fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 04:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Random cleanup

Browse Source
This commit is contained in:
kamilritz
2020-07-02 15:55:24 +02:00
committed by Mathieu Bresciani
parent 9eea44f4ab
commit fce4958d4f
3 changed files with 53 additions and 59 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf_helper.cpp
+50 -49
View File
@@ -1621,62 +1621,62 @@ void Ekf::stopFlowFusion()
void Ekf::resetQuatStateYaw(float yaw, float yaw_variance, bool update_buffer)
{
// save a copy of the quaternion state for later use in calculating the amount of reset change
const Quatf quat_before_reset = _state.quat_nominal;
// save a copy of the quaternion state for later use in calculating the amount of reset change
const Quatf quat_before_reset = _state.quat_nominal;
// update transformation matrix from body to world frame using the current estimate
_R_to_earth = Dcmf(_state.quat_nominal);
// update transformation matrix from body to world frame using the current estimate
_R_to_earth = Dcmf(_state.quat_nominal);
// update the rotation matrix using the new yaw value
// determine if a 321 or 312 Euler sequence is best
if (fabsf(_R_to_earth(2, 0)) < fabsf(_R_to_earth(2, 1))) {
// use a 321 sequence
Eulerf euler321(_R_to_earth);
euler321(2) = yaw;
_R_to_earth = Dcmf(euler321);
// update the rotation matrix using the new yaw value
// determine if a 321 or 312 Euler sequence is best
if (fabsf(_R_to_earth(2, 0)) < fabsf(_R_to_earth(2, 1))) {
// use a 321 sequence
Eulerf euler321(_R_to_earth);
euler321(2) = yaw;
_R_to_earth = Dcmf(euler321);
} else {
// Calculate the 312 Tait-Bryan rotation sequence that rotates from earth to body frame
// We use a 312 sequence as an alternate when there is more pitch tilt than roll tilt
// to avoid gimbal lock
Vector3f rot312;
rot312(0) = yaw;
rot312(1) = asinf(_R_to_earth(2, 1));
rot312(2) = atan2f(-_R_to_earth(2, 0), _R_to_earth(2, 2));
_R_to_earth = taitBryan312ToRotMat(rot312);
} else {
// Calculate the 312 Tait-Bryan rotation sequence that rotates from earth to body frame
// We use a 312 sequence as an alternate when there is more pitch tilt than roll tilt
// to avoid gimbal lock
Vector3f rot312;
rot312(0) = yaw;
rot312(1) = asinf(_R_to_earth(2, 1));
rot312(2) = atan2f(-_R_to_earth(2, 0), _R_to_earth(2, 2));
_R_to_earth = taitBryan312ToRotMat(rot312);
}
// calculate the amount that the quaternion has changed by
const Quatf quat_after_reset(_R_to_earth);
const Quatf q_error((quat_after_reset * quat_before_reset.inversed()).normalized());
// update quaternion states
_state.quat_nominal = quat_after_reset;
uncorrelateQuatFromOtherStates();
// record the state change
_state_reset_status.quat_change = q_error;
// update the yaw angle variance
if (yaw_variance > FLT_EPSILON) {
increaseQuatYawErrVariance(yaw_variance);
}
// add the reset amount to the output observer buffered data
if (update_buffer) {
for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
_output_buffer[i].quat_nominal = _state_reset_status.quat_change * _output_buffer[i].quat_nominal;
}
// calculate the amount that the quaternion has changed by
const Quatf quat_after_reset(_R_to_earth);
const Quatf q_error((quat_after_reset * quat_before_reset.inversed()).normalized());
// apply the change in attitude quaternion to our newest quaternion estimate
// which was already taken out from the output buffer
_output_new.quat_nominal = _state_reset_status.quat_change * _output_new.quat_nominal;
// update quaternion states
_state.quat_nominal = quat_after_reset;
uncorrelateQuatFromOtherStates();
}
// record the state change
_state_reset_status.quat_change = q_error;
// update the yaw angle variance
if (yaw_variance > FLT_EPSILON) {
increaseQuatYawErrVariance(yaw_variance);
}
// add the reset amount to the output observer buffered data
if (update_buffer) {
for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
_output_buffer[i].quat_nominal = _state_reset_status.quat_change * _output_buffer[i].quat_nominal;
}
// apply the change in attitude quaternion to our newest quaternion estimate
// which was already taken out from the output buffer
_output_new.quat_nominal = _state_reset_status.quat_change * _output_new.quat_nominal;
}
// capture the reset event
_state_reset_status.quat_counter++;
// capture the reset event
_state_reset_status.quat_counter++;
}
// Resets the main Nav EKf yaw to the estimator from the EKF-GSF yaw estimator
@@ -1738,7 +1738,8 @@ void Ekf::runYawEKFGSF()
yawEstimator.update(_imu_sample_delayed, _control_status.flags.in_air, TAS, imu_gyro_bias);
// basic sanity check on GPS velocity data
if (_gps_data_ready && _gps_sample_delayed.vacc > FLT_EPSILON && ISFINITE(_gps_sample_delayed.vel(0)) && ISFINITE(_gps_sample_delayed.vel(1))) {
if (_gps_data_ready && _gps_sample_delayed.vacc > FLT_EPSILON &&
ISFINITE(_gps_sample_delayed.vel(0)) && ISFINITE(_gps_sample_delayed.vel(1))) {
yawEstimator.setVelocity(_gps_sample_delayed.vel.xy(), _gps_sample_delayed.vacc);
}
}