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HIL bugfixing

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This commit is contained in:
Lorenz Meier 2013-04-25 17:25:42 +02:00
parent d62058eccf
commit ed9fbbce59
4 changed files with 43 additions and 30 deletions
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18
apps/drivers/gps/ubx.cpp
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@ -33,7 +33,14 @@
*
****************************************************************************/
/* @file U-Blox protocol implementation */
/**
* @file ubx.cpp
*
* U-Blox protocol implementation. Following u-blox 6/7 Receiver Description
* including Prototol Specification.
*
* @see http://www.u-blox.com/images/downloads/Product_Docs/u-blox6_ReceiverDescriptionProtocolSpec_%28GPS.G6-SW-10018%29.pdf
*/
#include <unistd.h>
#include <stdio.h>
@ -633,16 +640,17 @@ UBX::handle_message()
}
case NAV_VELNED: {
// printf("GOT NAV_VELNED MESSAGE\n");
if (!_waiting_for_ack) {
/* 35.15 NAV-VELNED (0x01 0x12) message (page 181 / 210 of reference manual */
gps_bin_nav_velned_packet_t *packet = (gps_bin_nav_velned_packet_t *) _rx_buffer;
_gps_position->vel_m_s = (float)packet->speed * 1e-2f;
_gps_position->vel_n_m_s = (float)packet->velN * 1e-2f;
_gps_position->vel_e_m_s = (float)packet->velE * 1e-2f;
_gps_position->vel_d_m_s = (float)packet->velD * 1e-2f;
_gps_position->vel_n_m_s = (float)packet->velN * 1e-2f; /* NED NORTH velocity */
_gps_position->vel_e_m_s = (float)packet->velE * 1e-2f; /* NED EAST velocity */
_gps_position->vel_d_m_s = (float)packet->velD * 1e-2f; /* NED DOWN velocity */
_gps_position->cog_rad = (float)packet->heading * M_DEG_TO_RAD_F * 1e-5f;
_gps_position->c_variance_rad = (float)packet->cAcc * M_DEG_TO_RAD_F * 1e-5f;
_gps_position->vel_ned_valid = true;
_gps_position->timestamp_velocity = hrt_absolute_time();
}

2
apps/examples/kalman_demo/KalmanNav.cpp
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@ -355,6 +355,8 @@ int KalmanNav::predictState(float dt)
float LDot = vN / R;
float lDot = vE / (cosLSing * R);
float rotRate = 2 * omega + lDot;
// XXX position prediction using speed
float vNDot = fN - vE * rotRate * sinL +
vD * LDot;
float vDDot = fD - vE * rotRate * cosL -

14
apps/mavlink/mavlink_receiver.c
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@ -477,25 +477,27 @@ handle_message(mavlink_message_t *msg)
/* gps */
hil_gps.timestamp_position = gps.time_usec;
// hil_gps.counter = hil_counter++;
hil_gps.time_gps_usec = gps.time_usec;
hil_gps.lat = gps.lat;
hil_gps.lon = gps.lon;
hil_gps.alt = gps.alt;
// hil_gps.counter_pos_valid = hil_counter++;
hil_gps.eph_m = (float)gps.eph * 1e-2f; // from cm to m
hil_gps.epv_m = (float)gps.epv * 1e-2f; // from cm to m
hil_gps.s_variance_m_s = 5.0f;
hil_gps.p_variance_m = hil_gps.eph_m * hil_gps.eph_m;
hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
/* gps.cog is in degrees 0..360 * 100, heading is -PI..PI */
float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f - M_PI_F;
/* gps.cog is in degrees 0..360 * 100, heading is -PI..+PI */
float heading_rad = gps.cog * M_DEG_TO_RAD_F * 1e-2f;
/* go back to -PI..PI */
if (heading_rad > M_PI_F)
heading_rad -= 2.0f * M_PI_F;
hil_gps.vel_n_m_s = (float)gps.vel * 1e-2f * cosf(heading_rad);
hil_gps.vel_e_m_s = (float)gps.vel * 1e-2f * sinf(heading_rad);
hil_gps.vel_d_m_s = 0.0f;
/* COG (course over ground) is speced as 0..360 degrees (compass) */
hil_gps.cog_rad = heading_rad + M_PI_F; // from deg*100 to rad
hil_gps.vel_ned_valid = true;
/* COG (course over ground) is speced as -PI..+PI */
hil_gps.cog_rad = heading_rad;
hil_gps.fix_type = gps.fix_type;
hil_gps.satellites_visible = gps.satellites_visible;

39
apps/uORB/topics/vehicle_gps_position.h
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@ -55,38 +55,39 @@
*/
struct vehicle_gps_position_s
{
uint64_t timestamp_position; /**< Timestamp for position information */
int32_t lat; /**< Latitude in 1E7 degrees */
int32_t lon; /**< Longitude in 1E7 degrees */
int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */
uint64_t timestamp_position; /**< Timestamp for position information */
int32_t lat; /**< Latitude in 1E7 degrees */
int32_t lon; /**< Longitude in 1E7 degrees */
int32_t alt; /**< Altitude in 1E3 meters (millimeters) above MSL */
uint64_t timestamp_variance;
float s_variance_m_s; /**< speed accuracy estimate m/s */
float p_variance_m; /**< position accuracy estimate m */
uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */
float p_variance_m; /**< position accuracy estimate m */
float c_variance_rad; /**< course accuracy estimate rad */
uint8_t fix_type; /**< 0-1: no fix, 2: 2D fix, 3: 3D fix. Some applications will not use the value of this field unless it is at least two, so always correctly fill in the fix. */
float eph_m; /**< GPS HDOP horizontal dilution of position in m */
float epv_m; /**< GPS VDOP horizontal dilution of position in m */
float eph_m; /**< GPS HDOP horizontal dilution of position in m */
float epv_m; /**< GPS VDOP horizontal dilution of position in m */
uint64_t timestamp_velocity; /**< Timestamp for velocity informations */
float vel_m_s; /**< GPS ground speed (m/s) */
float vel_n_m_s; /**< GPS ground speed in m/s */
float vel_e_m_s; /**< GPS ground speed in m/s */
float vel_d_m_s; /**< GPS ground speed in m/s */
float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad */
bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */
uint64_t timestamp_velocity; /**< Timestamp for velocity informations */
float vel_m_s; /**< GPS ground speed (m/s) */
float vel_n_m_s; /**< GPS ground speed in m/s */
float vel_e_m_s; /**< GPS ground speed in m/s */
float vel_d_m_s; /**< GPS ground speed in m/s */
float cog_rad; /**< Course over ground (NOT heading, but direction of movement) in rad, -PI..PI */
bool vel_ned_valid; /**< Flag to indicate if NED speed is valid */
uint64_t timestamp_time; /**< Timestamp for time information */
uint64_t time_gps_usec; /**< Timestamp (microseconds in GPS format), this is the timestamp which comes from the gps module */
uint64_t timestamp_satellites; /**< Timestamp for sattelite information */
uint64_t timestamp_satellites; /**< Timestamp for sattelite information */
uint8_t satellites_visible; /**< Number of satellites visible. If unknown, set to 255 */
uint8_t satellite_prn[20]; /**< Global satellite ID */
uint8_t satellite_used[20]; /**< 0: Satellite not used, 1: used for localization */
uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint8_t satellite_elevation[20]; /**< Elevation (0: right on top of receiver, 90: on the horizon) of satellite */
uint8_t satellite_azimuth[20]; /**< Direction of satellite, 0: 0 deg, 255: 360 deg. */
uint8_t satellite_snr[20]; /**< Signal to noise ratio of satellite */
bool satellite_info_available; /**< 0 for no info, 1 for info available */
bool satellite_info_available; /**< 0 for no info, 1 for info available */
};
/**