps_speed_valid = gps->vel_ned_valid;
gps_sample_new.sacc = gps->sacc;
gps_sample_new.hacc = gps->eph;
gps_sample_new.vacc = gps->epv;
_gps_speed_valid = gps.vel_ned_valid;
gps_sample_new.sacc = gps.sacc;
gps_sample_new.hacc = gps.eph;
gps_sample_new.vacc = gps.epv;
gps_sample_new.hgt = (float)gps->alt * 1e-3f;
gps_sample_new.hgt = (float)gps.alt * 1e-3f;
gps_sample_new.yaw = gps->yaw;
if (ISFINITE(gps->yaw_offset)) {
_gps_yaw_offset = gps->yaw_offset;
gps_sample_new.yaw = gps.yaw;
if (ISFINITE(gps.yaw_offset)) {
_gps_yaw_offset = gps.yaw_offset;
} else {
_gps_yaw_offset = 0.0f;
}
// Only calculate the relative position if the WGS-84 location of the origin is set
if (collect_gps(time_usec, gps)) {
if (collect_gps(gps)) {
float lpos_x = 0.0f;
float lpos_y = 0.0f;
map_projection_project(&_pos_ref, (gps->lat / 1.0e7), (gps->lon / 1.0e7), &lpos_x, &lpos_y);
map_projection_project(&_pos_ref, (gps.lat / 1.0e7), (gps.lon / 1.0e7), &lpos_x, &lpos_y);
gps_sample_new.pos(0) = lpos_x;
gps_sample_new.pos(1) = lpos_y;
EKF/estimator_interface.h
+2 -2
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@@ -169,7 +169,7 @@ public:
virtual void get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, float *hagl_max) = 0;
// ask estimator for sensor data collection decision and do any preprocessing if required, returns true if not defined
virtual bool collect_gps(uint64_t time_usec, struct gps_message *gps) { return true; }
virtual bool collect_gps(const gps_message &gps) = 0;
// accumulate and downsample IMU data to the EKF prediction rate
virtual bool collect_imu(const imuSample &imu) = 0;
@@ -184,7 +184,7 @@ public:
void setMagData(uint64_t time_usec, float (&data)[3]);
// set gps data
void setGpsData(uint64_t time_usec, struct gps_message *gps);
void setGpsData(uint64_t time_usec, const gps_message &gps);
// set baro data
void setBaroData(uint64_t time_usec, float data);
EKF/gps_checks.cpp
+24 -24
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@@ -56,14 +56,14 @@
#define MASK_GPS_HSPD (1<<7)
#define MASK_GPS_VSPD (1<<8)
bool Ekf::collect_gps(uint64_t time_usec, struct gps_message *gps)
bool Ekf::collect_gps(const gps_message &gps)
{
// Run GPS checks always
bool gps_checks_pass = gps_is_good(gps);
if (!_NED_origin_initialised && gps_checks_pass) {
// If we have good GPS data set the origin's WGS-84 position to the last gps fix
double lat = gps->lat / 1.0e7;
double lon = gps->lon / 1.0e7;
double lat = gps.lat / 1.0e7;
double lon = gps.lon / 1.0e7;
map_projection_init_timestamped(&_pos_ref, lat, lon, _time_last_imu);
// if we are already doing aiding, corect for the change in posiiton since the EKF started navigating
@@ -74,7 +74,7 @@ bool Ekf::collect_gps(uint64_t time_usec, struct gps_message *gps)
}
// Take the current GPS height and subtract the filter height above origin to estimate the GPS height of the origin
_gps_alt_ref = 1e-3f * (float)gps->alt + _state.pos(2);
_gps_alt_ref = 1e-3f * (float)gps.alt + _state.pos(2);
_NED_origin_initialised = true;
_last_gps_origin_time_us = _time_last_imu;
@@ -86,8 +86,8 @@ bool Ekf::collect_gps(uint64_t time_usec, struct gps_message *gps)
// request a reset of the yaw using the new declination
_mag_yaw_reset_req = true;
// save the horizontal and vertical position uncertainty of the origin
_gps_origin_eph = gps->eph;
_gps_origin_epv = gps->epv;
_gps_origin_eph = gps.eph;
_gps_origin_epv = gps.epv;
// if the user has selected GPS as the primary height source, switch across to using it
if (_primary_hgt_source == VDIST_SENSOR_GPS) {
@@ -103,7 +103,7 @@ bool Ekf::collect_gps(uint64_t time_usec, struct gps_message *gps)
}
// start collecting GPS if there is a 3D fix and the NED origin has been set
return _NED_origin_initialised && (gps->fix_type >= 3);
return _NED_origin_initialised && (gps.fix_type >= 3);
}
/*
@@ -113,27 +113,27 @@ bool Ekf::collect_gps(uint64_t time_usec, struct gps_message *gps)
* Checks are activated using the EKF2_GPS_CHECK bitmask parameter
* Checks are adjusted using the EKF2_REQ_* parameters
*/
bool Ekf::gps_is_good(struct gps_message *gps)
bool Ekf::gps_is_good(const gps_message &gps)
{
// Check the fix type
_gps_check_fail_status.flags.fix = (gps->fix_type < 3);
_gps_check_fail_status.flags.fix = (gps.fix_type < 3);
// Check the number of satellites
_gps_check_fail_status.flags.nsats = (gps->nsats < _params.req_nsats);
_gps_check_fail_status.flags.nsats = (gps.nsats < _params.req_nsats);
// Check the geometric dilution of precision
_gps_check_fail_status.flags.gdop = (gps->gdop > _params.req_gdop);
_gps_check_fail_status.flags.gdop = (gps.gdop > _params.req_gdop);
// Check the reported horizontal and vertical position accuracy
_gps_check_fail_status.flags.hacc = (gps->eph > _params.req_hacc);
_gps_check_fail_status.flags.vacc = (gps->epv > _params.req_vacc);
_gps_check_fail_status.flags.hacc = (gps.eph > _params.req_hacc);
_gps_check_fail_status.flags.vacc = (gps.epv > _params.req_vacc);
// Check the reported speed accuracy
_gps_check_fail_status.flags.sacc = (gps->sacc > _params.req_sacc);
_gps_check_fail_status.flags.sacc = (gps.sacc > _params.req_sacc);
// check if GPS quality is degraded
_gps_error_norm = fmaxf((gps->eph / _params.req_hacc) , (gps->epv / _params.req_vacc));
_gps_error_norm = fmaxf(_gps_error_norm , (gps->sacc / _params.req_sacc));
_gps_error_norm = fmaxf((gps.eph / _params.req_hacc) , (gps.epv / _params.req_vacc));
_gps_error_norm = fmaxf(_gps_error_norm , (gps.sacc / _params.req_sacc));
// Calculate time lapsed since last update, limit to prevent numerical errors and calculate a lowpass filter coefficient
const float filt_time_const = 10.0f;
@@ -141,8 +141,8 @@ bool Ekf::gps_is_good(struct gps_message *gps)
float filter_coef = dt / filt_time_const;
// The following checks are only valid when the vehicle is at rest
double lat = gps->lat * 1.0e-7;
double lon = gps->lon * 1.0e-7;
double lat = gps.lat * 1.0e-7;
double lon = gps.lon * 1.0e-7;
if (!_control_status.flags.in_air && _vehicle_at_rest) {
// Calculate position movement since last measurement
float delta_posN = 0.0f;
@@ -155,7 +155,7 @@ bool Ekf::gps_is_good(struct gps_message *gps)
} else {
// no previous position has been set
map_projection_init_timestamped(&_gps_pos_prev, lat, lon, _time_last_imu);
_gps_alt_prev = 1e-3f * (float)gps->alt;
_gps_alt_prev = 1e-3f * (float)gps.alt;
}
@@ -174,7 +174,7 @@ bool Ekf::gps_is_good(struct gps_message *gps)
// Calculate the vertical drift velocity and limit to 10x the threshold
float vz_drift_limit = 10.0f * _params.req_vdrift;
float gps_alt_m = 1e-3f * (float)gps->alt;
float gps_alt_m = 1e-3f * (float)gps.alt;
float velD = math::constrain(((_gps_alt_prev - gps_alt_m) / dt), -vz_drift_limit, vz_drift_limit);
// Apply a low pass filter to the vertical velocity
@@ -186,8 +186,8 @@ bool Ekf::gps_is_good(struct gps_message *gps)
// Check the magnitude of the filtered horizontal GPS velocity
float vxy_drift_limit = 10.0f * _params.req_hdrift;
float gps_velN = fminf(fmaxf(gps->vel_ned[0], -vxy_drift_limit), vxy_drift_limit);
float gps_velE = fminf(fmaxf(gps->vel_ned[1], -vxy_drift_limit), vxy_drift_limit);
float gps_velN = fminf(fmaxf(gps.vel_ned[0], -vxy_drift_limit), vxy_drift_limit);
float gps_velE = fminf(fmaxf(gps.vel_ned[1], -vxy_drift_limit), vxy_drift_limit);
_gps_velN_filt = gps_velN * filter_coef + _gps_velN_filt * (1.0f - filter_coef);
_gps_velE_filt = gps_velE * filter_coef + _gps_velE_filt * (1.0f - filter_coef);
_gps_drift_metrics[2] = sqrtf(_gps_velN_filt * _gps_velN_filt + _gps_velE_filt * _gps_velE_filt);
@@ -211,11 +211,11 @@ bool Ekf::gps_is_good(struct gps_message *gps)
// save GPS fix for next time
map_projection_init_timestamped(&_gps_pos_prev, lat, lon, _time_last_imu);
_gps_alt_prev = 1e-3f * (float)gps->alt;
_gps_alt_prev = 1e-3f * (float)gps.alt;
// Check the filtered difference between GPS and EKF vertical velocity
float vz_diff_limit = 10.0f * _params.req_vdrift;
float vertVel = fminf(fmaxf((gps->vel_ned[2] - _state.vel(2)), -vz_diff_limit), vz_diff_limit);
float vertVel = fminf(fmaxf((gps.vel_ned[2] - _state.vel(2)), -vz_diff_limit), vz_diff_limit);
_gps_velD_diff_filt = vertVel * filter_coef + _gps_velD_diff_filt * (1.0f - filter_coef);
_gps_check_fail_status.flags.vspeed = (fabsf(_gps_velD_diff_filt) > _params.req_vdrift);
EKF/tests/base/base.cpp
+4 -1
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@@ -44,6 +44,9 @@
int main(int argc, char *argv[])
{
(void)argc; // unused
(void)argv; // unused
Ekf *base = new Ekf();
// Test1: feed in fake imu data and check if delta angles are summed correclty
@@ -131,7 +134,7 @@ int main(int argc, char *argv[])
base->setIMUData(timer, timer - timer_last, timer - timer_last, delta_ang, delta_vel);
base->setMagData(timer, mag);
base->setBaroData(timer, baro);
base->setGpsData(timer, &gps);
base->setGpsData(timer, gps);
//base->print_imu_avg_time();
timer_last = timer;
EKF/tests/ringbuffer/ringbuffer.cpp
+3
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@@ -50,6 +50,9 @@ struct sample {
int main(int argc, char *argv[])
{
(void)argc; // unused
(void)argv; // unused
sample x;
x.time_us = 1000000;
x.data[0] = x.data[1] = x.data[2] = 1.5f;