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publish control state from ekf - missing:airspeed

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This commit is contained in:
Youssef Demitri
2015-09-23 16:19:48 +02:00
parent d0dd0fc4d4
commit ce70803d25
2 changed files with 83 additions and 4 deletions
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src/modules/ekf_att_pos_estimator/AttitudePositionEstimatorEKF.h
+9
View File
@@ -49,6 +49,7 @@
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/control_state.h>
#include <uORB/topics/vehicle_land_detected.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_status.h>
@@ -152,12 +153,14 @@ private:
int _armedSub;
orb_advert_t _att_pub; /**< vehicle attitude */
orb_advert_t _ctrl_state_pub; /**< control state */
orb_advert_t _global_pos_pub; /**< global position */
orb_advert_t _local_pos_pub; /**< position in local frame */
orb_advert_t _estimator_status_pub; /**< status of the estimator */
orb_advert_t _wind_pub; /**< wind estimate */
struct vehicle_attitude_s _att; /**< vehicle attitude */
struct control_state_s _ctrl_state; /**< control state */
struct gyro_report _gyro;
struct accel_report _accel;
struct mag_report _mag;
@@ -316,6 +319,12 @@ private:
**/
void publishAttitude();
/**
* @brief
* Publish the system state for control modules
**/
void publishControlState();
/**
* @brief
* Publish local position relative to reference point where filter was initialized
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+74 -4
View File
@@ -140,12 +140,14 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() :
/* publications */
_att_pub(nullptr),
_ctrl_state_pub(nullptr),
_global_pos_pub(nullptr),
_local_pos_pub(nullptr),
_estimator_status_pub(nullptr),
_wind_pub(nullptr),
_att{},
_ctrl_state{},
_gyro{},
_accel{},
_mag{},
@@ -821,9 +823,9 @@ void AttitudePositionEstimatorEKF::publishAttitude()
_att.pitch = euler(1);
_att.yaw = euler(2);
_att.rollspeed = _LP_att_P.apply(_ekf->dAngIMU.x / _ekf->dtIMU) - _ekf->states[10] / _ekf->dtIMUfilt;
_att.pitchspeed = _LP_att_Q.apply(_ekf->dAngIMU.y / _ekf->dtIMU) - _ekf->states[11] / _ekf->dtIMUfilt;
_att.yawspeed = _LP_att_R.apply(_ekf->dAngIMU.z / _ekf->dtIMU) - _ekf->states[12] / _ekf->dtIMUfilt;
_att.rollspeed = _ekf->dAngIMU.x / _ekf->dtIMU - _ekf->states[10] / _ekf->dtIMUfilt;
_att.pitchspeed = _ekf->dAngIMU.y / _ekf->dtIMU - _ekf->states[11] / _ekf->dtIMUfilt;
_att.yawspeed = _ekf->dAngIMU.z / _ekf->dtIMU - _ekf->states[12] / _ekf->dtIMUfilt;
// gyro offsets
_att.rate_offsets[0] = _ekf->states[10] / _ekf->dtIMUfilt;
@@ -832,7 +834,7 @@ void AttitudePositionEstimatorEKF::publishAttitude()
/* lazily publish the attitude only once available */
if (_att_pub != nullptr) {
/* publish the attitude setpoint */
/* publish the attitude */
orb_publish(ORB_ID(vehicle_attitude), _att_pub, &_att);
} else {
@@ -841,6 +843,74 @@ void AttitudePositionEstimatorEKF::publishAttitude()
}
}
void AttitudePositionEstimatorEKF::publishControlState()
{
/* Accelerations in Body Frame */
_ctrl_state.x_acc = _ekf->accel.x;
_ctrl_state.y_acc = _ekf->accel.y;
_ctrl_state.z_acc = _ekf->accel.z;
/* Velocity in Body Frame */
Vector3f v_n(_ekf->states[4], _ekf->states[5], _ekf->states[6]);
Vector3f v_n_var(_ekf->P[4][4], _ekf->P[5][5], _ekf->P[6][6]);
Vector3f v_b = _ekf->Tnb * v_n;
Vector3f v_b_var = _ekf->Tnb * v_n_var;
_ctrl_state.x_vel = v_b.x;
_ctrl_state.y_vel = v_b.y;
_ctrl_state.z_vel = v_b.z;
_ctrl_state.vel_variance[0] = v_b_var.x;
_ctrl_state.vel_variance[1] = v_b_var.y;
_ctrl_state.vel_variance[2] = v_b_var.z;
/* Local Position */
_ctrl_state.x_pos = _ekf->states[7];
_ctrl_state.y_pos = _ekf->states[8];
// XXX need to announce change of Z reference somehow elegantly
_ctrl_state.z_pos = _ekf->states[9] - _filter_ref_offset;
//_local_pos.z_stable = _ekf->states[9];
_ctrl_state.pos_variance[0] = _ekf->P[7][7];
_ctrl_state.pos_variance[1] = _ekf->P[8][8];
_ctrl_state.pos_variance[2] = _ekf->P[9][9];
/* Attitude */
_ctrl_state.timestamp = _last_sensor_timestamp;
_ctrl_state.q[0] = _ekf->states[0];
_ctrl_state.q[1] = _ekf->states[1];
_ctrl_state.q[2] = _ekf->states[2];
_ctrl_state.q[3] = _ekf->states[3];
/* Attitude Rates */
_ctrl_state.roll_rate = _LP_att_P.apply(_ekf->dAngIMU.x / _ekf->dtIMU) - _ekf->states[10] / _ekf->dtIMUfilt;
_ctrl_state.pitch_rate = _LP_att_Q.apply(_ekf->dAngIMU.y / _ekf->dtIMU) - _ekf->states[11] / _ekf->dtIMUfilt;
_ctrl_state.yaw_rate = _LP_att_R.apply(_ekf->dAngIMU.z / _ekf->dtIMU) - _ekf->states[12] / _ekf->dtIMUfilt;
/* Guard from bad data */
if (!PX4_ISFINITE(_ctrl_state.x_vel) ||
!PX4_ISFINITE(_ctrl_state.y_vel) ||
!PX4_ISFINITE(_ctrl_state.z_vel) ||
!PX4_ISFINITE(_ctrl_state.x_pos) ||
!PX4_ISFINITE(_ctrl_state.y_pos) ||
!PX4_ISFINITE(_ctrl_state.z_pos))
{
// bad data, abort publication
return;
}
/* lazily publish the control state only once available */
if (_ctrl_state_pub != nullptr) {
/* publish the control state */
orb_publish(ORB_ID(control_state), _ctrl_state_pub, &_ctrl_state);
} else {
/* advertise and publish */
_ctrl_state_pub = orb_advertise(ORB_ID(control_state), &_ctrl_state);
}
}
void AttitudePositionEstimatorEKF::publishLocalPosition()
{
_local_pos.timestamp = _last_sensor_timestamp;