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Merge branch 'master' into inav_alt_gps. Use GPS for altitude estimation.

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This commit is contained in:
Anton Babushkin
2013-10-27 22:03:07 +04:00
parent 7d4981d4b4 59c04adada
commit d309d0203c
73 changed files with 3361 additions and 874 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+119 -92
View File
@@ -71,6 +71,8 @@
#include "position_estimator_inav_params.h"
#include "inertial_filter.h"
#define MIN_VALID_W 0.00001f
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int position_estimator_inav_task; /**< Handle of deamon task / thread */
@@ -180,7 +182,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
int baro_init_cnt = 0;
int baro_init_num = 200;
float baro_offset = 0.0f; // baro offset for reference altitude, initialized only once
float baro_offset = 0.0f; // baro offset for reference altitude, initialized on start, then adjusted
float surface_offset = 0.0f; // ground level offset from reference altitude
float surface_offset_rate = 0.0f; // surface offset change rate
float alt_avg = 0.0f;
@@ -192,9 +194,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
uint32_t accel_counter = 0;
uint32_t baro_counter = 0;
bool ref_xy_inited = false;
hrt_abstime ref_xy_init_start = 0;
const hrt_abstime ref_xy_init_delay = 1000000; // wait for 1s after 3D fix
bool ref_inited = false;
hrt_abstime ref_init_start = 0;
const hrt_abstime ref_init_delay = 1000000; // wait for 1s after 3D fix
uint16_t accel_updates = 0;
uint16_t baro_updates = 0;
@@ -211,18 +213,21 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
float accel_NED[3] = { 0.0f, 0.0f, -CONSTANTS_ONE_G };
/* store error when sensor updates, but correct on each time step to avoid jumps in estimated value */
float accel_corr[] = { 0.0f, 0.0f, 0.0f }; // N E D
float accel_bias[] = { 0.0f, 0.0f, 0.0f }; // body frame
float baro_corr = 0.0f; // D
float gps_corr[2][2] = {
float corr_acc[] = { 0.0f, 0.0f, 0.0f }; // N E D
float acc_bias[] = { 0.0f, 0.0f, 0.0f }; // body frame
float corr_baro = 0.0f; // D
float corr_gps[3][2] = {
{ 0.0f, 0.0f }, // N (pos, vel)
{ 0.0f, 0.0f }, // E (pos, vel)
{ 0.0f, 0.0f }, // D (pos, vel)
};
float sonar_corr = 0.0f;
float sonar_corr_filtered = 0.0f;
float w_gps_xy = 1.0f;
float w_gps_z = 1.0f;
float corr_sonar = 0.0f;
float corr_sonar_filtered = 0.0f;
float flow_corr[] = { 0.0f, 0.0f }; // X, Y
float flow_w = 0.0f;
float corr_flow[] = { 0.0f, 0.0f }; // N E
float w_flow = 0.0f;
float sonar_prev = 0.0f;
hrt_abstime sonar_time = 0; // time of last sonar measurement (not filtered)
@@ -307,13 +312,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
} else {
wait_baro = false;
baro_offset /= (float) baro_init_cnt;
warnx("init ref: alt=%.3f", baro_offset);
mavlink_log_info(mavlink_fd, "[inav] init ref: alt=%.3f", baro_offset);
local_pos.ref_alt = baro_offset;
local_pos.ref_timestamp = hrt_absolute_time();
corr_baro = -baro_offset;
warnx("baro offs: %.2f", baro_offset);
mavlink_log_info(mavlink_fd, "[inav] baro offs: %.2f", baro_offset);
local_pos.z_valid = true;
local_pos.v_z_valid = true;
local_pos.z_global = true;
}
}
}
@@ -370,10 +373,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (armed.armed && !flag_armed) {
flag_armed = armed.armed;
baro_offset -= z_est[0];
corr_baro = -baro_offset;
local_pos.ref_alt -= z_est[0];
local_pos.ref_timestamp = t;
z_est[0] = 0.0f;
alt_avg = 0.0f;
local_pos.ref_alt = baro_offset;
local_pos.ref_timestamp = t;
}
}
@@ -386,9 +390,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (sensor.accelerometer_counter > accel_counter) {
if (att.R_valid) {
/* correct accel bias, now only for Z */
sensor.accelerometer_m_s2[0] -= accel_bias[0];
sensor.accelerometer_m_s2[1] -= accel_bias[1];
sensor.accelerometer_m_s2[2] -= accel_bias[2];
sensor.accelerometer_m_s2[0] -= acc_bias[0];
sensor.accelerometer_m_s2[1] -= acc_bias[1];
sensor.accelerometer_m_s2[2] -= acc_bias[2];
/* transform acceleration vector from body frame to NED frame */
for (int i = 0; i < 3; i++) {
@@ -399,12 +403,12 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
}
accel_corr[0] = accel_NED[0] - x_est[2];
accel_corr[1] = accel_NED[1] - y_est[2];
accel_corr[2] = accel_NED[2] + CONSTANTS_ONE_G - z_est[2];
corr_acc[0] = accel_NED[0] - x_est[2];
corr_acc[1] = accel_NED[1] - y_est[2];
corr_acc[2] = accel_NED[2] + CONSTANTS_ONE_G - z_est[2];
} else {
memset(accel_corr, 0, sizeof(accel_corr));
memset(corr_acc, 0, sizeof(corr_acc));
}
accel_counter = sensor.accelerometer_counter;
@@ -412,7 +416,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
if (sensor.baro_counter > baro_counter) {
baro_corr = baro_offset - sensor.baro_alt_meter - z_est[0];
corr_baro = - sensor.baro_alt_meter - z_est[0];
baro_counter = sensor.baro_counter;
baro_updates++;
}
@@ -427,22 +431,22 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (flow.ground_distance_m > 0.31f && flow.ground_distance_m < 4.0f && att.R[2][2] > 0.7 && flow.ground_distance_m != sonar_prev) {
sonar_time = t;
sonar_prev = flow.ground_distance_m;
sonar_corr = flow.ground_distance_m + surface_offset + z_est[0];
sonar_corr_filtered += (sonar_corr - sonar_corr_filtered) * params.sonar_filt;
corr_sonar = flow.ground_distance_m + surface_offset + z_est[0];
corr_sonar_filtered += (corr_sonar - corr_sonar_filtered) * params.sonar_filt;
if (fabsf(sonar_corr) > params.sonar_err) {
if (fabsf(corr_sonar) > params.sonar_err) {
/* correction is too large: spike or new ground level? */
if (fabsf(sonar_corr - sonar_corr_filtered) > params.sonar_err) {
if (fabsf(corr_sonar - corr_sonar_filtered) > params.sonar_err) {
/* spike detected, ignore */
sonar_corr = 0.0f;
corr_sonar = 0.0f;
sonar_valid = false;
} else {
/* new ground level */
surface_offset -= sonar_corr;
surface_offset -= corr_sonar;
surface_offset_rate = 0.0f;
sonar_corr = 0.0f;
sonar_corr_filtered = 0.0f;
corr_sonar = 0.0f;
corr_sonar_filtered = 0.0f;
sonar_valid_time = t;
sonar_valid = true;
local_pos.surface_bottom_timestamp = t;
@@ -494,21 +498,21 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
/* velocity correction */
flow_corr[0] = flow_v[0] - x_est[1];
flow_corr[1] = flow_v[1] - y_est[1];
corr_flow[0] = flow_v[0] - x_est[1];
corr_flow[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 / fmaxf(1.0f, flow_dist);
w_flow = att.R[2][2] * flow_q_weight / fmaxf(1.0f, flow_dist);
/* if flow is not accurate, reduce weight for it */
// TODO make this more fuzzy
if (!flow_accurate)
flow_w *= 0.05f;
w_flow *= 0.05f;
flow_valid = true;
} else {
flow_w = 0.0f;
w_flow = 0.0f;
flow_valid = false;
}
@@ -524,13 +528,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (gps.fix_type >= 3) {
/* hysteresis for GPS quality */
if (gps_valid) {
if (gps.eph_m > 10.0f) {
if (gps.eph_m > 10.0f || gps.epv_m > 10.0f) {
gps_valid = false;
mavlink_log_info(mavlink_fd, "[inav] GPS signal lost");
}
} else {
if (gps.eph_m < 5.0f) {
if (gps.eph_m < 5.0f && gps.epv_m < 5.0f) {
gps_valid = true;
mavlink_log_info(mavlink_fd, "[inav] GPS signal found");
}
@@ -542,50 +546,58 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (gps_valid) {
/* initialize reference position if needed */
if (!ref_xy_inited) {
if (ref_xy_init_start == 0) {
ref_xy_init_start = t;
if (!ref_inited) {
if (ref_init_start == 0) {
ref_init_start = t;
} else if (t > ref_xy_init_start + ref_xy_init_delay) {
ref_xy_inited = true;
} else if (t > ref_init_start + ref_init_delay) {
ref_inited = true;
/* reference GPS position */
double lat = gps.lat * 1e-7;
double lon = gps.lon * 1e-7;
float alt = gps.alt * 1e-3;
local_pos.ref_lat = gps.lat;
local_pos.ref_lon = gps.lon;
local_pos.ref_alt = alt + z_est[0];
local_pos.ref_timestamp = t;
/* initialize projection */
map_projection_init(lat, lon);
warnx("init ref: lat=%.7f, lon=%.7f", lat, lon);
mavlink_log_info(mavlink_fd, "[inav] init ref: lat=%.7f, lon=%.7f", lat, lon);
warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt);
mavlink_log_info(mavlink_fd, "[inav] init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt);
}
}
if (ref_xy_inited) {
if (ref_inited) {
/* project GPS lat lon to plane */
float gps_proj[2];
map_projection_project(gps.lat * 1e-7, gps.lon * 1e-7, &(gps_proj[0]), &(gps_proj[1]));
/* calculate correction for position */
gps_corr[0][0] = gps_proj[0] - x_est[0];
gps_corr[1][0] = gps_proj[1] - y_est[0];
corr_gps[0][0] = gps_proj[0] - x_est[0];
corr_gps[1][0] = gps_proj[1] - y_est[0];
corr_gps[2][0] = local_pos.ref_alt - gps.alt * 1e-3 - z_est[0];
/* calculate correction for velocity */
if (gps.vel_ned_valid) {
gps_corr[0][1] = gps.vel_n_m_s - x_est[1];
gps_corr[1][1] = gps.vel_e_m_s - y_est[1];
corr_gps[0][1] = gps.vel_n_m_s - x_est[1];
corr_gps[1][1] = gps.vel_e_m_s - y_est[1];
corr_gps[2][1] = gps.vel_d_m_s - z_est[1];
} else {
gps_corr[0][1] = 0.0f;
gps_corr[1][1] = 0.0f;
corr_gps[0][1] = 0.0f;
corr_gps[1][1] = 0.0f;
corr_gps[2][1] = 0.0f;
}
w_gps_xy = 1.0f / fmaxf(1.0f, gps.eph_m);
w_gps_z = 1.0f / fmaxf(1.0f, gps.epv_m);
}
} else {
/* no GPS lock */
memset(gps_corr, 0, sizeof(gps_corr));
ref_xy_init_start = 0;
memset(corr_gps, 0, sizeof(corr_gps));
ref_init_start = 0;
}
gps_updates++;
@@ -609,7 +621,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* check for sonar measurement timeout */
if (sonar_valid && t > sonar_time + sonar_timeout) {
sonar_corr = 0.0f;
corr_sonar = 0.0f;
sonar_valid = false;
}
@@ -617,12 +629,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
t_prev = t;
/* use GPS if it's valid and reference position initialized */
bool use_gps = ref_xy_inited && gps_valid && params.w_pos_gps_p > 0.00001f;
bool use_gps_xy = ref_inited && gps_valid && params.w_xy_gps_p > MIN_VALID_W;
bool use_gps_z = ref_inited && gps_valid && params.w_z_gps_p > MIN_VALID_W;
/* use flow if it's valid and (accurate or no GPS available) */
bool use_flow = flow_valid && (flow_accurate || !use_gps);
bool use_flow = flow_valid && (flow_accurate || !use_gps_xy);
/* try to estimate position during some time after position sources lost */
if (use_gps || use_flow) {
if (use_gps_xy || use_flow) {
xy_src_time = t;
}
@@ -636,36 +649,47 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* surface distance correction */
if (sonar_valid) {
surface_offset_rate -= sonar_corr * 0.5f * params.w_alt_sonar * params.w_alt_sonar * dt;
surface_offset -= sonar_corr * params.w_alt_sonar * dt;
surface_offset_rate -= corr_sonar * 0.5f * params.w_z_sonar * params.w_z_sonar * dt;
surface_offset -= corr_sonar * params.w_z_sonar * dt;
}
}
/* reduce GPS weight if optical flow is good */
float w_pos_gps_p = params.w_pos_gps_p;
float w_pos_gps_v = params.w_pos_gps_v;
float w_xy_gps_p = params.w_xy_gps_p * w_gps_xy;
float w_xy_gps_v = params.w_xy_gps_v * w_gps_xy;
float w_z_gps_p = params.w_z_gps_p * w_gps_z;
float w_z_gps_v = params.w_z_gps_v * w_gps_z;
/* reduce GPS weight if optical flow is good */
if (use_flow && flow_accurate) {
w_pos_gps_p *= params.w_gps_flow;
w_pos_gps_v *= params.w_gps_flow;
w_xy_gps_p *= params.w_gps_flow;
w_xy_gps_v *= params.w_gps_flow;
}
/* baro offset correction */
if (use_gps_z) {
baro_offset += corr_gps[2][0] * w_z_gps_p * dt;
}
/* accelerometer bias correction */
float accel_bias_corr[3] = { 0.0f, 0.0f, 0.0f };
if (use_gps) {
accel_bias_corr[0] -= gps_corr[0][0] * w_pos_gps_p * w_pos_gps_p;
accel_bias_corr[0] -= gps_corr[0][1] * w_pos_gps_v;
accel_bias_corr[1] -= gps_corr[1][0] * w_pos_gps_p * w_pos_gps_p;
accel_bias_corr[1] -= gps_corr[1][1] * w_pos_gps_v;
if (use_gps_xy) {
accel_bias_corr[0] -= corr_gps[0][0] * w_xy_gps_p * w_xy_gps_p;
accel_bias_corr[0] -= corr_gps[0][1] * w_xy_gps_v;
accel_bias_corr[1] -= corr_gps[1][0] * w_xy_gps_p * w_xy_gps_p;
accel_bias_corr[1] -= corr_gps[1][1] * w_xy_gps_v;
}
if (use_gps_z) {
accel_bias_corr[2] -= corr_gps[2][0] * w_z_gps_p * w_z_gps_p;
accel_bias_corr[2] -= corr_gps[2][1] * w_z_gps_v;
}
if (use_flow) {
accel_bias_corr[0] -= flow_corr[0] * params.w_pos_flow;
accel_bias_corr[1] -= flow_corr[1] * params.w_pos_flow;
accel_bias_corr[0] -= corr_flow[0] * params.w_xy_flow;
accel_bias_corr[1] -= corr_flow[1] * params.w_xy_flow;
}
accel_bias_corr[2] -= baro_corr * params.w_alt_baro * params.w_alt_baro;
accel_bias_corr[2] -= (corr_baro + baro_offset) * params.w_z_baro * params.w_z_baro;
/* transform error vector from NED frame to body frame */
for (int i = 0; i < 3; i++) {
@@ -675,15 +699,17 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
c += att.R[j][i] * accel_bias_corr[j];
}
accel_bias[i] += c * params.w_acc_bias * dt;
acc_bias[i] += c * params.w_acc_bias * dt;
}
/* inertial filter prediction for altitude */
inertial_filter_predict(dt, z_est);
/* inertial filter correction for altitude */
inertial_filter_correct(baro_corr, dt, z_est, 0, params.w_alt_baro);
inertial_filter_correct(accel_corr[2], dt, z_est, 2, params.w_alt_acc);
inertial_filter_correct(corr_baro + baro_offset, dt, z_est, 0, params.w_z_baro);
inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p);
inertial_filter_correct(corr_gps[2][1], dt, z_est, 1, w_z_gps_v);
inertial_filter_correct(corr_acc[2], dt, z_est, 2, params.w_z_acc);
if (can_estimate_xy) {
/* inertial filter prediction for position */
@@ -696,27 +722,27 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
/* inertial filter correction for position */
inertial_filter_correct(accel_corr[0], dt, x_est, 2, params.w_pos_acc);
inertial_filter_correct(accel_corr[1], dt, y_est, 2, params.w_pos_acc);
inertial_filter_correct(corr_acc[0], dt, x_est, 2, params.w_xy_acc);
inertial_filter_correct(corr_acc[1], dt, y_est, 2, params.w_xy_acc);
if (use_flow) {
inertial_filter_correct(flow_corr[0], dt, x_est, 1, params.w_pos_flow * flow_w);
inertial_filter_correct(flow_corr[1], dt, y_est, 1, params.w_pos_flow * flow_w);
inertial_filter_correct(corr_flow[0], dt, x_est, 1, params.w_xy_flow * w_flow);
inertial_filter_correct(corr_flow[1], dt, y_est, 1, params.w_xy_flow * w_flow);
}
if (use_gps) {
inertial_filter_correct(gps_corr[0][0], dt, x_est, 0, w_pos_gps_p);
inertial_filter_correct(gps_corr[1][0], dt, y_est, 0, w_pos_gps_p);
if (use_gps_xy) {
inertial_filter_correct(corr_gps[0][0], dt, x_est, 0, w_xy_gps_p);
inertial_filter_correct(corr_gps[1][0], dt, y_est, 0, w_xy_gps_v);
if (gps.vel_ned_valid && t < gps.timestamp_velocity + gps_topic_timeout) {
inertial_filter_correct(gps_corr[0][1], dt, x_est, 1, w_pos_gps_v);
inertial_filter_correct(gps_corr[1][1], dt, y_est, 1, w_pos_gps_v);
inertial_filter_correct(corr_gps[0][1], dt, x_est, 1, w_xy_gps_v);
inertial_filter_correct(corr_gps[1][1], dt, y_est, 1, w_xy_gps_v);
}
}
if (!isfinite(x_est[0]) || !isfinite(y_est[0])) {
warnx("BAD ESTIMATE AFTER CORRECTION dt: %.6f x: %.3f %.3f %.3f y: %.3f %.3f %.3f", dt, x_est[0], x_est[1], x_est[2], y_est[0], y_est[1], y_est[2]);
warnx("BAD ESTIMATE AFTER CORRECTION acc: %.3f %.3f gps x: %.3f %.3f gps y: %.3f %.3f", accel_corr[0], accel_corr[1], gps_corr[0][0], gps_corr[0][1], gps_corr[1][0], gps_corr[1][1]);
warnx("BAD ESTIMATE AFTER CORRECTION acc: %.3f %.3f gps x: %.3f %.3f gps y: %.3f %.3f", corr_acc[0], corr_acc[1], corr_gps[0][0], corr_gps[0][1], corr_gps[1][0], corr_gps[1][1]);
thread_should_exit = true;
}
}
@@ -775,9 +801,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (t > pub_last + pub_interval) {
pub_last = t;
/* publish local position */
local_pos.xy_valid = can_estimate_xy && use_gps;
local_pos.xy_valid = can_estimate_xy && use_gps_xy;
local_pos.v_xy_valid = can_estimate_xy;
local_pos.xy_global = local_pos.xy_valid && use_gps; // will make sense when local position sources (e.g. vicon) will be implemented
local_pos.xy_global = local_pos.xy_valid && use_gps_xy;
local_pos.z_global = local_pos.z_valid && use_gps_z;
local_pos.x = x_est[0];
local_pos.vx = x_est[1];
local_pos.y = y_est[0];
src/modules/position_estimator_inav/position_estimator_inav_params.c
+27 -21
View File
@@ -40,13 +40,15 @@
#include "position_estimator_inav_params.h"
PARAM_DEFINE_FLOAT(INAV_W_ALT_BARO, 0.5f);
PARAM_DEFINE_FLOAT(INAV_W_ALT_ACC, 20.0f);
PARAM_DEFINE_FLOAT(INAV_W_ALT_SONAR, 3.0f);
PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_P, 1.0f);
PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_V, 2.0f);
PARAM_DEFINE_FLOAT(INAV_W_POS_ACC, 10.0f);
PARAM_DEFINE_FLOAT(INAV_W_POS_FLOW, 5.0f);
PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 1.0f);
PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.5f);
PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_V, 1.0f);
PARAM_DEFINE_FLOAT(INAV_W_Z_ACC, 20.0f);
PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_ACC, 10.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f);
PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f);
PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.0f);
PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.0165f);
@@ -59,13 +61,15 @@ PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.3f);
int parameters_init(struct position_estimator_inav_param_handles *h)
{
h->w_alt_baro = param_find("INAV_W_ALT_BARO");
h->w_alt_acc = param_find("INAV_W_ALT_ACC");
h->w_alt_sonar = param_find("INAV_W_ALT_SONAR");
h->w_pos_gps_p = param_find("INAV_W_POS_GPS_P");
h->w_pos_gps_v = param_find("INAV_W_POS_GPS_V");
h->w_pos_acc = param_find("INAV_W_POS_ACC");
h->w_pos_flow = param_find("INAV_W_POS_FLOW");
h->w_z_baro = param_find("INAV_W_Z_BARO");
h->w_z_gps_p = param_find("INAV_W_Z_GPS_P");
h->w_z_gps_v = param_find("INAV_W_Z_GPS_V");
h->w_z_acc = param_find("INAV_W_Z_ACC");
h->w_z_sonar = param_find("INAV_W_Z_SONAR");
h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P");
h->w_xy_gps_v = param_find("INAV_W_XY_GPS_V");
h->w_xy_acc = param_find("INAV_W_XY_ACC");
h->w_xy_flow = param_find("INAV_W_XY_FLOW");
h->w_gps_flow = param_find("INAV_W_GPS_FLOW");
h->w_acc_bias = param_find("INAV_W_ACC_BIAS");
h->flow_k = param_find("INAV_FLOW_K");
@@ -81,13 +85,15 @@ int parameters_init(struct position_estimator_inav_param_handles *h)
int parameters_update(const struct position_estimator_inav_param_handles *h, struct position_estimator_inav_params *p)
{
param_get(h->w_alt_baro, &(p->w_alt_baro));
param_get(h->w_alt_acc, &(p->w_alt_acc));
param_get(h->w_alt_sonar, &(p->w_alt_sonar));
param_get(h->w_pos_gps_p, &(p->w_pos_gps_p));
param_get(h->w_pos_gps_v, &(p->w_pos_gps_v));
param_get(h->w_pos_acc, &(p->w_pos_acc));
param_get(h->w_pos_flow, &(p->w_pos_flow));
param_get(h->w_z_baro, &(p->w_z_baro));
param_get(h->w_z_gps_p, &(p->w_z_gps_p));
param_get(h->w_z_gps_v, &(p->w_z_gps_v));
param_get(h->w_z_acc, &(p->w_z_acc));
param_get(h->w_z_sonar, &(p->w_z_sonar));
param_get(h->w_xy_gps_p, &(p->w_xy_gps_p));
param_get(h->w_xy_gps_v, &(p->w_xy_gps_v));
param_get(h->w_xy_acc, &(p->w_xy_acc));
param_get(h->w_xy_flow, &(p->w_xy_flow));
param_get(h->w_gps_flow, &(p->w_gps_flow));
param_get(h->w_acc_bias, &(p->w_acc_bias));
param_get(h->flow_k, &(p->flow_k));
src/modules/position_estimator_inav/position_estimator_inav_params.h
+18 -14
View File
@@ -41,13 +41,15 @@
#include <systemlib/param/param.h>
struct position_estimator_inav_params {
float w_alt_baro;
float w_alt_acc;
float w_alt_sonar;
float w_pos_gps_p;
float w_pos_gps_v;
float w_pos_acc;
float w_pos_flow;
float w_z_baro;
float w_z_gps_p;
float w_z_gps_v;
float w_z_acc;
float w_z_sonar;
float w_xy_gps_p;
float w_xy_gps_v;
float w_xy_acc;
float w_xy_flow;
float w_gps_flow;
float w_acc_bias;
float flow_k;
@@ -60,13 +62,15 @@ struct position_estimator_inav_params {
};
struct position_estimator_inav_param_handles {
param_t w_alt_baro;
param_t w_alt_acc;
param_t w_alt_sonar;
param_t w_pos_gps_p;
param_t w_pos_gps_v;
param_t w_pos_acc;
param_t w_pos_flow;
param_t w_z_baro;
param_t w_z_gps_p;
param_t w_z_gps_v;
param_t w_z_acc;
param_t w_z_sonar;
param_t w_xy_gps_p;
param_t w_xy_gps_v;
param_t w_xy_acc;
param_t w_xy_flow;
param_t w_gps_flow;
param_t w_acc_bias;
param_t flow_k;