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AP_NavEKF2: Enable EKF instance to be specified when requesting public data 

Only applied to interfaces required for data logging.
If an invalid instance is requested, the data for the primary instance is returned. This allows the primary data to be returned by calling with a -1 instance value.
This commit is contained in:
Paul Riseborough 2015-11-07 23:00:29 +11:00 committed by Andrew Tridgell
parent dfdacf2ddc
commit 0b64ad0123
2 changed files with 112 additions and 76 deletions
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100
libraries/AP_NavEKF2/AP_NavEKF2.cpp
View File

@ -539,28 +539,31 @@ int8_t NavEKF2::getPrimaryCoreIndex(void) const
// Return the last calculated NED position relative to the reference point (m).
// If a calculated solution is not available, use the best available data and return false
// If false returned, do not use for flight control
bool NavEKF2::getPosNED(Vector3f &pos) const
bool NavEKF2::getPosNED(int8_t instance, Vector3f &pos)
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (!core) {
return false;
}
return core[primary].getPosNED(pos);
return core[instance].getPosNED(pos);
}
// return NED velocity in m/s
void NavEKF2::getVelNED(Vector3f &vel) const
void NavEKF2::getVelNED(int8_t instance, Vector3f &vel)
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) {
core[primary].getVelNED(vel);
core[instance].getVelNED(vel);
}
}
// Return the rate of change of vertical position in the down diection (dPosD/dt) in m/s
float NavEKF2::getPosDownDerivative(void) const
float NavEKF2::getPosDownDerivative(int8_t instance)
{
// return the value calculated from a complmentary filer applied to the EKF height and vertical acceleration
if (instance < 0 || instance >= num_cores) instance = primary;
// return the value calculated from a complementary filer applied to the EKF height and vertical acceleration
if (core) {
return core[primary].getPosDownDerivative();
return core[instance].getPosDownDerivative();
}
return 0.0f;
}
@ -574,26 +577,29 @@ void NavEKF2::getAccelNED(Vector3f &accelNED) const
}
// return body axis gyro bias estimates in rad/sec
void NavEKF2::getGyroBias(Vector3f &gyroBias) const
void NavEKF2::getGyroBias(int8_t instance, Vector3f &gyroBias)
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) {
core[primary].getGyroBias(gyroBias);
core[instance].getGyroBias(gyroBias);
}
}
// return body axis gyro scale factor error as a percentage
void NavEKF2::getGyroScaleErrorPercentage(Vector3f &gyroScale) const
void NavEKF2::getGyroScaleErrorPercentage(int8_t instance, Vector3f &gyroScale)
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) {
core[primary].getGyroScaleErrorPercentage(gyroScale);
core[instance].getGyroScaleErrorPercentage(gyroScale);
}
}
// return tilt error convergence metric
void NavEKF2::getTiltError(float &ang) const
// return tilt error convergence metric for the specified instance
void NavEKF2::getTiltError(int8_t instance, float &ang)
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) {
core[primary].getTiltError(ang);
core[instance].getTiltError(ang);
}
}
@ -642,34 +648,38 @@ void NavEKF2::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainSca
}
// return the individual Z-accel bias estimates in m/s^2
void NavEKF2::getAccelZBias(float &zbias) const
void NavEKF2::getAccelZBias(int8_t instance, float &zbias)
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) {
core[primary].getAccelZBias(zbias);
core[instance].getAccelZBias(zbias);
}
}
// return the NED wind speed estimates in m/s (positive is air moving in the direction of the axis)
void NavEKF2::getWind(Vector3f &wind) const
void NavEKF2::getWind(int8_t instance, Vector3f &wind)
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) {
core[primary].getWind(wind);
core[instance].getWind(wind);
}
}
// return earth magnetic field estimates in measurement units / 1000
void NavEKF2::getMagNED(Vector3f &magNED) const
void NavEKF2::getMagNED(int8_t instance, Vector3f &magNED)
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) {
core[primary].getMagNED(magNED);
core[instance].getMagNED(magNED);
}
}
// return body magnetic field estimates in measurement units / 1000
void NavEKF2::getMagXYZ(Vector3f &magXYZ) const
void NavEKF2::getMagXYZ(int8_t instance, Vector3f &magXYZ)
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) {
core[primary].getMagXYZ(magXYZ);
core[instance].getMagXYZ(magXYZ);
}
}
@ -728,11 +738,12 @@ bool NavEKF2::getHAGL(float &HAGL) const
return core[primary].getHAGL(HAGL);
}
// return the Euler roll, pitch and yaw angle in radians
void NavEKF2::getEulerAngles(Vector3f &eulers) const
// return the Euler roll, pitch and yaw angle in radians for the specified instance
void NavEKF2::getEulerAngles(int8_t instance, Vector3f &eulers)
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) {
core[primary].getEulerAngles(eulers);
core[instance].getEulerAngles(eulers);
}
}
@ -752,19 +763,21 @@ void NavEKF2::getQuaternion(Quaternion &quat) const
}
}
// return the innovations for the NED Pos, NED Vel, XYZ Mag and Vtas measurements
void NavEKF2::getInnovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov) const
// return the innovations for the specified instance
void NavEKF2::getInnovations(int8_t instance, Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov)
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) {
core[primary].getInnovations(velInnov, posInnov, magInnov, tasInnov, yawInnov);
core[instance].getInnovations(velInnov, posInnov, magInnov, tasInnov, yawInnov);
}
}
// return the innovation consistency test ratios for the velocity, position, magnetometer and true airspeed measurements
void NavEKF2::getVariances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const
void NavEKF2::getVariances(int8_t instance, float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset)
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) {
core[primary].getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
core[instance].getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
}
}
@ -792,11 +805,12 @@ void NavEKF2::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates,
}
// return data for debugging optical flow fusion
void NavEKF2::getFlowDebug(float &varFlow, float &gndOffset, float &flowInnovX, float &flowInnovY, float &auxInnov,
float &HAGL, float &rngInnov, float &range, float &gndOffsetErr) const
void NavEKF2::getFlowDebug(int8_t instance, float &varFlow, float &gndOffset, float &flowInnovX, float &flowInnovY, float &auxInnov,
float &HAGL, float &rngInnov, float &range, float &gndOffsetErr)
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) {
core[primary].getFlowDebug(varFlow, gndOffset, flowInnovX, flowInnovY, auxInnov, HAGL, rngInnov, range, gndOffsetErr);
core[instance].getFlowDebug(varFlow, gndOffset, flowInnovX, flowInnovY, auxInnov, HAGL, rngInnov, range, gndOffsetErr);
}
}
@ -829,10 +843,11 @@ void NavEKF2::setTouchdownExpected(bool val)
7 = badly conditioned synthetic sideslip fusion
7 = filter is not initialised
*/
void NavEKF2::getFilterFaults(uint8_t &faults) const
void NavEKF2::getFilterFaults(int8_t instance, uint8_t &faults)
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) {
core[primary].getFilterFaults(faults);
core[instance].getFilterFaults(faults);
} else {
faults = 0;
}
@ -849,10 +864,11 @@ void NavEKF2::getFilterFaults(uint8_t &faults) const
7 = unassigned
7 = unassigned
*/
void NavEKF2::getFilterTimeouts(uint8_t &timeouts) const
void NavEKF2::getFilterTimeouts(int8_t instance, uint8_t &timeouts)
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) {
core[primary].getFilterTimeouts(timeouts);
core[instance].getFilterTimeouts(timeouts);
} else {
timeouts = 0;
}
@ -861,10 +877,11 @@ void NavEKF2::getFilterTimeouts(uint8_t &timeouts) const
/*
return filter status flags
*/
void NavEKF2::getFilterStatus(nav_filter_status &status) const
void NavEKF2::getFilterStatus(int8_t instance, nav_filter_status &status)
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) {
core[primary].getFilterStatus(status);
core[instance].getFilterStatus(status);
} else {
memset(&status, 0, sizeof(status));
}
@ -873,10 +890,11 @@ void NavEKF2::getFilterStatus(nav_filter_status &status) const
/*
return filter gps quality check status
*/
void NavEKF2::getFilterGpsStatus(nav_gps_status &status) const
void NavEKF2::getFilterGpsStatus(int8_t instance, nav_gps_status &status)
{
if (instance < 0 || instance >= num_cores) instance = primary;
if (core) {
core[primary].getFilterGpsStatus(status);
core[instance].getFilterGpsStatus(status);
} else {
memset(&status, 0, sizeof(status));
}

88
libraries/AP_NavEKF2/AP_NavEKF2.h
View File

@ -61,30 +61,36 @@ public:
// return -1 if no primary core selected
int8_t getPrimaryCoreIndex(void) const;
// Return the last calculated NED position relative to the reference point (m).
// Return the last calculated NED position relative to the reference point (m) for the specified instance.
// An out of range instance (eg -1) returns data for the the primary instance
// If a calculated solution is not available, use the best available data and return false
// If false returned, do not use for flight control
bool getPosNED(Vector3f &pos) const;
bool getPosNED(int8_t instance, Vector3f &pos);
// return NED velocity in m/s
void getVelNED(Vector3f &vel) const;
// return NED velocity in m/s for the specified instance
// An out of range instance (eg -1) returns data for the the primary instance
void getVelNED(int8_t instance, Vector3f &vel);
// Return the rate of change of vertical position in the down diection (dPosD/dt) in m/s
// Return the rate of change of vertical position in the down diection (dPosD/dt) in m/s for the specified instance
// An out of range instance (eg -1) returns data for the the primary instance
// This can be different to the z component of the EKF velocity state because it will fluctuate with height errors and corrections in the EKF
// but will always be kinematically consistent with the z component of the EKF position state
float getPosDownDerivative(void) const;
float getPosDownDerivative(int8_t instance);
// This returns the specific forces in the NED frame
void getAccelNED(Vector3f &accelNED) const;
// return body axis gyro bias estimates in rad/sec
void getGyroBias(Vector3f &gyroBias) const;
// return body axis gyro bias estimates in rad/sec for the specified instance
// An out of range instance (eg -1) returns data for the the primary instance
void getGyroBias(int8_t instance, Vector3f &gyroBias);
// return body axis gyro scale factor error as a percentage
void getGyroScaleErrorPercentage(Vector3f &gyroScale) const;
// return body axis gyro scale factor error as a percentage for the specified instance
// An out of range instance (eg -1) returns data for the the primary instance
void getGyroScaleErrorPercentage(int8_t instance, Vector3f &gyroScale);
// return tilt error convergence metric
void getTiltError(float &ang) const;
// return tilt error convergence metric for the specified instance
// An out of range instance (eg -1) returns data for the the primary instance
void getTiltError(int8_t instance, float &ang);
// reset body axis gyro bias estimates
void resetGyroBias(void);
@ -108,17 +114,21 @@ public:
// return the scale factor to be applied to navigation velocity gains to compensate for increase in velocity noise with height when using optical flow
void getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler) const;
// return the Z-accel bias estimate in m/s^2
void getAccelZBias(float &zbias) const;
// return the Z-accel bias estimate in m/s^2 for the specified instance
// An out of range instance (eg -1) returns data for the the primary instance
void getAccelZBias(int8_t instance, float &zbias);
// return the NED wind speed estimates in m/s (positive is air moving in the direction of the axis)
void getWind(Vector3f &wind) const;
// An out of range instance (eg -1) returns data for the the primary instance
void getWind(int8_t instance, Vector3f &wind);
// return earth magnetic field estimates in measurement units / 1000
void getMagNED(Vector3f &magNED) const;
// return earth magnetic field estimates in measurement units / 1000 for the specified instance
// An out of range instance (eg -1) returns data for the the primary instance
void getMagNED(int8_t instance, Vector3f &magNED);
// return body magnetic field estimates in measurement units / 1000
void getMagXYZ(Vector3f &magXYZ) const;
// return body magnetic field estimates in measurement units / 1000 for the specified instance
// An out of range instance (eg -1) returns data for the the primary instance
void getMagXYZ(int8_t instance, Vector3f &magXYZ);
// Return estimated magnetometer offsets
// Return true if magnetometer offsets are valid
@ -145,8 +155,9 @@ public:
// return false if ground height is not being estimated.
bool getHAGL(float &HAGL) const;
// return the Euler roll, pitch and yaw angle in radians
void getEulerAngles(Vector3f &eulers) const;
// return the Euler roll, pitch and yaw angle in radians for the specified instance
// An out of range instance (eg -1) returns data for the the primary instance
void getEulerAngles(int8_t instance, Vector3f &eulers);
// return the transformation matrix from XYZ (body) to NED axes
void getRotationBodyToNED(Matrix3f &mat) const;
@ -154,11 +165,13 @@ public:
// return the quaternions defining the rotation from NED to XYZ (body) axes
void getQuaternion(Quaternion &quat) const;
// return the innovations for the NED Pos, NED Vel, XYZ Mag and Vtas measurements
void getInnovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov) const;
// return the innovations for the specified instance
// An out of range instance (eg -1) returns data for the the primary instance
void getInnovations(int8_t index, Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov);
// return the innovation consistency test ratios for the velocity, position, magnetometer and true airspeed measurements
void getVariances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const;
// return the innovation consistency test ratios for the specified instance
// An out of range instance (eg -1) returns data for the the primary instance
void getVariances(int8_t instance, float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset);
// should we use the compass? This is public so it can be used for
// reporting via ahrs.use_compass()
@ -172,8 +185,9 @@ public:
// msecFlowMeas is the scheduler time in msec when the optical flow data was received from the sensor.
void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas);
// return data for debugging optical flow fusion
void getFlowDebug(float &varFlow, float &gndOffset, float &flowInnovX, float &flowInnovY, float &auxInnov, float &HAGL, float &rngInnov, float &range, float &gndOffsetErr) const;
// return data for debugging optical flow fusion for the specified instance
// An out of range instance (eg -1) returns data for the the primary instance
void getFlowDebug(int8_t instance, float &varFlow, float &gndOffset, float &flowInnovX, float &flowInnovY, float &auxInnov, float &HAGL, float &rngInnov, float &range, float &gndOffsetErr);
// called by vehicle code to specify that a takeoff is happening
// causes the EKF to compensate for expected barometer errors due to ground effect
@ -184,7 +198,8 @@ public:
void setTouchdownExpected(bool val);
/*
return the filter fault status as a bitmasked integer
return the filter fault status as a bitmasked integer for the specified instance
An out of range instance (eg -1) returns data for the the primary instance
0 = quaternions are NaN
1 = velocities are NaN
2 = badly conditioned X magnetometer fusion
@ -194,10 +209,11 @@ public:
7 = badly conditioned synthetic sideslip fusion
7 = filter is not initialised
*/
void getFilterFaults(uint8_t &faults) const;
void getFilterFaults(int8_t instance, uint8_t &faults);
/*
return filter timeout status as a bitmasked integer
return filter timeout status as a bitmasked integer for the specified instance
An out of range instance (eg -1) returns data for the the primary instance
0 = position measurement timeout
1 = velocity measurement timeout
2 = height measurement timeout
@ -207,17 +223,19 @@ public:
7 = unassigned
7 = unassigned
*/
void getFilterTimeouts(uint8_t &timeouts) const;
void getFilterTimeouts(int8_t instance, uint8_t &timeouts);
/*
return filter gps quality check status
return filter gps quality check status for the specified instance
An out of range instance (eg -1) returns data for the the primary instance
*/
void getFilterGpsStatus(nav_gps_status &faults) const;
void getFilterGpsStatus(int8_t instance, nav_gps_status &faults);
/*
return filter status flags
return filter status flags for the specified instance
An out of range instance (eg -1) returns data for the the primary instance
*/
void getFilterStatus(nav_filter_status &status) const;
void getFilterStatus(int8_t instance, nav_filter_status &status);
// send an EKF_STATUS_REPORT message to GCS
void send_status_report(mavlink_channel_t chan);