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Merge pull request #1159 from PX4/airspeed_test_fix

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Generalized the airspeed check
This commit is contained in:
Lorenz Meier
2014-07-14 08:45:52 +02:00
parent d8004c8d2d f3549d775c
commit ddc8f1fa5f
9 changed files with 216 additions and 127 deletions
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src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+49 -76
View File
@@ -568,61 +568,26 @@ FixedwingEstimator::check_filter_state()
int check = _ekf->CheckAndBound(&ekf_report);
const char* ekfname = "att pos estimator: ";
const char* const feedback[] = { 0,
"NaN in states, resetting",
"stale IMU data, resetting",
"got initial position lock",
"excessive gyro offsets",
"GPS velocity divergence",
"excessive covariances",
"unknown condition"};
switch (check) {
case 0:
/* all ok */
break;
case 1:
{
const char* str = "NaN in states, resetting";
warnx("%s", str);
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
break;
}
case 2:
{
const char* str = "stale IMU data, resetting";
warnx("%s", str);
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
break;
}
case 3:
{
const char* str = "switching to dynamic state";
warnx("%s", str);
mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
break;
}
case 4:
{
const char* str = "excessive gyro offsets";
warnx("%s", str);
mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
break;
}
case 5:
{
const char* str = "GPS velocity divergence";
warnx("%s", str);
mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
break;
}
case 6:
{
const char* str = "excessive covariances";
warnx("%s", str);
mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str);
break;
// Print out error condition
if (check) {
unsigned warn_index = static_cast<unsigned>(check);
unsigned max_warn_index = (sizeof(feedback) / sizeof(feedback[0]));
if (max_warn_index < warn_index) {
warn_index = max_warn_index;
}
default:
{
const char* str = "unknown reset condition";
warnx("%s", str);
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
}
warnx("reset: %s", feedback[warn_index]);
mavlink_log_critical(_mavlink_fd, "[ekf] re-init: %s", feedback[warn_index]);
}
struct estimator_status_report rep;
@@ -654,6 +619,10 @@ FixedwingEstimator::check_filter_state()
rep.health_flags |= (((uint8_t)ekf_report.posHealth) << 1);
rep.health_flags |= (((uint8_t)ekf_report.hgtHealth) << 2);
rep.health_flags |= (((uint8_t)!ekf_report.gyroOffsetsExcessive) << 3);
// rep.health_flags |= (((uint8_t)ekf_report.onGround) << 4);
// rep.health_flags |= (((uint8_t)ekf_report.staticMode) << 5);
// rep.health_flags |= (((uint8_t)ekf_report.useCompass) << 6);
// rep.health_flags |= (((uint8_t)ekf_report.useAirspeed) << 7);
rep.timeout_flags |= (((uint8_t)ekf_report.velTimeout) << 0);
rep.timeout_flags |= (((uint8_t)ekf_report.posTimeout) << 1);
@@ -1213,10 +1182,10 @@ FixedwingEstimator::task_main()
_baro_gps_offset = 0.0f;
_ekf->InitialiseFilter(initVelNED, 0.0, 0.0, 0.0f, 0.0f);
} else if (_ekf->statesInitialised) {
// We're apparently initialized in this case now
int check = check_filter_state();
if (check) {
@@ -1224,7 +1193,6 @@ FixedwingEstimator::task_main()
continue;
}
// Run the strapdown INS equations every IMU update
_ekf->UpdateStrapdownEquationsNED();
#if 0
@@ -1292,7 +1260,11 @@ FixedwingEstimator::task_main()
// run the fusion step
_ekf->FuseVelposNED();
} else if (_ekf->statesInitialised) {
} else if (!_gps_initialized) {
// force static mode
_ekf->staticMode = true;
// Convert GPS measurements to Pos NE, hgt and Vel NED
_ekf->velNED[0] = 0.0f;
_ekf->velNED[1] = 0.0f;
@@ -1314,7 +1286,7 @@ FixedwingEstimator::task_main()
_ekf->fusePosData = false;
}
if (newHgtData && _ekf->statesInitialised) {
if (newHgtData) {
// Could use a blend of GPS and baro alt data if desired
_ekf->hgtMea = 1.0f * (_ekf->baroHgt - _baro_ref);
_ekf->fuseHgtData = true;
@@ -1328,7 +1300,7 @@ FixedwingEstimator::task_main()
}
// Fuse Magnetometer Measurements
if (newDataMag && _ekf->statesInitialised) {
if (newDataMag) {
_ekf->fuseMagData = true;
_ekf->RecallStates(_ekf->statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms)); // Assume 50 msec avg delay for magnetometer data
@@ -1342,7 +1314,7 @@ FixedwingEstimator::task_main()
}
// Fuse Airspeed Measurements
if (newAdsData && _ekf->statesInitialised && _ekf->VtasMeas > 8.0f) {
if (newAdsData && _ekf->VtasMeas > 7.0f) {
_ekf->fuseVtasData = true;
_ekf->RecallStates(_ekf->statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data
_ekf->FuseAirspeed();
@@ -1410,7 +1382,7 @@ FixedwingEstimator::task_main()
_velocity_xy_filtered = 0.95f*_velocity_xy_filtered + 0.05f*sqrtf(_local_pos.vx*_local_pos.vx + _local_pos.vy*_local_pos.vy);
_velocity_z_filtered = 0.95f*_velocity_z_filtered + 0.05f*fabsf(_local_pos.vz);
_airspeed_filtered = 0.95f*_airspeed_filtered + + 0.05f*_airspeed.true_airspeed_m_s;
_airspeed_filtered = 0.95f*_airspeed_filtered + 0.05f*_airspeed.true_airspeed_m_s;
/* crude land detector for fixedwing only,
@@ -1501,27 +1473,28 @@ FixedwingEstimator::task_main()
}
if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
_wind.timestamp = _global_pos.timestamp;
_wind.windspeed_north = _ekf->states[14];
_wind.windspeed_east = _ekf->states[15];
_wind.covariance_north = _ekf->P[14][14];
_wind.covariance_east = _ekf->P[15][15];
/* lazily publish the wind estimate only once available */
if (_wind_pub > 0) {
/* publish the wind estimate */
orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind);
} else {
/* advertise and publish */
_wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind);
}
}
}
}
if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
_wind.timestamp = _global_pos.timestamp;
_wind.windspeed_north = _ekf->states[14];
_wind.windspeed_east = _ekf->states[15];
_wind.covariance_north = _ekf->P[14][14];
_wind.covariance_east = _ekf->P[15][15];
/* lazily publish the wind estimate only once available */
if (_wind_pub > 0) {
/* publish the wind estimate */
orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind);
} else {
/* advertise and publish */
_wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind);
}
}
}
}
src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+11 -5
View File
@@ -2279,7 +2279,7 @@ void AttPosEKF::calcLLH(float posNED[3], double &lat, double &lon, float &hgt, d
void AttPosEKF::OnGroundCheck()
{
onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 6.0f));
onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 8.0f));
if (staticMode) {
staticMode = (!refSet || (GPSstatus < GPS_FIX_3D));
}
@@ -2879,12 +2879,18 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination)
current_ekf_state.statesNaN = false;
current_ekf_state.velHealth = true;
//current_ekf_state.posHealth = ?;
//current_ekf_state.hgtHealth = ?;
current_ekf_state.posHealth = true;
current_ekf_state.hgtHealth = true;
current_ekf_state.velTimeout = false;
//current_ekf_state.posTimeout = ?;
//current_ekf_state.hgtTimeout = ?;
current_ekf_state.posTimeout = false;
current_ekf_state.hgtTimeout = false;
fuseVelData = false;
fusePosData = false;
fuseHgtData = false;
fuseMagData = false;
fuseVtasData = false;
// Fill variables with valid data
velNED[0] = initvelNED[0];