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100 lines
3.3 KiB
C++
100 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "ekf.h"
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#include "mocap.hpp"
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#if defined(CONFIG_EKF2_MOCAP) && defined(MODULE_NAME)
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void Mocap::update(Ekf &ekf, const estimator::imuSample &imu_delayed)
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{
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#if defined(MODULE_NAME)
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if (_mocap_sub.updated()) {
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vehicle_odometry_s mocap{};
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_mocap_sub.copy(&mocap);
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const int64_t time_us = mocap.timestamp_sample - static_cast<int64_t>(_param_ekf2_mocap_delay.get() * 1000);
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MocapSample sample{};
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sample.time_us = time_us;
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sample.pos = Vector3f{mocap.position};
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_mocap_buffer.push(sample);
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}
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#endif // MODULE_NAME
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MocapSample mocap_sample;
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if (_mocap_buffer.pop_first_older_than(imu_delayed.time_us, &mocap_sample)) {
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if (!ekf.global_origin_valid()) {
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return;
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}
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// position
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{
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estimator_aid_source2d_s aid_src{};
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const Vector2f pos_obs_var{
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math::max(sq(mocap_sample.position_var(0)), sq(_param_ekf2_mocap_noise.get())),
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math::max(sq(mocap_sample.position_var(1)), sq(_param_ekf2_mocap_noise.get()))
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};
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ekf.updateHorizontalPositionAidSrcStatus(mocap_sample.time_us,
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mocap_sample.pos.xy(), // observation
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pos_obs_var, // observation variance
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math::max(_param_ekf2_mocap_gate.get(), 1.f), // innovation gate
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aid_src);
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aid_src.fusion_enabled = _param_ekf2_mocap_ctrl.get() & 0b001; // bit 0 Horizontal position
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// TODO: check frame
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if (ekf.control_status_flags().yaw_align) {
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ekf.fuseHorizontalPosition(aid_src);
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}
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#if defined(MODULE_NAME)
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aid_src.timestamp = hrt_absolute_time();
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_estimator_aid_src_mocap_xy_pub.publish(aid_src);
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#endif // MODULE_NAME
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}
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}
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}
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#endif // CONFIG_EKF2_MOCAP
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