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Added vehicle_local_position.ref_surface_timestamp to track surface level changes. Reference altitude updated continuosly when sonar available.

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This commit is contained in:
Anton Babushkin
2013-10-08 21:18:17 +02:00
parent ff92770305
commit c96de846b3
3 changed files with 54 additions and 32 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+46 -25
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@@ -82,6 +82,7 @@ static const hrt_abstime sonar_valid_timeout = 1000000; // assume that altitude
static const hrt_abstime flow_timeout = 1000000; // optical flow topic timeout = 1s
static const uint32_t updates_counter_len = 1000000;
static const uint32_t pub_interval = 10000; // limit publish rate to 100 Hz
static const float max_flow = 1.0f; // max flow value that can be used, rad/s
__EXPORT int position_estimator_inav_main(int argc, char *argv[]);
@@ -363,6 +364,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
/* reset ground level on arm if sonar is invalid */
if (armed.armed && !flag_armed && t > sonar_valid_time + sonar_valid_timeout) {
flag_armed = armed.armed;
@@ -370,7 +372,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
z_est[0] = 0.0f;
alt_avg = 0.0f;
local_pos.ref_alt = baro_alt0;
local_pos.ref_timestamp = hrt_absolute_time();
local_pos.ref_timestamp = t;
local_pos.ref_surface_timestamp = t;
}
}
@@ -439,8 +442,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* new ground level */
baro_alt0 += sonar_corr;
mavlink_log_info(mavlink_fd, "[inav] update ref: alt=%.3f", baro_alt0);
local_pos.ref_alt = baro_alt0;
local_pos.ref_timestamp = hrt_absolute_time();
local_pos.ref_surface_timestamp = t;
z_est[0] += sonar_corr;
alt_avg -= sonar_corr;
sonar_corr = 0.0f;
@@ -465,32 +467,49 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (z_est[0] < - 0.31f && flow_q > params.flow_q_min && t < sonar_valid_time + sonar_valid_timeout && att.R[2][2] > 0.7) {
/* distance to surface */
float flow_dist = -z_est[0] / att.R[2][2];
/* convert raw flow to angular flow */
float flow_ang[2];
flow_ang[0] = flow.flow_raw_x * params.flow_k;
flow_ang[1] = flow.flow_raw_y * params.flow_k;
/* flow measurements vector */
float flow_m[3];
flow_m[0] = -flow_ang[0] * flow_dist;
flow_m[1] = -flow_ang[1] * flow_dist;
flow_m[2] = z_est[1];
/* velocity in NED */
float flow_v[2] = { 0.0f, 0.0f };
/* check if flow if too large for accurate measurements */
/* calculate estimated velocity in body frame */
float body_v_est[2] = { 0.0f, 0.0f };
/* project measurements vector to NED basis, skip Z component */
for (int i = 0; i < 2; i++) {
for (int j = 0; j < 3; j++) {
flow_v[i] += att.R[i][j] * flow_m[j];
}
body_v_est[i] = att.R[0][i] * x_est[1] + att.R[1][i] * y_est[1] + att.R[2][i] * z_est[1];
}
/* velocity correction */
flow_corr[0] = flow_v[0] - x_est[1];
flow_corr[1] = flow_v[1] - y_est[1];
/* adjust correction weight */
float flow_q_weight = (flow_q - params.flow_q_min) / (1.0f - params.flow_q_min);
flow_w = att.R[2][2] * flow_q_weight;
flow_valid = true;
/* use flow only if it is not too large according to estimate */
// TODO add timeout for flow to allow flying without GPS
if (fabsf(body_v_est[1] / flow_dist - att.rollspeed) < max_flow &&
fabsf(body_v_est[0] / flow_dist + att.pitchspeed) < max_flow) {
/* convert raw flow to angular flow */
float flow_ang[2];
flow_ang[0] = flow.flow_raw_x * params.flow_k;
flow_ang[1] = flow.flow_raw_y * params.flow_k;
/* flow measurements vector */
float flow_m[3];
flow_m[0] = -flow_ang[0] * flow_dist;
flow_m[1] = -flow_ang[1] * flow_dist;
flow_m[2] = z_est[1];
/* velocity in NED */
float flow_v[2] = { 0.0f, 0.0f };
/* project measurements vector to NED basis, skip Z component */
for (int i = 0; i < 2; i++) {
for (int j = 0; j < 3; j++) {
flow_v[i] += att.R[i][j] * flow_m[j];
}
}
/* velocity correction */
flow_corr[0] = flow_v[0] - x_est[1];
flow_corr[1] = flow_v[1] - y_est[1];
/* adjust correction weight */
float flow_q_weight = (flow_q - params.flow_q_min) / (1.0f - params.flow_q_min);
flow_w = att.R[2][2] * flow_q_weight;
flow_valid = true;
} else {
flow_w = 0.0f;
flow_valid = false;
}
} else {
flow_w = 0.0f;
@@ -607,6 +626,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* baro offset correction if sonar available */
if (sonar_valid) {
baro_alt0 -= (baro_corr + baro_alt0) * params.w_alt_sonar * dt;
local_pos.ref_alt = baro_alt0;
local_pos.ref_timestamp = t;
}
/* accelerometer bias correction */