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Merge branch 'ekf_params' of github.com:PX4/Firmware into ekf_params

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This commit is contained in:
Lorenz Meier
2014-04-28 11:41:48 +02:00
parent 0745334ac4 f7065dce84
commit df8fb7d2dc
52 changed files with 1249 additions and 1053 deletions
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src/modules/ekf_att_pos_estimator/estimator.cpp
+20 -9
View File
@@ -153,8 +153,17 @@ AttPosEKF::AttPosEKF() :
useCompass(true),
useRangeFinder(true),
numericalProtection(true),
storeIndex(0)
refSet(false),
storeIndex(0),
gpsHgt(0.0f),
baroHgt(0.0f),
GPSstatus(0),
VtasMeas(0.0f)
{
velNED[0] = 0.0f;
velNED[1] = 0.0f;
velNED[2] = 0.0f;
InitialiseParameters();
ZeroVariables();
}
@@ -1967,9 +1976,9 @@ void AttPosEKF::calcLLH(float (&posNED)[3], float lat, float lon, float hgt, flo
void AttPosEKF::OnGroundCheck()
{
onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 8.0f));
onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 6.0f));
if (staticMode) {
staticMode = !(GPSstatus > GPS_FIX_2D);
staticMode = (!refSet || (GPSstatus < GPS_FIX_3D));
}
}
@@ -2241,21 +2250,21 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) {
// check all integrators
if (!isfinite(summedDelAng.x) || !isfinite(summedDelAng.y) || !isfinite(summedDelAng.z)) {
err_report->statesNaN = true;
ekf_debug("summedDelAng NaN: x: %f y: %f z: %f", summedDelAng.x, summedDelAng.y, summedDelAng.z);
ekf_debug("summedDelAng NaN: x: %f y: %f z: %f", (double)summedDelAng.x, (double)summedDelAng.y, (double)summedDelAng.z);
err = true;
goto out;
} // delta angles
if (!isfinite(correctedDelAng.x) || !isfinite(correctedDelAng.y) || !isfinite(correctedDelAng.z)) {
err_report->statesNaN = true;
ekf_debug("correctedDelAng NaN: x: %f y: %f z: %f", correctedDelAng.x, correctedDelAng.y, correctedDelAng.z);
ekf_debug("correctedDelAng NaN: x: %f y: %f z: %f", (double)correctedDelAng.x, (double)correctedDelAng.y, (double)correctedDelAng.z);
err = true;
goto out;
} // delta angles
if (!isfinite(summedDelVel.x) || !isfinite(summedDelVel.y) || !isfinite(summedDelVel.z)) {
err_report->statesNaN = true;
ekf_debug("summedDelVel NaN: x: %f y: %f z: %f", summedDelVel.x, summedDelVel.y, summedDelVel.z);
ekf_debug("summedDelVel NaN: x: %f y: %f z: %f", (double)summedDelVel.x, (double)summedDelVel.y, (double)summedDelVel.z);
err = true;
goto out;
} // delta velocities
@@ -2298,7 +2307,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) {
if (!isfinite(states[i])) {
err_report->statesNaN = true;
ekf_debug("states NaN: i: %u val: %f", i, states[i]);
ekf_debug("states NaN: i: %u val: %f", i, (double)states[i]);
err = true;
goto out;
} // state matrix
@@ -2372,8 +2381,8 @@ void AttPosEKF::AttitudeInit(float ax, float ay, float az, float mx, float my, f
float magX, magY;
float initialHdg, cosHeading, sinHeading;
initialRoll = atan2(-ay, -az);
initialPitch = atan2(ax, -az);
initialRoll = atan2f(-ay, -az);
initialPitch = atan2f(ax, -az);
cosRoll = cosf(initialRoll);
sinRoll = sinf(initialRoll);
@@ -2490,6 +2499,7 @@ void AttPosEKF::InitialiseFilter(float (&initvelNED)[3], double referenceLat, do
latRef = referenceLat;
lonRef = referenceLon;
hgtRef = referenceHgt;
refSet = true;
memset(&last_ekf_error, 0, sizeof(last_ekf_error));
@@ -2528,6 +2538,7 @@ void AttPosEKF::ZeroVariables()
magstate.DCM.identity();
memset(&current_ekf_state, 0, sizeof(current_ekf_state));
}
void AttPosEKF::GetFilterState(struct ekf_status_report *state)
src/modules/ekf_att_pos_estimator/estimator.h
+1
View File
@@ -211,6 +211,7 @@ public:
double latRef; // WGS-84 latitude of reference point (rad)
double lonRef; // WGS-84 longitude of reference point (rad)
float hgtRef; // WGS-84 height of reference point (m)
bool refSet; ///< flag to indicate if the reference position has been set
Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes
unsigned covSkipCount; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction
src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
+122 -56
View File
@@ -103,8 +103,6 @@ uint32_t millis()
return IMUmsec;
}
static void print_status();
class FixedwingEstimator
{
public:
@@ -179,6 +177,8 @@ private:
struct sensor_combined_s _sensor_combined;
#endif
struct map_projection_reference_s _pos_ref;
float _baro_ref; /**< barometer reference altitude */
float _baro_gps_offset; /**< offset between GPS and baro */
@@ -191,7 +191,9 @@ private:
perf_counter_t _perf_airspeed; ///<local performance counter for airspeed updates
bool _initialized;
bool _baro_init;
bool _gps_initialized;
uint64_t _gps_start_time;
int _mavlink_fd;
@@ -213,6 +215,7 @@ private:
float mage_pnoise;
float magb_pnoise;
float eas_noise;
float pos_stddev_threshold;
} _parameters; /**< local copies of interesting parameters */
struct {
@@ -233,6 +236,7 @@ private:
param_t mage_pnoise;
param_t magb_pnoise;
param_t eas_noise;
param_t pos_stddev_threshold;
} _parameter_handles; /**< handles for interesting parameters */
AttPosEKF *_ekf;
@@ -302,6 +306,25 @@ FixedwingEstimator::FixedwingEstimator() :
_local_pos_pub(-1),
_estimator_status_pub(-1),
_att({}),
_gyro({}),
_accel({}),
_mag({}),
_airspeed({}),
_baro({}),
_vstatus({}),
_global_pos({}),
_local_pos({}),
_gps({}),
_gyro_offsets({}),
_accel_offsets({}),
_mag_offsets({}),
#ifdef SENSOR_COMBINED_SUB
_sensor_combined({}),
#endif
_baro_ref(0.0f),
_baro_gps_offset(0.0f),
@@ -316,6 +339,7 @@ FixedwingEstimator::FixedwingEstimator() :
/* states */
_initialized(false),
_baro_init(false),
_gps_initialized(false),
_mavlink_fd(-1),
_ekf(nullptr)
@@ -340,6 +364,7 @@ FixedwingEstimator::FixedwingEstimator() :
_parameter_handles.mage_pnoise = param_find("PE_MAGE_PNOISE");
_parameter_handles.magb_pnoise = param_find("PE_MAGB_PNOISE");
_parameter_handles.eas_noise = param_find("PE_EAS_NOISE");
_parameter_handles.pos_stddev_threshold = param_find("PE_POSDEV_INIT");
/* fetch initial parameter values */
parameters_update();
@@ -353,6 +378,10 @@ FixedwingEstimator::FixedwingEstimator() :
if (fd > 0) {
res = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&_gyro_offsets);
close(fd);
if (res) {
warnx("G SCALE FAIL");
}
}
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
@@ -360,6 +389,10 @@ FixedwingEstimator::FixedwingEstimator() :
if (fd > 0) {
res = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&_accel_offsets);
close(fd);
if (res) {
warnx("A SCALE FAIL");
}
}
fd = open(MAG_DEVICE_PATH, O_RDONLY);
@@ -367,6 +400,10 @@ FixedwingEstimator::FixedwingEstimator() :
if (fd > 0) {
res = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&_mag_offsets);
close(fd);
if (res) {
warnx("M SCALE FAIL");
}
}
}
@@ -416,6 +453,7 @@ FixedwingEstimator::parameters_update()
param_get(_parameter_handles.mage_pnoise, &(_parameters.mage_pnoise));
param_get(_parameter_handles.magb_pnoise, &(_parameters.magb_pnoise));
param_get(_parameter_handles.eas_noise, &(_parameters.eas_noise));
param_get(_parameter_handles.pos_stddev_threshold, &(_parameters.pos_stddev_threshold));
if (_ekf) {
// _ekf->yawVarScale = 1.0f;
@@ -535,9 +573,8 @@ FixedwingEstimator::task_main()
fds[1].events = POLLIN;
#endif
hrt_abstime start_time = hrt_absolute_time();
bool newDataGps = false;
bool newHgtData = false;
bool newAdsData = false;
bool newDataMag = false;
@@ -572,6 +609,7 @@ FixedwingEstimator::task_main()
if (fds[1].revents & POLLIN) {
/* check vehicle status for changes to publication state */
bool prev_hil = (_vstatus.hil_state == HIL_STATE_ON);
vehicle_status_poll();
bool accel_updated;
@@ -579,6 +617,12 @@ FixedwingEstimator::task_main()
perf_count(_perf_gyro);
/* Reset baro reference if switching to HIL */
if (!prev_hil && (_vstatus.hil_state == HIL_STATE_ON)) {
_baro_init = false;
_gps_initialized = false;
}
/**
* PART ONE: COLLECT ALL DATA
**/
@@ -621,9 +665,11 @@ FixedwingEstimator::task_main()
_ekf->angRate.z = _gyro.z;
}
_ekf->accel.x = _accel.x;
_ekf->accel.y = _accel.y;
_ekf->accel.z = _accel.z;
if (accel_updated) {
_ekf->accel.x = _accel.x;
_ekf->accel.y = _accel.y;
_ekf->accel.z = _accel.z;
}
_ekf->dAngIMU = 0.5f * (angRate + lastAngRate) * dtIMU;
_ekf->lastAngRate = angRate;
@@ -669,9 +715,11 @@ FixedwingEstimator::task_main()
_ekf->angRate.z = _sensor_combined.gyro_rad_s[2];
}
_ekf->accel.x = _sensor_combined.accelerometer_m_s2[0];
_ekf->accel.y = _sensor_combined.accelerometer_m_s2[1];
_ekf->accel.z = _sensor_combined.accelerometer_m_s2[2];
if (accel_updated) {
_ekf->accel.x = _sensor_combined.accelerometer_m_s2[0];
_ekf->accel.y = _sensor_combined.accelerometer_m_s2[1];
_ekf->accel.z = _sensor_combined.accelerometer_m_s2[2];
}
_ekf->dAngIMU = 0.5f * (_ekf->angRate + lastAngRate) * _ekf->dtIMU;
lastAngRate = _ekf->angRate;
@@ -720,6 +768,9 @@ FixedwingEstimator::task_main()
} else {
/* store time of valid GPS measurement */
_gps_start_time = hrt_absolute_time();
/* check if we had a GPS outage for a long time */
if (hrt_elapsed_time(&last_gps) > 5 * 1000 * 1000) {
_ekf->ResetPosition();
@@ -767,10 +818,17 @@ FixedwingEstimator::task_main()
if (baro_updated) {
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
_ekf->baroHgt = _baro.altitude - _baro_ref;
_ekf->baroHgt = _baro.altitude;
// Could use a blend of GPS and baro alt data if desired
_ekf->hgtMea = 1.0f * _ekf->baroHgt + 0.0f * _ekf->gpsHgt;
if (!_baro_init) {
_baro_ref = _baro.altitude;
_baro_init = true;
warnx("ALT REF INIT");
}
newHgtData = true;
} else {
newHgtData = false;
}
#ifndef SENSOR_COMBINED_SUB
@@ -831,21 +889,21 @@ FixedwingEstimator::task_main()
case 1:
{
const char* str = "NaN in states, resetting";
warnx("%s%s", ekfname, str);
warnx("%s", str);
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
break;
}
case 2:
{
const char* str = "stale IMU data, resetting";
warnx("%s%s", ekfname, str);
warnx("%s", str);
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
break;
}
case 3:
{
const char* str = "switching to dynamic state";
warnx("%s%s", ekfname, str);
warnx("%s", str);
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
break;
}
@@ -853,14 +911,14 @@ FixedwingEstimator::task_main()
default:
{
const char* str = "unknown reset condition";
warnx("%s%s", ekfname, str);
warnx("%s", str);
mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str);
}
}
// XXX trap for testing
if (check == 1 || check == 2) {
errx(1, "NUMERIC ERROR IN FILTER");
// warn on fatal resets
if (check == 1) {
warnx("NUMERIC ERROR IN FILTER");
}
// If non-zero, we got a filter reset
@@ -879,7 +937,7 @@ FixedwingEstimator::task_main()
rep.kalman_gain_nan = ekf_report.kalmanGainsNaN;
// Copy all states or at least all that we can fit
int i = 0;
unsigned i = 0;
unsigned ekf_n_states = (sizeof(ekf_report.states) / sizeof(ekf_report.states[0]));
unsigned max_states = (sizeof(rep.states) / sizeof(rep.states[0]));
rep.n_states = (ekf_n_states < max_states) ? ekf_n_states : max_states;
@@ -907,41 +965,52 @@ FixedwingEstimator::task_main()
// XXX we rather want to check all updated
if (hrt_elapsed_time(&start_time) > 100000) {
if (hrt_elapsed_time(&_gps_start_time) > 50000) {
bool home_set;
orb_check(_home_sub, &home_set);
// bool home_set;
// orb_check(_home_sub, &home_set);
// struct home_position_s home;
// orb_copy(ORB_ID(home_position), _home_sub, &home);
if (home_set && !_gps_initialized && _gps.fix_type > 2) {
if (!_gps_initialized && _gps.fix_type > 2 && _gps.eph_m < _parameters.pos_stddev_threshold && _gps.epv_m < _parameters.pos_stddev_threshold) {
_ekf->velNED[0] = _gps.vel_n_m_s;
_ekf->velNED[1] = _gps.vel_e_m_s;
_ekf->velNED[2] = _gps.vel_d_m_s;
struct home_position_s home;
// GPS is in scaled integers, convert
double lat = _gps.lat / 1.0e7;
double lon = _gps.lon / 1.0e7;
float gps_alt = _gps.alt / 1e3f;
orb_copy(ORB_ID(home_position), _home_sub, &home);
// Set up height correctly
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
_baro_gps_offset = gps_alt - _baro.altitude;
_ekf->baroHgt = _baro.altitude;
_ekf->hgtMea = 1.0f * (_ekf->baroHgt - _baro_ref);
double lat = home.lat;
double lon = home.lon;
float alt = home.alt;
// Set up position variables correctly
_ekf->GPSstatus = _gps.fix_type;
_ekf->velNED[0] = _gps.vel_n_m_s;
_ekf->velNED[1] = _gps.vel_e_m_s;
_ekf->velNED[2] = _gps.vel_d_m_s;
_ekf->InitialiseFilter(_ekf->velNED, math::radians(lat), math::radians(lon) - M_PI, alt);
_ekf->gpsLat = math::radians(_gps.lat / (double)1e7);
_ekf->gpsLon = math::radians(_gps.lon / (double)1e7) - M_PI;
_ekf->gpsHgt = _gps.alt / 1e3f;
_ekf->InitialiseFilter(_ekf->velNED, math::radians(lat), math::radians(lon) - M_PI, gps_alt);
// Initialize projection
_local_pos.ref_lat = home.lat * 1e7;
_local_pos.ref_lon = home.lon * 1e7;
_local_pos.ref_alt = alt;
_local_pos.ref_lat = _gps.lat;
_local_pos.ref_lon = _gps.alt;
_local_pos.ref_alt = _baro_ref + _baro_gps_offset;
_local_pos.ref_timestamp = _gps.timestamp_position;
// Store
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
_baro_ref = _baro.altitude;
_ekf->baroHgt = _baro.altitude - _baro_ref;
_baro_gps_offset = _baro_ref - _local_pos.ref_alt;
// XXX this is not multithreading safe
map_projection_init(lat, lon);
mavlink_log_info(_mavlink_fd, "[position estimator] init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt);
map_projection_init(&_pos_ref, lat, lon);
mavlink_log_info(_mavlink_fd, "[ekf] ref: LA %.4f,LO %.4f,ALT %.2f", lat, lon, (double)gps_alt);
warnx("HOME/REF: LA %8.4f,LO %8.4f,ALT %8.2f V: %8.4f %8.4f %8.4f", lat, lon, (double)gps_alt,
(double)_ekf->velNED[0], (double)_ekf->velNED[1], (double)_ekf->velNED[2]);
warnx("GPS: eph: %8.4f, epv: %8.4f", (double)_gps.eph_m, (double)_gps.epv_m);
_gps_initialized = true;
@@ -1043,9 +1112,9 @@ FixedwingEstimator::task_main()
_ekf->fusePosData = false;
}
if (newAdsData && _ekf->statesInitialised) {
if (newHgtData && _ekf->statesInitialised) {
// Could use a blend of GPS and baro alt data if desired
_ekf->hgtMea = 1.0f * _ekf->baroHgt + 0.0f * _ekf->gpsHgt;
_ekf->hgtMea = 1.0f * (_ekf->baroHgt - _baro_ref);
_ekf->fuseHgtData = true;
// recall states stored at time of measurement after adjusting for delays
_ekf->RecallStates(_ekf->statesAtHgtTime, (IMUmsec - _parameters.height_delay_ms));
@@ -1134,7 +1203,7 @@ FixedwingEstimator::task_main()
_local_pos.timestamp = last_sensor_timestamp;
_local_pos.x = _ekf->states[7];
_local_pos.y = _ekf->states[8];
_local_pos.z = _ekf->states[9];
_local_pos.z = _ekf->states[9] + _baro_gps_offset;
_local_pos.vx = _ekf->states[4];
_local_pos.vy = _ekf->states[5];
@@ -1161,18 +1230,16 @@ FixedwingEstimator::task_main()
_global_pos.timestamp = _local_pos.timestamp;
_global_pos.baro_valid = true;
_global_pos.global_valid = true;
if (_local_pos.xy_global) {
double est_lat, est_lon;
map_projection_reproject(_local_pos.x, _local_pos.y, &est_lat, &est_lon);
map_projection_reproject(&_pos_ref, _local_pos.x, _local_pos.y, &est_lat, &est_lon);
_global_pos.lat = est_lat;
_global_pos.lon = est_lon;
_global_pos.time_gps_usec = _gps.time_gps_usec;
_global_pos.eph = _gps.eph_m;
_global_pos.epv = _gps.epv_m;
}
/* set valid values even if position is not valid */
if (_local_pos.v_xy_valid) {
_global_pos.vel_n = _local_pos.vx;
_global_pos.vel_e = _local_pos.vy;
@@ -1184,16 +1251,15 @@ FixedwingEstimator::task_main()
/* local pos alt is negative, change sign and add alt offset */
_global_pos.alt = _local_pos.ref_alt + (-_local_pos.z);
if (_local_pos.z_valid) {
_global_pos.baro_alt = _local_pos.ref_alt - _baro_gps_offset - _local_pos.z;
}
if (_local_pos.v_z_valid) {
_global_pos.vel_d = _local_pos.vz;
}
_global_pos.yaw = _local_pos.yaw;
_global_pos.eph = _gps.eph_m;
_global_pos.epv = _gps.epv_m;
_global_pos.timestamp = _local_pos.timestamp;
/* lazily publish the global position only once available */
@@ -1258,7 +1324,7 @@ FixedwingEstimator::print_status()
// 15-17: Earth Magnetic Field Vector - gauss (North, East, Down)
// 18-20: Body Magnetic Field Vector - gauss (X,Y,Z)
printf("dtIMU: %8.6f dt: %8.6f IMUmsec: %d\n", _ekf->dtIMU, dt, (int)IMUmsec);
printf("dtIMU: %8.6f dt: %8.6f IMUmsec: %d\n", (double)_ekf->dtIMU, (double)dt, (int)IMUmsec);
printf("dvel: %8.6f %8.6f %8.6f accel: %8.6f %8.6f %8.6f\n", (double)_ekf->dVelIMU.x, (double)_ekf->dVelIMU.y, (double)_ekf->dVelIMU.z, (double)_ekf->accel.x, (double)_ekf->accel.y, (double)_ekf->accel.z);
printf("dang: %8.4f %8.4f %8.4f dang corr: %8.4f %8.4f %8.4f\n" , (double)_ekf->dAngIMU.x, (double)_ekf->dAngIMU.y, (double)_ekf->dAngIMU.z, (double)_ekf->correctedDelAng.x, (double)_ekf->correctedDelAng.y, (double)_ekf->correctedDelAng.z);
printf("states (quat) [1-4]: %8.4f, %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[0], (double)_ekf->states[1], (double)_ekf->states[2], (double)_ekf->states[3]);
src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c
+11
View File
@@ -258,3 +258,14 @@ PARAM_DEFINE_FLOAT(PE_MAGE_PNOISE, 0.0003f);
*/
PARAM_DEFINE_FLOAT(PE_MAGB_PNOISE, 0.0003f);
/**
* Threshold for filter initialization.
*
* If the standard deviation of the GPS position estimate is below this threshold
* in meters, the filter will initialize.
*
* @min 0.3
* @max 10.0
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_POSDEV_INIT, 5.0f);