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msg/vehicle_odometry.msg: simplify covariance handling and update all usage (#19966)

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- replace float32[21] URT covariances with smaller dedicated position/velocity/orientation variances (the crossterms are unused, awkward, and relatively costly)
 - these are easier to casually inspect and more representative of what's actually being used currently and reduces the size of vehicle_odometry_s quite a bit
 - ekf2: add new helper to get roll/pitch/yaw covariances
 - mavlink: receiver ODOMETRY handle more frame types for both pose (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU) and velocity (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU, MAV_FRAME_BODY_FRD)
 - mavlink: delete unused ATT_POS_MOCAP stream (this is just a passthrough)

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2022-08-04 12:55:21 -04:00
committed by GitHub
parent 61f390b0dd
commit dfdfbbfa9c
21 changed files with 838 additions and 646 deletions
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src/modules/ekf2/EKF/ekf_helper.cpp
+58 -1
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@@ -1508,7 +1508,7 @@ Vector3f Ekf::getVisionVelocityInEkfFrame() const
Vector3f Ekf::getVisionVelocityVarianceInEkfFrame() const
{
Matrix3f ev_vel_cov = _ev_sample_delayed.velCov;
Matrix3f ev_vel_cov = matrix::diag(_ev_sample_delayed.velVar);
// rotate measurement into correct earth frame if required
switch (_ev_sample_delayed.vel_frame) {
@@ -1903,3 +1903,60 @@ void Ekf::resetGpsDriftCheckFilters()
_gps_vertical_position_drift_rate_m_s = NAN;
_gps_filtered_horizontal_velocity_m_s = NAN;
}
matrix::SquareMatrix<float, 3> Ekf::orientation_covariances_euler() const
{
// Jacobian matrix (3x4) containing the partial derivatives of the
// Euler angle equations with respect to the quaternions
matrix::Matrix<float, 3, 4> G;
// quaternion components
float q1 = _state.quat_nominal(0);
float q2 = _state.quat_nominal(1);
float q3 = _state.quat_nominal(2);
float q4 = _state.quat_nominal(3);
// numerator components
float n1 = 2 * q1 * q2 + 2 * q2 * q4;
float n2 = -2 * q2 * q2 - 2 * q3 * q3 + 1;
float n3 = 2 * q1 * q4 + 2 * q2 * q3;
float n4 = -2 * q3 * q3 - 2 * q4 * q4 + 1;
float n5 = 2 * q1 * q3 + 2 * q2 * q4;
float n6 = -2 * q1 * q2 - 2 * q2 * q4;
float n7 = -2 * q1 * q4 - 2 * q2 * q3;
// Protect against division by 0
float d1 = n1 * n1 + n2 * n2;
float d2 = n3 * n3 + n4 * n4;
if (fabsf(d1) < FLT_EPSILON) {
d1 = FLT_EPSILON;
}
if (fabsf(d2) < FLT_EPSILON) {
d2 = FLT_EPSILON;
}
// Protect against square root of negative numbers
float x = math::max(-n5 * n5 + 1, 0.0f);
// compute G matrix
float sqrt_x = sqrtf(x);
float g00_03 = 2 * q2 * n2 / d1;
G(0, 0) = g00_03;
G(0, 1) = -4 * q2 * n6 / d1 + (2 * q1 + 2 * q4) * n2 / d1;
G(0, 2) = -4 * q3 * n6 / d1;
G(0, 3) = g00_03;
G(1, 0) = 2 * q3 / sqrt_x;
G(1, 1) = 2 * q4 / sqrt_x;
G(1, 2) = 2 * q1 / sqrt_x;
G(1, 3) = 2 * q2 / sqrt_x;
G(2, 0) = 2 * q4 * n4 / d2;
G(2, 1) = 2 * q3 * n4 / d2;
G(2, 2) = 2 * q2 * n4 / d2 - 4 * q3 * n7 / d2;
G(2, 3) = 2 * q1 * n4 / d2 - 4 * q4 * n7 / d2;
const matrix::SquareMatrix<float, 4> quat_covariances = P.slice<4, 4>(0, 0);
return G * quat_covariances * G.transpose();
}