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attitude_estimator_ekf: acceleration compensation based on GPS velocity

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This commit is contained in:
Anton Babushkin 2013-10-29 09:14:52 +04:00
parent 0fa03e65ab
commit e413ae7cbc
1 changed files with 44 additions and 3 deletions
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47
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
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@ -58,6 +58,7 @@
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_control_mode.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/parameter_update.h>
#include <drivers/drv_hrt.h>
@ -214,6 +215,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
struct sensor_combined_s raw;
memset(&raw, 0, sizeof(raw));
struct vehicle_gps_position_s gps;
memset(&gps, 0, sizeof(gps));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct vehicle_control_mode_s control_mode;
@ -222,11 +225,16 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
uint64_t last_data = 0;
uint64_t last_measurement = 0;
float vel_prev[3] = { 0.0f, 0.0f, 0.0f };
/* subscribe to raw data */
int sub_raw = orb_subscribe(ORB_ID(sensor_combined));
/* rate-limit raw data updates to 333 Hz (sensors app publishes at 200, so this is just paranoid) */
orb_set_interval(sub_raw, 3);
/* subscribe to GPS */
int sub_gps = orb_subscribe(ORB_ID(vehicle_gps_position));
/* subscribe to param changes */
int sub_params = orb_subscribe(ORB_ID(parameter_update));
@ -306,6 +314,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* get latest measurements */
orb_copy(ORB_ID(sensor_combined), sub_raw, &raw);
orb_copy(ORB_ID(vehicle_gps_position), sub_gps, &gps);
if (!initialized) {
// XXX disabling init for now
@ -352,9 +361,41 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
sensor_last_timestamp[1] = raw.timestamp;
}
z_k[3] = raw.accelerometer_m_s2[0];
z_k[4] = raw.accelerometer_m_s2[1];
z_k[5] = raw.accelerometer_m_s2[2];
float acc[3];
if (gps.fix_type >= 3 && gps.eph_m < 10.0f && gps.vel_ned_valid && hrt_absolute_time() < gps.timestamp_velocity + 500000) {
/* calculate acceleration in NED frame */
float acc_NED[3];
acc_NED[0] = (gps.vel_n_m_s - vel_prev[0]) / dt;
acc_NED[1] = (gps.vel_e_m_s - vel_prev[1]) / dt;
acc_NED[2] = (gps.vel_d_m_s - vel_prev[2]) / dt;
/* project acceleration to body frame */
for (int i = 0; i < 3; i++) {
acc[i] = 0.0f;
for (int j = 0; j < 3; j++) {
acc[i] += att.R[j][i] * acc_NED[j];
}
}
} else {
acc[0] = 0.0f;
acc[1] = 0.0f;
acc[2] = 0.0f;
}
if (gps.vel_ned_valid) {
vel_prev[0] = gps.vel_n_m_s;
vel_prev[1] = gps.vel_e_m_s;
vel_prev[2] = gps.vel_d_m_s;
} else {
vel_prev[0] = 0.0f;
vel_prev[1] = 0.0f;
vel_prev[2] = 0.0f;
}
z_k[3] = raw.accelerometer_m_s2[0] - acc[0];
z_k[4] = raw.accelerometer_m_s2[1] - acc[1];
z_k[5] = raw.accelerometer_m_s2[2] - acc[2];
/* update magnetometer measurements */
if (sensor_last_count[2] != raw.magnetometer_counter) {