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Merge remote-tracking branch 'px4/mtecs_estimator' into navigator_rewrite_estimator

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Conflicts:
	src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
This commit is contained in:
Julian Oes
2014-06-07 13:15:44 +02:00
parent 078eed41af b5e70927d7
commit e70604ea95
7 changed files with 436 additions and 346 deletions
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ROMFS/px4fmu_common/init.d/rcS
+4 -5
View File
@@ -428,11 +428,10 @@ then
#
sh /etc/init.d/rc.sensors
if [ $HIL == no ]
then
echo "[init] Start logging"
sh /etc/init.d/rc.logging
fi
#
# Start logging in all modes, including HIL
#
sh /etc/init.d/rc.logging
if [ $GPS == yes ]
then
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+362 -307
View File
@@ -135,6 +135,11 @@ public:
*/
int trip_nan();
/**
* Enable logging.
*/
int enable_logging(bool enable);
private:
bool _task_should_exit; /**< if true, sensor task should exit */
@@ -202,6 +207,7 @@ private:
bool _gyro_valid;
bool _accel_valid;
bool _mag_valid;
bool _ekf_logging; ///< log EKF state
int _mavlink_fd;
@@ -360,6 +366,7 @@ FixedwingEstimator::FixedwingEstimator() :
_gyro_valid(false),
_accel_valid(false),
_mag_valid(false),
_ekf_logging(true),
_mavlink_fd(-1),
_ekf(nullptr),
_velocity_xy_filtered(0.0f),
@@ -454,6 +461,14 @@ FixedwingEstimator::~FixedwingEstimator()
estimator::g_estimator = nullptr;
}
int
FixedwingEstimator::enable_logging(bool logging)
{
_ekf_logging = logging;
return 0;
}
int
FixedwingEstimator::parameters_update()
{
@@ -584,6 +599,11 @@ FixedwingEstimator::task_main()
bool newAdsData = false;
bool newDataMag = false;
float posNED[3] = {0.0f, 0.0f, 0.0f}; // North, East Down position (m)
_gps.vel_n_m_s = 0.0f;
_gps.vel_e_m_s = 0.0f;
_gps.vel_d_m_s = 0.0f;
while (!_task_should_exit) {
/* wait for up to 500ms for data */
@@ -933,8 +953,15 @@ FixedwingEstimator::task_main()
newDataMag = false;
}
/*
* CHECK IF ITS THE RIGHT TIME TO RUN THINGS ALREADY
*/
if (hrt_elapsed_time(&_filter_start_time) < FILTER_INIT_DELAY) {
continue;
}
/**
/*
* CHECK IF THE INPUT DATA IS SANE
*/
int check = _ekf->CheckAndBound();
@@ -966,6 +993,13 @@ FixedwingEstimator::task_main()
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;
}
default:
{
@@ -980,39 +1014,16 @@ FixedwingEstimator::task_main()
warnx("NUMERIC ERROR IN FILTER");
}
// If non-zero, we got a filter reset
if (check) {
struct estimator_status_report rep;
memset(&rep, 0, sizeof(rep));
struct ekf_status_report ekf_report;
struct ekf_status_report ekf_report;
// If non-zero, we got a filter reset
if (check > 0 && check != 3) {
_ekf->GetLastErrorState(&ekf_report);
struct estimator_status_report rep;
memset(&rep, 0, sizeof(rep));
rep.timestamp = hrt_absolute_time();
rep.states_nan = ekf_report.statesNaN;
rep.covariance_nan = ekf_report.covarianceNaN;
rep.kalman_gain_nan = ekf_report.kalmanGainsNaN;
// Copy all states or at least all that we can fit
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;
while ((i < ekf_n_states) && (i < max_states)) {
rep.states[i] = ekf_report.states[i];
i++;
}
if (_estimator_status_pub > 0) {
orb_publish(ORB_ID(estimator_status), _estimator_status_pub, &rep);
} else {
_estimator_status_pub = orb_advertise(ORB_ID(estimator_status), &rep);
}
/* set sensors to de-initialized state */
_gyro_valid = false;
_accel_valid = false;
@@ -1020,37 +1031,80 @@ FixedwingEstimator::task_main()
_baro_init = false;
_gps_initialized = false;
_initialized = false;
last_sensor_timestamp = hrt_absolute_time();
last_run = last_sensor_timestamp;
_ekf->ZeroVariables();
_ekf->statesInitialised = false;
_ekf->dtIMU = 0.01f;
// Let the system re-initialize itself
continue;
} else if (_ekf_logging) {
_ekf->GetFilterState(&ekf_report);
}
if (_ekf_logging || check) {
rep.timestamp = hrt_absolute_time();
rep.nan_flags |= (((uint8_t)ekf_report.angNaN) << 0);
rep.nan_flags |= (((uint8_t)ekf_report.summedDelVelNaN) << 1);
rep.nan_flags |= (((uint8_t)ekf_report.KHNaN) << 2);
rep.nan_flags |= (((uint8_t)ekf_report.KHPNaN) << 3);
rep.nan_flags |= (((uint8_t)ekf_report.PNaN) << 4);
rep.nan_flags |= (((uint8_t)ekf_report.covarianceNaN) << 5);
rep.nan_flags |= (((uint8_t)ekf_report.kalmanGainsNaN) << 6);
rep.nan_flags |= (((uint8_t)ekf_report.statesNaN) << 7);
rep.health_flags |= (((uint8_t)ekf_report.velHealth) << 0);
rep.health_flags |= (((uint8_t)ekf_report.posHealth) << 1);
rep.health_flags |= (((uint8_t)ekf_report.hgtHealth) << 2);
rep.timeout_flags |= (((uint8_t)ekf_report.velTimeout) << 0);
rep.timeout_flags |= (((uint8_t)ekf_report.posTimeout) << 1);
rep.timeout_flags |= (((uint8_t)ekf_report.hgtTimeout) << 2);
// Copy all states or at least all that we can fit
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;
for (unsigned i = 0; i < rep.n_states; i++) {
rep.states[i] = ekf_report.states[i];
}
if (_estimator_status_pub > 0) {
orb_publish(ORB_ID(estimator_status), _estimator_status_pub, &rep);
} else {
_estimator_status_pub = orb_advertise(ORB_ID(estimator_status), &rep);
}
}
/**
* PART TWO: EXECUTE THE FILTER
*
* We run the filter only once all data has been fetched
**/
if ((hrt_elapsed_time(&_filter_start_time) > FILTER_INIT_DELAY) && _baro_init && _gyro_valid && _accel_valid && _mag_valid) {
if (_baro_init && _gyro_valid && _accel_valid && _mag_valid) {
float initVelNED[3];
/* Initialize the filter first */
if (!_gps_initialized && _gps.fix_type > 2 && _gps.eph < _parameters.pos_stddev_threshold && _gps.epv < _parameters.pos_stddev_threshold) {
initVelNED[0] = _gps.vel_n_m_s;
initVelNED[1] = _gps.vel_e_m_s;
initVelNED[2] = _gps.vel_d_m_s;
// GPS is in scaled integers, convert
double lat = _gps.lat / 1.0e7;
double lon = _gps.lon / 1.0e7;
float gps_alt = _gps.alt / 1e3f;
initVelNED[0] = _gps.vel_n_m_s;
initVelNED[1] = _gps.vel_e_m_s;
initVelNED[2] = _gps.vel_d_m_s;
// Set up height correctly
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
_baro_gps_offset = _baro_ref - _baro.altitude;
@@ -1077,10 +1131,13 @@ FixedwingEstimator::task_main()
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);
#if 0
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("BARO: %8.4f m / ref: %8.4f m / gps offs: %8.4f m", (double)_ekf->baroHgt, (double)_baro_ref, (double)_baro_gps_offset);
warnx("GPS: eph: %8.4f, epv: %8.4f, declination: %8.4f", (double)_gps.eph, (double)_gps.epv, (double)math::degrees(declination));
#endif
_gps_initialized = true;
@@ -1089,298 +1146,284 @@ FixedwingEstimator::task_main()
initVelNED[0] = 0.0f;
initVelNED[1] = 0.0f;
initVelNED[2] = 0.0f;
_ekf->posNED[0] = 0.0f;
_ekf->posNED[1] = 0.0f;
_ekf->posNED[2] = 0.0f;
_ekf->posNE[0] = _ekf->posNED[0];
_ekf->posNE[1] = _ekf->posNED[1];
_ekf->posNE[0] = posNED[0];
_ekf->posNE[1] = posNED[1];
_local_pos.ref_alt = _baro_ref;
_baro_gps_offset = 0.0f;
_ekf->InitialiseFilter(initVelNED, 0.0, 0.0, 0.0f, 0.0f);
}
}
} else if (_ekf->statesInitialised) {
// If valid IMU data and states initialised, predict states and covariances
if (_ekf->statesInitialised) {
// Run the strapdown INS equations every IMU update
_ekf->UpdateStrapdownEquationsNED();
#if 0
// debug code - could be tunred into a filter mnitoring/watchdog function
float tempQuat[4];
for (uint8_t j = 0; j <= 3; j++) tempQuat[j] = states[j];
quat2eul(eulerEst, tempQuat);
for (uint8_t j = 0; j <= 2; j++) eulerDif[j] = eulerEst[j] - ahrsEul[j];
if (eulerDif[2] > pi) eulerDif[2] -= 2 * pi;
if (eulerDif[2] < -pi) eulerDif[2] += 2 * pi;
#endif
// store the predicted states for subsequent use by measurement fusion
_ekf->StoreStates(IMUmsec);
// Check if on ground - status is used by covariance prediction
_ekf->OnGroundCheck();
// sum delta angles and time used by covariance prediction
_ekf->summedDelAng = _ekf->summedDelAng + _ekf->correctedDelAng;
_ekf->summedDelVel = _ekf->summedDelVel + _ekf->dVelIMU;
dt += _ekf->dtIMU;
// perform a covariance prediction if the total delta angle has exceeded the limit
// or the time limit will be exceeded at the next IMU update
if ((dt >= (_ekf->covTimeStepMax - _ekf->dtIMU)) || (_ekf->summedDelAng.length() > _ekf->covDelAngMax)) {
_ekf->CovariancePrediction(dt);
_ekf->summedDelAng.zero();
_ekf->summedDelVel.zero();
dt = 0.0f;
}
_initialized = true;
}
// Fuse GPS Measurements
if (newDataGps && _gps_initialized) {
// Convert GPS measurements to Pos NE, hgt and Vel NED
_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->calcposNED(_ekf->posNED, _ekf->gpsLat, _ekf->gpsLon, _ekf->gpsHgt, _ekf->latRef, _ekf->lonRef, _ekf->hgtRef);
_ekf->posNE[0] = _ekf->posNED[0];
_ekf->posNE[1] = _ekf->posNED[1];
// set fusion flags
_ekf->fuseVelData = true;
_ekf->fusePosData = true;
// recall states stored at time of measurement after adjusting for delays
_ekf->RecallStates(_ekf->statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms));
_ekf->RecallStates(_ekf->statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms));
// run the fusion step
_ekf->FuseVelposNED();
} else if (_ekf->statesInitialised) {
// Convert GPS measurements to Pos NE, hgt and Vel NED
_ekf->velNED[0] = 0.0f;
_ekf->velNED[1] = 0.0f;
_ekf->velNED[2] = 0.0f;
_ekf->posNED[0] = 0.0f;
_ekf->posNED[1] = 0.0f;
_ekf->posNED[2] = 0.0f;
_ekf->posNE[0] = _ekf->posNED[0];
_ekf->posNE[1] = _ekf->posNED[1];
// set fusion flags
_ekf->fuseVelData = true;
_ekf->fusePosData = true;
// recall states stored at time of measurement after adjusting for delays
_ekf->RecallStates(_ekf->statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms));
_ekf->RecallStates(_ekf->statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms));
// run the fusion step
_ekf->FuseVelposNED();
} else {
_ekf->fuseVelData = false;
_ekf->fusePosData = false;
}
if (newHgtData && _ekf->statesInitialised) {
// Could use a blend of GPS and baro alt data if desired
_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));
// run the fusion step
_ekf->FuseVelposNED();
} else {
_ekf->fuseHgtData = false;
}
// Fuse Magnetometer Measurements
if (newDataMag && _ekf->statesInitialised) {
_ekf->fuseMagData = true;
_ekf->RecallStates(_ekf->statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms)); // Assume 50 msec avg delay for magnetometer data
} else {
_ekf->fuseMagData = false;
}
if (_ekf->statesInitialised) _ekf->FuseMagnetometer();
// Fuse Airspeed Measurements
if (newAdsData && _ekf->statesInitialised && _ekf->VtasMeas > 8.0f) {
_ekf->fuseVtasData = true;
_ekf->RecallStates(_ekf->statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data
_ekf->FuseAirspeed();
} else {
_ekf->fuseVtasData = false;
}
// Publish results
if (_initialized && (check == OK)) {
// We're apparently initialized in this case now
// Run the strapdown INS equations every IMU update
_ekf->UpdateStrapdownEquationsNED();
#if 0
// debug code - could be tunred into a filter mnitoring/watchdog function
float tempQuat[4];
// State vector:
// 0-3: quaternions (q0, q1, q2, q3)
// 4-6: Velocity - m/sec (North, East, Down)
// 7-9: Position - m (North, East, Down)
// 10-12: Delta Angle bias - rad (X,Y,Z)
// 13-14: Wind Vector - m/sec (North,East)
// 15-17: Earth Magnetic Field Vector - milligauss (North, East, Down)
// 18-20: Body Magnetic Field Vector - milligauss (X,Y,Z)
for (uint8_t j = 0; j <= 3; j++) tempQuat[j] = states[j];
math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]);
math::Matrix<3, 3> R = q.to_dcm();
math::Vector<3> euler = R.to_euler();
quat2eul(eulerEst, tempQuat);
for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
_att.R[i][j] = R(i, j);
for (uint8_t j = 0; j <= 2; j++) eulerDif[j] = eulerEst[j] - ahrsEul[j];
_att.timestamp = last_sensor_timestamp;
_att.q[0] = _ekf->states[0];
_att.q[1] = _ekf->states[1];
_att.q[2] = _ekf->states[2];
_att.q[3] = _ekf->states[3];
_att.q_valid = true;
_att.R_valid = true;
if (eulerDif[2] > pi) eulerDif[2] -= 2 * pi;
_att.timestamp = last_sensor_timestamp;
_att.roll = euler(0);
_att.pitch = euler(1);
_att.yaw = euler(2);
if (eulerDif[2] < -pi) eulerDif[2] += 2 * pi;
_att.rollspeed = _ekf->angRate.x - _ekf->states[10];
_att.pitchspeed = _ekf->angRate.y - _ekf->states[11];
_att.yawspeed = _ekf->angRate.z - _ekf->states[12];
// gyro offsets
_att.rate_offsets[0] = _ekf->states[10];
_att.rate_offsets[1] = _ekf->states[11];
_att.rate_offsets[2] = _ekf->states[12];
#endif
// store the predicted states for subsequent use by measurement fusion
_ekf->StoreStates(IMUmsec);
// Check if on ground - status is used by covariance prediction
_ekf->OnGroundCheck();
// sum delta angles and time used by covariance prediction
_ekf->summedDelAng = _ekf->summedDelAng + _ekf->correctedDelAng;
_ekf->summedDelVel = _ekf->summedDelVel + _ekf->dVelIMU;
dt += _ekf->dtIMU;
/* lazily publish the attitude only once available */
if (_att_pub > 0) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude), _att_pub, &_att);
// perform a covariance prediction if the total delta angle has exceeded the limit
// or the time limit will be exceeded at the next IMU update
if ((dt >= (_ekf->covTimeStepMax - _ekf->dtIMU)) || (_ekf->summedDelAng.length() > _ekf->covDelAngMax)) {
_ekf->CovariancePrediction(dt);
_ekf->summedDelAng.zero();
_ekf->summedDelVel.zero();
dt = 0.0f;
}
} else {
/* advertise and publish */
_att_pub = orb_advertise(ORB_ID(vehicle_attitude), &_att);
}
}
_initialized = true;
if (_gps_initialized) {
_local_pos.timestamp = last_sensor_timestamp;
_local_pos.x = _ekf->states[7];
_local_pos.y = _ekf->states[8];
// XXX need to announce change of Z reference somehow elegantly
_local_pos.z = _ekf->states[9] - _baro_gps_offset;
// Fuse GPS Measurements
if (newDataGps && _gps_initialized) {
// Convert GPS measurements to Pos NE, hgt and Vel NED
_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->calcposNED(posNED, _ekf->gpsLat, _ekf->gpsLon, _ekf->gpsHgt, _ekf->latRef, _ekf->lonRef, _ekf->hgtRef);
_local_pos.vx = _ekf->states[4];
_local_pos.vy = _ekf->states[5];
_local_pos.vz = _ekf->states[6];
_ekf->posNE[0] = posNED[0];
_ekf->posNE[1] = posNED[1];
// set fusion flags
_ekf->fuseVelData = true;
_ekf->fusePosData = true;
// recall states stored at time of measurement after adjusting for delays
_ekf->RecallStates(_ekf->statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms));
_ekf->RecallStates(_ekf->statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms));
// run the fusion step
_ekf->FuseVelposNED();
_local_pos.xy_valid = _gps_initialized;
_local_pos.z_valid = true;
_local_pos.v_xy_valid = _gps_initialized;
_local_pos.v_z_valid = true;
_local_pos.xy_global = true;
} else if (_ekf->statesInitialised) {
// Convert GPS measurements to Pos NE, hgt and Vel NED
_ekf->velNED[0] = 0.0f;
_ekf->velNED[1] = 0.0f;
_ekf->velNED[2] = 0.0f;
_local_pos.z_global = false;
_local_pos.yaw = _att.yaw;
_ekf->posNE[0] = 0.0f;
_ekf->posNE[1] = 0.0f;
// set fusion flags
_ekf->fuseVelData = true;
_ekf->fusePosData = true;
// recall states stored at time of measurement after adjusting for delays
_ekf->RecallStates(_ekf->statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms));
_ekf->RecallStates(_ekf->statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms));
// run the fusion step
_ekf->FuseVelposNED();
_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 = 0.95*_airspeed_filtered + + 0.05*_airspeed.true_airspeed_m_s;
} else {
_ekf->fuseVelData = false;
_ekf->fusePosData = false;
}
if (newHgtData && _ekf->statesInitialised) {
// Could use a blend of GPS and baro alt data if desired
_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));
// run the fusion step
_ekf->FuseVelposNED();
} else {
_ekf->fuseHgtData = false;
}
// Fuse Magnetometer Measurements
if (newDataMag && _ekf->statesInitialised) {
_ekf->fuseMagData = true;
_ekf->RecallStates(_ekf->statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms)); // Assume 50 msec avg delay for magnetometer data
} else {
_ekf->fuseMagData = false;
}
if (_ekf->statesInitialised) _ekf->FuseMagnetometer();
// Fuse Airspeed Measurements
if (newAdsData && _ekf->statesInitialised && _ekf->VtasMeas > 8.0f) {
_ekf->fuseVtasData = true;
_ekf->RecallStates(_ekf->statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data
_ekf->FuseAirspeed();
} else {
_ekf->fuseVtasData = false;
}
/* crude land detector for fixedwing only,
* TODO: adapt so that it works for both, maybe move to another location
*/
if (_velocity_xy_filtered < 5
&& _velocity_z_filtered < 10
&& _airspeed_filtered < 10) {
_local_pos.landed = true;
} else {
_local_pos.landed = false;
}
// Output results
math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]);
math::Matrix<3, 3> R = q.to_dcm();
math::Vector<3> euler = R.to_euler();
/* lazily publish the local position only once available */
if (_local_pos_pub > 0) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &_local_pos);
for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
_att.R[i][j] = R(i, j);
} else {
/* advertise and publish */
_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &_local_pos);
}
_att.timestamp = last_sensor_timestamp;
_att.q[0] = _ekf->states[0];
_att.q[1] = _ekf->states[1];
_att.q[2] = _ekf->states[2];
_att.q[3] = _ekf->states[3];
_att.q_valid = true;
_att.R_valid = true;
_global_pos.timestamp = _local_pos.timestamp;
_att.timestamp = last_sensor_timestamp;
_att.roll = euler(0);
_att.pitch = euler(1);
_att.yaw = euler(2);
if (_local_pos.xy_global) {
double 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;
_global_pos.epv = _gps.epv;
}
_att.rollspeed = _ekf->angRate.x - _ekf->states[10];
_att.pitchspeed = _ekf->angRate.y - _ekf->states[11];
_att.yawspeed = _ekf->angRate.z - _ekf->states[12];
// gyro offsets
_att.rate_offsets[0] = _ekf->states[10];
_att.rate_offsets[1] = _ekf->states[11];
_att.rate_offsets[2] = _ekf->states[12];
if (_local_pos.v_xy_valid) {
_global_pos.vel_n = _local_pos.vx;
_global_pos.vel_e = _local_pos.vy;
} else {
_global_pos.vel_n = 0.0f;
_global_pos.vel_e = 0.0f;
}
/* local pos alt is negative, change sign and add alt offsets */
_global_pos.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;
_global_pos.epv = _gps.epv;
_global_pos.timestamp = _local_pos.timestamp;
/* lazily publish the global position only once available */
if (_global_pos_pub > 0) {
/* publish the global position */
orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &_global_pos);
} else {
/* advertise and publish */
_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &_global_pos);
}
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 = 0.0f; // XXX get form filter
_wind.covariance_east = 0.0f;
/* 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);
/* lazily publish the attitude only once available */
if (_att_pub > 0) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude), _att_pub, &_att);
} else {
/* advertise and publish */
_wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind);
_att_pub = orb_advertise(ORB_ID(vehicle_attitude), &_att);
}
if (_gps_initialized) {
_local_pos.timestamp = last_sensor_timestamp;
_local_pos.x = _ekf->states[7];
_local_pos.y = _ekf->states[8];
// XXX need to announce change of Z reference somehow elegantly
_local_pos.z = _ekf->states[9] - _baro_gps_offset;
_local_pos.vx = _ekf->states[4];
_local_pos.vy = _ekf->states[5];
_local_pos.vz = _ekf->states[6];
_local_pos.xy_valid = _gps_initialized;
_local_pos.z_valid = true;
_local_pos.v_xy_valid = _gps_initialized;
_local_pos.v_z_valid = true;
_local_pos.xy_global = true;
_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;
/* crude land detector for fixedwing only,
* TODO: adapt so that it works for both, maybe move to another location
*/
if (_velocity_xy_filtered < 5
&& _velocity_z_filtered < 10
&& _airspeed_filtered < 10) {
_local_pos.landed = true;
} else {
_local_pos.landed = false;
}
_local_pos.z_global = false;
_local_pos.yaw = _att.yaw;
/* lazily publish the local position only once available */
if (_local_pos_pub > 0) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &_local_pos);
} else {
/* advertise and publish */
_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &_local_pos);
}
_global_pos.timestamp = _local_pos.timestamp;
if (_local_pos.xy_global) {
double 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;
_global_pos.epv = _gps.epv;
}
if (_local_pos.v_xy_valid) {
_global_pos.vel_n = _local_pos.vx;
_global_pos.vel_e = _local_pos.vy;
} else {
_global_pos.vel_n = 0.0f;
_global_pos.vel_e = 0.0f;
}
/* local pos alt is negative, change sign and add alt offsets */
_global_pos.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;
_global_pos.epv = _gps.epv;
_global_pos.timestamp = _local_pos.timestamp;
/* lazily publish the global position only once available */
if (_global_pos_pub > 0) {
/* publish the global position */
orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &_global_pos);
} else {
/* advertise and publish */
_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &_global_pos);
}
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 = 0.0f; // XXX get form filter
_wind.covariance_east = 0.0f;
/* 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);
}
}
}
}
}
}
@@ -1430,23 +1473,24 @@ FixedwingEstimator::print_status()
// 4-6: Velocity - m/sec (North, East, Down)
// 7-9: Position - m (North, East, Down)
// 10-12: Delta Angle bias - rad (X,Y,Z)
// 13-14: Wind Vector - m/sec (North,East)
// 15-17: Earth Magnetic Field Vector - gauss (North, East, Down)
// 18-20: Body Magnetic Field Vector - gauss (X,Y,Z)
// 13: Accelerometer offset
// 14-15: Wind Vector - m/sec (North,East)
// 16-18: Earth Magnetic Field Vector - gauss (North, East, Down)
// 19-21: Body Magnetic Field Vector - gauss (X,Y,Z)
printf("dtIMU: %8.6f IMUmsec: %d\n", (double)_ekf->dtIMU, (int)IMUmsec);
printf("ref alt: %8.6f\n", (double)_local_pos.ref_alt);
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]);
printf("states (vel m/s) [5-7]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[4], (double)_ekf->states[5], (double)_ekf->states[6]);
printf("states (pos m) [8-10]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[7], (double)_ekf->states[8], (double)_ekf->states[9]);
printf("states (delta ang) [11-13]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[10], (double)_ekf->states[11], (double)_ekf->states[12]);
printf("states (accel offs) [14]: %8.4f\n", (double)_ekf->states[13]);
printf("states (wind) [15-16]: %8.4f, %8.4f\n", (double)_ekf->states[14], (double)_ekf->states[15]);
printf("states (earth mag) [17-19]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[16], (double)_ekf->states[17], (double)_ekf->states[18]);
printf("states (body mag) [20-22]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[19], (double)_ekf->states[20], (double)_ekf->states[21]);
printf("states (terrain) [23]: %8.4f\n", (double)_ekf->states[22]);
printf("states (quat) [0-3]: %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]);
printf("states (vel m/s) [4-6]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[4], (double)_ekf->states[5], (double)_ekf->states[6]);
printf("states (pos m) [7-9]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[7], (double)_ekf->states[8], (double)_ekf->states[9]);
printf("states (delta ang) [10-12]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[10], (double)_ekf->states[11], (double)_ekf->states[12]);
printf("states (accel offs) [13]: %8.4f\n", (double)_ekf->states[13]);
printf("states (wind) [14-15]: %8.4f, %8.4f\n", (double)_ekf->states[14], (double)_ekf->states[15]);
printf("states (earth mag) [16-18]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[16], (double)_ekf->states[17], (double)_ekf->states[18]);
printf("states (body mag) [19-21]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[19], (double)_ekf->states[20], (double)_ekf->states[21]);
printf("states (terrain) [22]: %8.4f\n", (double)_ekf->states[22]);
printf("states: %s %s %s %s %s %s %s %s %s %s\n",
(_ekf->statesInitialised) ? "INITIALIZED" : "NON_INIT",
(_ekf->onGround) ? "ON_GROUND" : "AIRBORNE",
@@ -1512,7 +1556,7 @@ int FixedwingEstimator::trip_nan() {
int ekf_att_pos_estimator_main(int argc, char *argv[])
{
if (argc < 1)
errx(1, "usage: ekf_att_pos_estimator {start|stop|status}");
errx(1, "usage: ekf_att_pos_estimator {start|stop|status|logging}");
if (!strcmp(argv[1], "start")) {
@@ -1566,6 +1610,17 @@ int ekf_att_pos_estimator_main(int argc, char *argv[])
}
}
if (!strcmp(argv[1], "logging")) {
if (estimator::g_estimator) {
int ret = estimator::g_estimator->enable_logging(true);
exit(ret);
} else {
errx(1, "not running");
}
}
warnx("unrecognized command");
return 1;
}
src/modules/ekf_att_pos_estimator/estimator.cpp
+25 -9
View File
@@ -145,7 +145,7 @@ AttPosEKF::AttPosEKF()
* instead to allow clean in-air re-initialization.
*/
{
memset(&last_ekf_error, 0, sizeof(last_ekf_error));
ZeroVariables();
InitialiseParameters();
}
@@ -2283,21 +2283,21 @@ 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;
err_report->angNaN = true;
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;
err_report->angNaN = true;
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;
err_report->summedDelVelNaN = true;
ekf_debug("summedDelVel NaN: x: %f y: %f z: %f", (double)summedDelVel.x, (double)summedDelVel.y, (double)summedDelVel.z);
err = true;
goto out;
@@ -2308,7 +2308,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) {
for (unsigned j = 0; j < n_states; j++) {
if (!isfinite(KH[i][j])) {
err_report->covarianceNaN = true;
err_report->KHNaN = true;
err = true;
ekf_debug("KH NaN");
goto out;
@@ -2316,7 +2316,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) {
if (!isfinite(KHP[i][j])) {
err_report->covarianceNaN = true;
err_report->KHPNaN = true;
err = true;
ekf_debug("KHP NaN");
goto out;
@@ -2382,7 +2382,7 @@ int AttPosEKF::CheckAndBound()
// Reset the filter if the IMU data is too old
if (dtIMU > 0.3f) {
FillErrorReport(&last_ekf_error);
ResetVelocity();
ResetPosition();
ResetHeight();
@@ -2397,6 +2397,7 @@ int AttPosEKF::CheckAndBound()
// Check if we switched between states
if (currStaticMode != staticMode) {
FillErrorReport(&last_ekf_error);
ResetVelocity();
ResetPosition();
ResetHeight();
@@ -2405,6 +2406,15 @@ int AttPosEKF::CheckAndBound()
return 3;
}
// Reset the filter if gyro offsets are excessive
if (fabs(states[10]) > 1.0f || fabsf(states[11]) > 1.0f || fabsf(states[12]) > 1.0f) {
InitializeDynamic(velNED, magDeclination);
// that's all we can do here, return
return 4;
}
return 0;
}
@@ -2527,12 +2537,12 @@ void AttPosEKF::InitialiseFilter(float (&initvelNED)[3], double referenceLat, do
// we are at reference altitude, so measurement must be zero
hgtMea = 0.0f;
posNE[0] = 0.0f;
posNE[1] = 0.0f;
// the baro offset must be this difference now
baroHgtOffset = baroHgt - referenceHgt;
memset(&last_ekf_error, 0, sizeof(last_ekf_error));
InitializeDynamic(initvelNED, declination);
}
@@ -2600,6 +2610,12 @@ void AttPosEKF::ZeroVariables()
void AttPosEKF::GetFilterState(struct ekf_status_report *state)
{
// Copy states
for (unsigned i = 0; i < n_states; i++) {
current_ekf_state.states[i] = states[i];
}
memcpy(state, &current_ekf_state, sizeof(*state));
}
src/modules/ekf_att_pos_estimator/estimator.h
+6 -2
View File
@@ -66,9 +66,14 @@ struct ekf_status_report {
uint32_t posFailTime;
uint32_t hgtFailTime;
float states[n_states];
bool statesNaN;
bool angNaN;
bool summedDelVelNaN;
bool KHNaN;
bool KHPNaN;
bool PNaN;
bool covarianceNaN;
bool kalmanGainsNaN;
bool statesNaN;
};
class AttPosEKF {
@@ -200,7 +205,6 @@ public:
float hgtMea; // measured height (m)
float baroHgtOffset; ///< the baro (weather) offset from normalized altitude
float rngMea; // Ground distance
float posNED[3]; // North, East Down position (m)
float innovMag[3]; // innovation output
float varInnovMag[3]; // innovation variance output
src/modules/sdlog2/sdlog2.c
+17 -10
View File
@@ -976,7 +976,8 @@ int sdlog2_thread_main(int argc, char *argv[])
struct log_BATT_s log_BATT;
struct log_DIST_s log_DIST;
struct log_TELE_s log_TELE;
struct log_ESTM_s log_ESTM;
struct log_EST0_s log_EST0;
struct log_EST1_s log_EST1;
struct log_PWR_s log_PWR;
struct log_VICN_s log_VICN;
struct log_GS0A_s log_GS0A;
@@ -1489,15 +1490,21 @@ int sdlog2_thread_main(int argc, char *argv[])
/* --- ESTIMATOR STATUS --- */
if (copy_if_updated(ORB_ID(estimator_status), subs.estimator_status_sub, &buf.estimator_status)) {
log_msg.msg_type = LOG_ESTM_MSG;
unsigned maxcopy = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_ESTM.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_ESTM.s);
memset(&(log_msg.body.log_ESTM.s), 0, sizeof(log_msg.body.log_ESTM.s));
memcpy(&(log_msg.body.log_ESTM.s), buf.estimator_status.states, maxcopy);
log_msg.body.log_ESTM.n_states = buf.estimator_status.n_states;
log_msg.body.log_ESTM.states_nan = buf.estimator_status.states_nan;
log_msg.body.log_ESTM.covariance_nan = buf.estimator_status.covariance_nan;
log_msg.body.log_ESTM.kalman_gain_nan = buf.estimator_status.kalman_gain_nan;
LOGBUFFER_WRITE_AND_COUNT(ESTM);
log_msg.msg_type = LOG_EST0_MSG;
unsigned maxcopy0 = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_EST0.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_EST0.s);
memset(&(log_msg.body.log_EST0.s), 0, sizeof(log_msg.body.log_EST0.s));
memcpy(&(log_msg.body.log_EST0.s), buf.estimator_status.states, maxcopy0);
log_msg.body.log_EST0.n_states = buf.estimator_status.n_states;
log_msg.body.log_EST0.nan_flags = buf.estimator_status.nan_flags;
log_msg.body.log_EST0.health_flags = buf.estimator_status.health_flags;
log_msg.body.log_EST0.timeout_flags = buf.estimator_status.timeout_flags;
LOGBUFFER_WRITE_AND_COUNT(EST0);
log_msg.msg_type = LOG_EST1_MSG;
unsigned maxcopy1 = ((sizeof(buf.estimator_status.states) - maxcopy0) < sizeof(log_msg.body.log_EST1.s)) ? (sizeof(buf.estimator_status.states) - maxcopy0) : sizeof(log_msg.body.log_EST1.s);
memset(&(log_msg.body.log_EST1.s), 0, sizeof(log_msg.body.log_EST1.s));
memcpy(&(log_msg.body.log_EST1.s), buf.estimator_status.states + maxcopy0, maxcopy1);
LOGBUFFER_WRITE_AND_COUNT(EST1);
}
/* --- TECS STATUS --- */
src/modules/sdlog2/sdlog2_messages.h
+19 -10
View File
@@ -288,15 +288,7 @@ struct log_TELE_s {
uint8_t txbuf;
};
/* --- ESTM - ESTIMATOR STATUS --- */
#define LOG_ESTM_MSG 23
struct log_ESTM_s {
float s[10];
uint8_t n_states;
uint8_t states_nan;
uint8_t covariance_nan;
uint8_t kalman_gain_nan;
};
// ID 23 available
/* --- PWR - ONBOARD POWER SYSTEM --- */
#define LOG_PWR_MSG 24
@@ -375,6 +367,22 @@ struct log_WIND_s {
float cov_y;
};
/* --- EST0 - ESTIMATOR STATUS --- */
#define LOG_EST0_MSG 32
struct log_EST0_s {
float s[12];
uint8_t n_states;
uint8_t nan_flags;
uint8_t health_flags;
uint8_t timeout_flags;
};
/* --- EST1 - ESTIMATOR STATUS --- */
#define LOG_EST1_MSG 33
struct log_EST1_s {
float s[16];
};
/********** SYSTEM MESSAGES, ID > 0x80 **********/
/* --- TIME - TIME STAMP --- */
@@ -423,7 +431,8 @@ static const struct log_format_s log_formats[] = {
LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"),
LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"),
LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"),
LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,nStat,statNaN,covNaN,kGainNaN"),
LOG_FORMAT(EST0, "ffffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,nStat,fNaN,fHealth,fTOut"),
LOG_FORMAT(EST1, "ffffffffffffffff", "s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"),
LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"),
LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"),
LOG_FORMAT(GS0A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"),
src/modules/uORB/topics/estimator_status.h
+3 -3
View File
@@ -64,9 +64,9 @@ struct estimator_status_report {
uint64_t timestamp; /**< Timestamp in microseconds since boot */
float states[32]; /**< Internal filter states */
float n_states; /**< Number of states effectively used */
bool states_nan; /**< If set to true, one of the states is NaN */
bool covariance_nan; /**< If set to true, the covariance matrix went NaN */
bool kalman_gain_nan; /**< If set to true, the Kalman gain matrix went NaN */
uint8_t nan_flags; /**< Bitmask to indicate NaN states */
uint8_t health_flags; /**< Bitmask to indicate sensor health states (vel, pos, hgt) */
uint8_t timeout_flags; /**< Bitmask to indicate timeout flags (vel, pos, hgt) */
};