mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF3: fixed indentation in readGpsData()
This commit is contained in:
Andrew Tridgell
parent
d181adfa75
commit
0b9cde5812
|
|
@ -563,156 +563,156 @@ void NavEKF3_core::readGpsData()
|
|||
return;
|
||||
}
|
||||
|
||||
// report GPS fix status
|
||||
gpsCheckStatus.bad_fix = false;
|
||||
// report GPS fix status
|
||||
gpsCheckStatus.bad_fix = false;
|
||||
|
||||
// store fix time from previous read
|
||||
const uint32_t secondLastGpsTime_ms = lastTimeGpsReceived_ms;
|
||||
// store fix time from previous read
|
||||
const uint32_t secondLastGpsTime_ms = lastTimeGpsReceived_ms;
|
||||
|
||||
// get current fix time
|
||||
lastTimeGpsReceived_ms = gps.last_message_time_ms(selected_gps);
|
||||
// get current fix time
|
||||
lastTimeGpsReceived_ms = gps.last_message_time_ms(selected_gps);
|
||||
|
||||
// estimate when the GPS fix was valid, allowing for GPS processing and other delays
|
||||
// ideally we should be using a timing signal from the GPS receiver to set this time
|
||||
// Use the driver specified delay
|
||||
float gps_delay_sec = 0;
|
||||
gps.get_lag(selected_gps, gps_delay_sec);
|
||||
gpsDataNew.time_ms = lastTimeGpsReceived_ms - (uint32_t)(gps_delay_sec * 1000.0f);
|
||||
// estimate when the GPS fix was valid, allowing for GPS processing and other delays
|
||||
// ideally we should be using a timing signal from the GPS receiver to set this time
|
||||
// Use the driver specified delay
|
||||
float gps_delay_sec = 0;
|
||||
gps.get_lag(selected_gps, gps_delay_sec);
|
||||
gpsDataNew.time_ms = lastTimeGpsReceived_ms - (uint32_t)(gps_delay_sec * 1000.0f);
|
||||
|
||||
// Correct for the average intersampling delay due to the filter updaterate
|
||||
gpsDataNew.time_ms -= localFilterTimeStep_ms/2;
|
||||
// Correct for the average intersampling delay due to the filter updaterate
|
||||
gpsDataNew.time_ms -= localFilterTimeStep_ms/2;
|
||||
|
||||
// Prevent the time stamp falling outside the oldest and newest IMU data in the buffer
|
||||
gpsDataNew.time_ms = MIN(MAX(gpsDataNew.time_ms,imuDataDelayed.time_ms),imuDataDownSampledNew.time_ms);
|
||||
// Prevent the time stamp falling outside the oldest and newest IMU data in the buffer
|
||||
gpsDataNew.time_ms = MIN(MAX(gpsDataNew.time_ms,imuDataDelayed.time_ms),imuDataDownSampledNew.time_ms);
|
||||
|
||||
// Get which GPS we are using for position information
|
||||
gpsDataNew.sensor_idx = selected_gps;
|
||||
// Get which GPS we are using for position information
|
||||
gpsDataNew.sensor_idx = selected_gps;
|
||||
|
||||
// read the NED velocity from the GPS
|
||||
gpsDataNew.vel = gps.velocity(selected_gps).toftype();
|
||||
gpsDataNew.have_vz = gps.have_vertical_velocity(selected_gps);
|
||||
// read the NED velocity from the GPS
|
||||
gpsDataNew.vel = gps.velocity(selected_gps).toftype();
|
||||
gpsDataNew.have_vz = gps.have_vertical_velocity(selected_gps);
|
||||
|
||||
// position and velocity are not yet corrected for sensor position
|
||||
gpsDataNew.corrected = false;
|
||||
// position and velocity are not yet corrected for sensor position
|
||||
gpsDataNew.corrected = false;
|
||||
|
||||
// Use the speed and position accuracy from the GPS if available, otherwise set it to zero.
|
||||
// Apply a decaying envelope filter with a 5 second time constant to the raw accuracy data
|
||||
ftype alpha = constrain_ftype(0.0002f * (lastTimeGpsReceived_ms - secondLastGpsTime_ms),0.0f,1.0f);
|
||||
gpsSpdAccuracy *= (1.0f - alpha);
|
||||
float gpsSpdAccRaw;
|
||||
if (!gps.speed_accuracy(selected_gps, gpsSpdAccRaw)) {
|
||||
gpsSpdAccuracy = 0.0f;
|
||||
} else {
|
||||
gpsSpdAccuracy = MAX(gpsSpdAccuracy,gpsSpdAccRaw);
|
||||
gpsSpdAccuracy = MIN(gpsSpdAccuracy,50.0f);
|
||||
gpsSpdAccuracy = MAX(gpsSpdAccuracy,frontend->_gpsHorizVelNoise);
|
||||
}
|
||||
gpsPosAccuracy *= (1.0f - alpha);
|
||||
float gpsPosAccRaw;
|
||||
if (!gps.horizontal_accuracy(selected_gps, gpsPosAccRaw)) {
|
||||
gpsPosAccuracy = 0.0f;
|
||||
} else {
|
||||
gpsPosAccuracy = MAX(gpsPosAccuracy,gpsPosAccRaw);
|
||||
gpsPosAccuracy = MIN(gpsPosAccuracy,100.0f);
|
||||
gpsPosAccuracy = MAX(gpsPosAccuracy, frontend->_gpsHorizPosNoise);
|
||||
}
|
||||
gpsHgtAccuracy *= (1.0f - alpha);
|
||||
float gpsHgtAccRaw;
|
||||
if (!gps.vertical_accuracy(selected_gps, gpsHgtAccRaw)) {
|
||||
gpsHgtAccuracy = 0.0f;
|
||||
} else {
|
||||
gpsHgtAccuracy = MAX(gpsHgtAccuracy,gpsHgtAccRaw);
|
||||
gpsHgtAccuracy = MIN(gpsHgtAccuracy,100.0f);
|
||||
gpsHgtAccuracy = MAX(gpsHgtAccuracy, 1.5f * frontend->_gpsHorizPosNoise);
|
||||
// Use the speed and position accuracy from the GPS if available, otherwise set it to zero.
|
||||
// Apply a decaying envelope filter with a 5 second time constant to the raw accuracy data
|
||||
ftype alpha = constrain_ftype(0.0002f * (lastTimeGpsReceived_ms - secondLastGpsTime_ms),0.0f,1.0f);
|
||||
gpsSpdAccuracy *= (1.0f - alpha);
|
||||
float gpsSpdAccRaw;
|
||||
if (!gps.speed_accuracy(selected_gps, gpsSpdAccRaw)) {
|
||||
gpsSpdAccuracy = 0.0f;
|
||||
} else {
|
||||
gpsSpdAccuracy = MAX(gpsSpdAccuracy,gpsSpdAccRaw);
|
||||
gpsSpdAccuracy = MIN(gpsSpdAccuracy,50.0f);
|
||||
gpsSpdAccuracy = MAX(gpsSpdAccuracy,frontend->_gpsHorizVelNoise);
|
||||
}
|
||||
gpsPosAccuracy *= (1.0f - alpha);
|
||||
float gpsPosAccRaw;
|
||||
if (!gps.horizontal_accuracy(selected_gps, gpsPosAccRaw)) {
|
||||
gpsPosAccuracy = 0.0f;
|
||||
} else {
|
||||
gpsPosAccuracy = MAX(gpsPosAccuracy,gpsPosAccRaw);
|
||||
gpsPosAccuracy = MIN(gpsPosAccuracy,100.0f);
|
||||
gpsPosAccuracy = MAX(gpsPosAccuracy, frontend->_gpsHorizPosNoise);
|
||||
}
|
||||
gpsHgtAccuracy *= (1.0f - alpha);
|
||||
float gpsHgtAccRaw;
|
||||
if (!gps.vertical_accuracy(selected_gps, gpsHgtAccRaw)) {
|
||||
gpsHgtAccuracy = 0.0f;
|
||||
} else {
|
||||
gpsHgtAccuracy = MAX(gpsHgtAccuracy,gpsHgtAccRaw);
|
||||
gpsHgtAccuracy = MIN(gpsHgtAccuracy,100.0f);
|
||||
gpsHgtAccuracy = MAX(gpsHgtAccuracy, 1.5f * frontend->_gpsHorizPosNoise);
|
||||
}
|
||||
|
||||
// check if we have enough GPS satellites and increase the gps noise scaler if we don't
|
||||
if (gps.num_sats(selected_gps) >= 6 && (PV_AidingMode == AID_ABSOLUTE)) {
|
||||
gpsNoiseScaler = 1.0f;
|
||||
} else if (gps.num_sats(selected_gps) == 5 && (PV_AidingMode == AID_ABSOLUTE)) {
|
||||
gpsNoiseScaler = 1.4f;
|
||||
} else { // <= 4 satellites or in constant position mode
|
||||
gpsNoiseScaler = 2.0f;
|
||||
}
|
||||
|
||||
// Check if GPS can output vertical velocity, vertical velocity use is permitted and set GPS fusion mode accordingly
|
||||
if (gpsDataNew.have_vz && frontend->sources.useVelZSource(AP_NavEKF_Source::SourceZ::GPS)) {
|
||||
useGpsVertVel = true;
|
||||
} else {
|
||||
useGpsVertVel = false;
|
||||
}
|
||||
|
||||
// Monitor quality of the GPS velocity data before and after alignment
|
||||
calcGpsGoodToAlign();
|
||||
|
||||
// Post-alignment checks
|
||||
calcGpsGoodForFlight();
|
||||
|
||||
// Read the GPS location in WGS-84 lat,long,height coordinates
|
||||
const struct Location &gpsloc = gps.location(selected_gps);
|
||||
|
||||
// Set the EKF origin and magnetic field declination if not previously set and GPS checks have passed
|
||||
if (gpsGoodToAlign && !validOrigin) {
|
||||
Location gpsloc_fieldelevation = gpsloc;
|
||||
// if flying, correct for height change from takeoff so that the origin is at field elevation
|
||||
if (inFlight) {
|
||||
gpsloc_fieldelevation.alt += (int32_t)(100.0f * stateStruct.position.z);
|
||||
}
|
||||
|
||||
if (!setOrigin(gpsloc_fieldelevation)) {
|
||||
// set an error as an attempt was made to set the origin more than once
|
||||
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
|
||||
return;
|
||||
}
|
||||
|
||||
// set the NE earth magnetic field states using the published declination
|
||||
// and set the corresponding variances and covariances
|
||||
alignMagStateDeclination();
|
||||
|
||||
// Set the height of the NED origin
|
||||
ekfGpsRefHgt = (double)0.01 * (double)gpsloc.alt + (double)outputDataNew.position.z;
|
||||
|
||||
// Set the uncertainty of the GPS origin height
|
||||
ekfOriginHgtVar = sq(gpsHgtAccuracy);
|
||||
|
||||
}
|
||||
|
||||
if (gpsGoodToAlign && !have_table_earth_field) {
|
||||
const auto *compass = dal.get_compass();
|
||||
if (compass && compass->have_scale_factor(magSelectIndex) && compass->auto_declination_enabled()) {
|
||||
getEarthFieldTable(gpsloc);
|
||||
if (frontend->_mag_ef_limit > 0) {
|
||||
// initialise earth field from tables
|
||||
stateStruct.earth_magfield = table_earth_field_ga;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// check if we have enough GPS satellites and increase the gps noise scaler if we don't
|
||||
if (gps.num_sats(selected_gps) >= 6 && (PV_AidingMode == AID_ABSOLUTE)) {
|
||||
gpsNoiseScaler = 1.0f;
|
||||
} else if (gps.num_sats(selected_gps) == 5 && (PV_AidingMode == AID_ABSOLUTE)) {
|
||||
gpsNoiseScaler = 1.4f;
|
||||
} else { // <= 4 satellites or in constant position mode
|
||||
gpsNoiseScaler = 2.0f;
|
||||
}
|
||||
// convert GPS measurements to local NED and save to buffer to be fused later if we have a valid origin
|
||||
if (validOrigin) {
|
||||
gpsDataNew.lat = gpsloc.lat;
|
||||
gpsDataNew.lng = gpsloc.lng;
|
||||
if ((frontend->_originHgtMode & (1<<2)) == 0) {
|
||||
gpsDataNew.hgt = (ftype)((double)0.01 * (double)gpsloc.alt - ekfGpsRefHgt);
|
||||
} else {
|
||||
gpsDataNew.hgt = 0.01 * (gpsloc.alt - EKF_origin.alt);
|
||||
}
|
||||
storedGPS.push(gpsDataNew);
|
||||
// declare GPS available for use
|
||||
gpsNotAvailable = false;
|
||||
}
|
||||
|
||||
// Check if GPS can output vertical velocity, vertical velocity use is permitted and set GPS fusion mode accordingly
|
||||
if (gpsDataNew.have_vz && frontend->sources.useVelZSource(AP_NavEKF_Source::SourceZ::GPS)) {
|
||||
useGpsVertVel = true;
|
||||
} else {
|
||||
useGpsVertVel = false;
|
||||
}
|
||||
|
||||
// Monitor quality of the GPS velocity data before and after alignment
|
||||
calcGpsGoodToAlign();
|
||||
|
||||
// Post-alignment checks
|
||||
calcGpsGoodForFlight();
|
||||
|
||||
// Read the GPS location in WGS-84 lat,long,height coordinates
|
||||
const struct Location &gpsloc = gps.location(selected_gps);
|
||||
|
||||
// Set the EKF origin and magnetic field declination if not previously set and GPS checks have passed
|
||||
if (gpsGoodToAlign && !validOrigin) {
|
||||
Location gpsloc_fieldelevation = gpsloc;
|
||||
// if flying, correct for height change from takeoff so that the origin is at field elevation
|
||||
if (inFlight) {
|
||||
gpsloc_fieldelevation.alt += (int32_t)(100.0f * stateStruct.position.z);
|
||||
}
|
||||
|
||||
if (!setOrigin(gpsloc_fieldelevation)) {
|
||||
// set an error as an attempt was made to set the origin more than once
|
||||
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
|
||||
return;
|
||||
}
|
||||
|
||||
// set the NE earth magnetic field states using the published declination
|
||||
// and set the corresponding variances and covariances
|
||||
alignMagStateDeclination();
|
||||
|
||||
// Set the height of the NED origin
|
||||
ekfGpsRefHgt = (double)0.01 * (double)gpsloc.alt + (double)outputDataNew.position.z;
|
||||
|
||||
// Set the uncertainty of the GPS origin height
|
||||
ekfOriginHgtVar = sq(gpsHgtAccuracy);
|
||||
|
||||
}
|
||||
|
||||
if (gpsGoodToAlign && !have_table_earth_field) {
|
||||
const auto *compass = dal.get_compass();
|
||||
if (compass && compass->have_scale_factor(magSelectIndex) && compass->auto_declination_enabled()) {
|
||||
getEarthFieldTable(gpsloc);
|
||||
if (frontend->_mag_ef_limit > 0) {
|
||||
// initialise earth field from tables
|
||||
stateStruct.earth_magfield = table_earth_field_ga;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// convert GPS measurements to local NED and save to buffer to be fused later if we have a valid origin
|
||||
if (validOrigin) {
|
||||
gpsDataNew.lat = gpsloc.lat;
|
||||
gpsDataNew.lng = gpsloc.lng;
|
||||
if ((frontend->_originHgtMode & (1<<2)) == 0) {
|
||||
gpsDataNew.hgt = (ftype)((double)0.01 * (double)gpsloc.alt - ekfGpsRefHgt);
|
||||
} else {
|
||||
gpsDataNew.hgt = 0.01 * (gpsloc.alt - EKF_origin.alt);
|
||||
}
|
||||
storedGPS.push(gpsDataNew);
|
||||
// declare GPS available for use
|
||||
gpsNotAvailable = false;
|
||||
}
|
||||
|
||||
// if the GPS has yaw data then input that as well
|
||||
float yaw_deg, yaw_accuracy_deg;
|
||||
if (dal.gps().gps_yaw_deg(selected_gps, yaw_deg, yaw_accuracy_deg)) {
|
||||
// GPS modules are rather too optimistic about their
|
||||
// accuracy. Set to min of 5 degrees here to prevent
|
||||
// the user constantly receiving warnings about high
|
||||
// normalised yaw innovations
|
||||
const ftype min_yaw_accuracy_deg = 5.0f;
|
||||
yaw_accuracy_deg = MAX(yaw_accuracy_deg, min_yaw_accuracy_deg);
|
||||
writeEulerYawAngle(radians(yaw_deg), radians(yaw_accuracy_deg), gpsDataNew.time_ms, 2);
|
||||
}
|
||||
// if the GPS has yaw data then input that as well
|
||||
float yaw_deg, yaw_accuracy_deg;
|
||||
if (dal.gps().gps_yaw_deg(selected_gps, yaw_deg, yaw_accuracy_deg)) {
|
||||
// GPS modules are rather too optimistic about their
|
||||
// accuracy. Set to min of 5 degrees here to prevent
|
||||
// the user constantly receiving warnings about high
|
||||
// normalised yaw innovations
|
||||
const ftype min_yaw_accuracy_deg = 5.0f;
|
||||
yaw_accuracy_deg = MAX(yaw_accuracy_deg, min_yaw_accuracy_deg);
|
||||
writeEulerYawAngle(radians(yaw_deg), radians(yaw_accuracy_deg), gpsDataNew.time_ms, 2);
|
||||
}
|
||||
}
|
||||
|
||||
// read the delta angle and corresponding time interval from the IMU
|
||||
|
|
|
|||
Loading…
Reference in New Issue