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131 lines
4.1 KiB
C++
131 lines
4.1 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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#ifndef EKF_AUX_GLOBAL_POSITION_HPP
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#define EKF_AUX_GLOBAL_POSITION_HPP
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// interface?
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// - ModuleParams
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// - Base class EKF
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// - bool update(imu)
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// how to get delay?
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// WelfordMean for init?
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// WelfordMean for rate
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#include "common.h"
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#include "RingBuffer.h"
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#if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME)
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#if defined(MODULE_NAME)
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# include <px4_platform_common/module_params.h>
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# include <uORB/PublicationMulti.hpp>
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# include <uORB/Subscription.hpp>
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# include <uORB/topics/estimator_aid_source2d.h>
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# include <uORB/topics/vehicle_global_position.h>
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#endif // MODULE_NAME
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class Ekf;
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class AuxGlobalPosition : public ModuleParams
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{
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public:
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AuxGlobalPosition() : ModuleParams(nullptr)
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{
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_estimator_aid_src_aux_global_position_pub.advertise();
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}
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~AuxGlobalPosition() = default;
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void update(Ekf &ekf, const estimator::imuSample &imu_delayed);
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void updateParameters()
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{
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updateParams();
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}
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private:
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bool isTimedOut(uint64_t last_sensor_timestamp, uint64_t time_delayed_us, uint64_t timeout_period) const
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{
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return (last_sensor_timestamp == 0) || (last_sensor_timestamp + timeout_period < time_delayed_us);
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}
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struct AuxGlobalPositionSample {
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uint64_t time_us{}; ///< timestamp of the measurement (uSec)
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double latitude{};
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double longitude{};
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float altitude_amsl{};
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float eph{};
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float epv{};
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uint8_t lat_lon_reset_counter{};
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};
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RingBuffer<AuxGlobalPositionSample> _aux_global_position_buffer{20}; // TODO: size with _obs_buffer_length and actual publication rate
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uint64_t _time_last_buffer_push{0};
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enum class Ctrl : uint8_t {
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HPOS = (1<<0),
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VPOS = (1<<1)
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};
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enum class State {
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stopped,
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starting,
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active,
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};
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State _state{State::stopped};
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#if defined(MODULE_NAME)
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struct reset_counters_s {
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uint8_t lat_lon{};
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};
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reset_counters_s _reset_counters{};
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uORB::PublicationMulti<estimator_aid_source2d_s> _estimator_aid_src_aux_global_position_pub{ORB_ID(estimator_aid_src_aux_global_position)};
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uORB::Subscription _aux_global_position_sub{ORB_ID(aux_global_position)};
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::EKF2_AGP_CTRL>) _param_ekf2_agp_ctrl,
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(ParamFloat<px4::params::EKF2_AGP_DELAY>) _param_ekf2_agp_delay,
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(ParamFloat<px4::params::EKF2_AGP_NOISE>) _param_ekf2_agp_noise,
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(ParamFloat<px4::params::EKF2_AGP_GATE>) _param_ekf2_agp_gate
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)
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#endif // MODULE_NAME
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};
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#endif // CONFIG_EKF2_AUX_GLOBAL_POSITION
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#endif // !EKF_AUX_GLOBAL_POSITION_HPP
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