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AP_NavEKF: Always return a WGS-84 location if possible 

If a calculated location is not available, the function will return raw GPS data if available, but the status will be set to false.
This commit is contained in:
Paul Riseborough 2015-04-29 19:54:50 +10:00 committed by Randy Mackay
parent dd1e0b2f0b
commit 20ba1e6b1b
2 changed files with 33 additions and 8 deletions
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37
libraries/AP_NavEKF/AP_NavEKF.cpp
View File

@ -3734,22 +3734,45 @@ bool NavEKF::getMagOffsets(Vector3f &magOffsets) const
} }
} }
// return the last calculated latitude, longitude and height // Return the last calculated latitude, longitude and height in WGS-84
// If a calculated location isn't available, return false and the raw GPS measurement or last known position if available
bool NavEKF::getLLH(struct Location &loc) const bool NavEKF::getLLH(struct Location &loc) const
{ {
if(validOrigin) { if(validOrigin) {
loc.lat = EKF_origin.lat; // Altitude returned is an absolute altitude relative to the WGS-84 spherioid
loc.lng = EKF_origin.lng;
loc.alt = EKF_origin.alt - state.position.z*100; loc.alt = EKF_origin.alt - state.position.z*100;
loc.flags.relative_alt = 0; loc.flags.relative_alt = 0;
loc.flags.terrain_alt = 0; loc.flags.terrain_alt = 0;
if (constPosMode) { // there are three modes of operation, absolute position (GPS fusion), relative position (optical flow fusion) and constant position (no aiding)
location_offset(loc, lastKnownPositionNE.x, lastKnownPositionNE.y); nav_filter_status status;
} else { getFilterStatus(status);
if (status.flags.horiz_pos_abs || status.flags.horiz_pos_rel) {
loc.lat = EKF_origin.lat;
loc.lng = EKF_origin.lng;
location_offset(loc, state.position.x, state.position.y); location_offset(loc, state.position.x, state.position.y);
}
return true; return true;
} else { } else {
// we could be in constant position mode becasue the vehicle has taken off without GPS, or has lost GPS
// in this mode we cannot use the EKF states to estimate position so will return the best available data
if ((_ahrs->get_gps().status() >= AP_GPS::GPS_OK_FIX_2D)) {
// we have a GPS position fix to return
const struct Location &gpsloc = _ahrs->get_gps().location();
loc = gpsloc;
} else {
// if no GPS fix, provide last known position before entering the mode
location_offset(loc, lastKnownPositionNE.x, lastKnownPositionNE.y);
}
return false;
}
} else {
// If no origin has been defined for the EKF, then we cannot use its position states so return a raw
// GPS reading if available and return false
if ((_ahrs->get_gps().status() >= AP_GPS::GPS_OK_FIX_3D)) {
const struct Location &gpsloc = _ahrs->get_gps().location();
loc = gpsloc;
loc.flags.relative_alt = 0;
loc.flags.terrain_alt = 0;
}
return false; return false;
} }
} }

4
libraries/AP_NavEKF/AP_NavEKF.h
View File

@ -152,7 +152,9 @@ public:
// Return true if magnetometer offsets are valid // Return true if magnetometer offsets are valid
bool getMagOffsets(Vector3f &magOffsets) const; bool getMagOffsets(Vector3f &magOffsets) const;
// return the last calculated latitude, longitude and height // Return the last calculated latitude, longitude and height in WGS-84
// If a calculated location isn't available, return false and the raw GPS measurement or last known position if available
// If false returned, do not use for flight control
bool getLLH(struct Location &loc) const; bool getLLH(struct Location &loc) const;
// return the latitude and longitude and height used to set the NED origin // return the latitude and longitude and height used to set the NED origin