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Tools: Add EKF3 and remove EK1

This commit is contained in:
Andrew Tridgell 2016-07-14 15:08:43 +10:00
parent 2facebff80
commit 35bed59bd4
7 changed files with 28 additions and 242 deletions
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3
Tools/CPUInfo/make.inc
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@ -10,7 +10,8 @@ LIBRARIES += AP_GPS
LIBRARIES += AP_InertialSensor
LIBRARIES += AP_Math
LIBRARIES += AP_Mission
LIBRARIES += AP_NavEKF
LIBRARIES += AP_NavEKF2
LIBRARIES += AP_NavEKF3
LIBRARIES += AP_Notify
LIBRARIES += AP_OpticalFlow
LIBRARIES += AP_Param

3
Tools/Hello/make.inc
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@ -14,7 +14,8 @@ LIBRARIES += AP_Vehicle
LIBRARIES += DataFlash
LIBRARIES += Filter
LIBRARIES += GCS_MAVLink
LIBRARIES += AP_NavEKF
LIBRARIES += AP_NavEKF2
LIBRARIES += AP_NavEKF3
LIBRARIES += AP_RangeFinder
LIBRARIES += AP_Mission
LIBRARIES += AP_Rally

4
Tools/Replay/Parameters.h
View File

@ -12,10 +12,10 @@ public:
k_param_ins,
k_param_ahrs,
k_param_airspeed,
k_param_NavEKF,
k_param_NavEKF2,
k_param_compass,
k_param_dataflash
k_param_dataflash,
k_param_NavEKF3
};
AP_Int8 dummy;
};

250
Tools/Replay/Replay.cpp
View File

@ -64,10 +64,6 @@ const AP_Param::Info ReplayVehicle::var_info[] = {
// @Path: ../libraries/AP_Airspeed/AP_Airspeed.cpp
GOBJECT(airspeed, "ARSPD_", AP_Airspeed),
// @Group: EKF_
// @Path: ../libraries/AP_NavEKF/AP_NavEKF.cpp
GOBJECTN(EKF, NavEKF, "EKF_", NavEKF),
// @Group: EK2_
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN(EKF2, NavEKF2, "EK2_", NavEKF2),
@ -80,6 +76,10 @@ const AP_Param::Info ReplayVehicle::var_info[] = {
// @Path: ../libraries/DataFlash/DataFlash.cpp
GOBJECT(dataflash, "LOG", DataFlash_Class),
// @Group: EK3_
// @Path: ../libraries/AP_NavEKF3/AP_NavEKF3.cpp
GOBJECTN(EKF3, NavEKF3, "EK3_", NavEKF3),
AP_VAREND
};
@ -92,6 +92,9 @@ void ReplayVehicle::load_parameters(void)
}
AP_Param::set_default_by_name("EKF_ENABLE", 1);
AP_Param::set_default_by_name("EK2_ENABLE", 1);
AP_Param::set_default_by_name("EK2_IMU_MASK", 1);
AP_Param::set_default_by_name("EK3_ENABLE", 1);
AP_Param::set_default_by_name("EK3_IMU_MASK", 1);
AP_Param::set_default_by_name("LOG_REPLAY", 1);
AP_Param::set_default_by_name("AHRS_EKF_TYPE", 2);
AP_Param::set_default_by_name("LOG_FILE_BUFSIZE", 60);
@ -122,7 +125,8 @@ void ReplayVehicle::setup(void)
ahrs.set_ekf_use(true);
EKF2.set_enable(true);
EKF3.set_enable(true);
printf("Starting disarmed\n");
hal.util->set_soft_armed(false);
@ -541,20 +545,6 @@ void Replay::setup()
}
set_ins_update_rate(log_info.update_rate);
plotf = xfopen("plot.dat", "we");
plotf2 = xfopen("plot2.dat", "we");
ekf1f = xfopen("EKF1.dat", "we");
ekf2f = xfopen("EKF2.dat", "we");
ekf3f = xfopen("EKF3.dat", "we");
ekf4f = xfopen("EKF4.dat", "we");
fprintf(plotf, "time SIM.Roll SIM.Pitch SIM.Yaw BAR.Alt FLIGHT.Roll FLIGHT.Pitch FLIGHT.Yaw FLIGHT.dN FLIGHT.dE AHR2.Roll AHR2.Pitch AHR2.Yaw DCM.Roll DCM.Pitch DCM.Yaw EKF.Roll EKF.Pitch EKF.Yaw INAV.dN INAV.dE INAV.Alt EKF.dN EKF.dE EKF.Alt\n");
fprintf(plotf2, "time E1 E2 E3 VN VE VD PN PE PD GX GY GZ WN WE MN ME MD MX MY MZ E1ref E2ref E3ref\n");
fprintf(ekf1f, "timestamp TimeMS Roll Pitch Yaw VN VE VD PN PE PD GX GY GZ\n");
fprintf(ekf2f, "timestamp TimeMS AX AY AZ VWN VWE MN ME MD MX MY MZ\n");
fprintf(ekf3f, "timestamp TimeMS IVN IVE IVD IPN IPE IPD IMX IMY IMZ IVT\n");
fprintf(ekf4f, "timestamp TimeMS SV SP SH SMX SMY SMZ SVT OFN EFE FS DS\n");
}
void Replay::set_ins_update_rate(uint16_t _update_rate) {
@ -624,7 +614,7 @@ void Replay::set_signal_handlers(void)
void Replay::write_ekf_logs(void)
{
if (!LogReader::in_list("EKF", nottypes)) {
_vehicle.dataflash.Log_Write_EKF2(_vehicle.ahrs,false);
_vehicle.dataflash.Log_Write_EKF(_vehicle.ahrs,false);
}
if (!LogReader::in_list("AHRS2", nottypes)) {
_vehicle.dataflash.Log_Write_AHRS2(_vehicle.ahrs);
@ -719,7 +709,7 @@ void Replay::read_sensors(const char *type)
}
}
if (logmatch && streq(type, "NKF1")) {
if (logmatch && (streq(type, "NKF1") || streq(type, "XKF1"))) {
write_ekf_logs();
}
}
@ -734,9 +724,9 @@ void Replay::log_check_generate(void)
Vector3f velocity;
Location loc {};
_vehicle.EKF.getEulerAngles(euler);
_vehicle.EKF.getVelNED(velocity);
_vehicle.EKF.getLLH(loc);
_vehicle.EKF2.getEulerAngles(-1,euler);
_vehicle.EKF2.getVelNED(-1,velocity);
_vehicle.EKF2.getLLH(loc);
struct log_Chek packet = {
LOG_PACKET_HEADER_INIT(LOG_CHEK_MSG),
@ -766,9 +756,9 @@ void Replay::log_check_solution(void)
Vector3f velocity;
Location loc {};
_vehicle.EKF.getEulerAngles(euler);
_vehicle.EKF.getVelNED(velocity);
_vehicle.EKF.getLLH(loc);
_vehicle.EKF2.getEulerAngles(-1,euler);
_vehicle.EKF2.getVelNED(-1,velocity);
_vehicle.EKF2.getLLH(loc);
float roll_error = degrees(fabsf(euler.x - check_state.euler.x));
float pitch_error = degrees(fabsf(euler.y - check_state.euler.y));
@ -826,212 +816,6 @@ void Replay::loop()
return;
}
Vector3f ekf_euler;
Vector3f velNED;
Vector2f posNE;
float posD;
Vector3f gyroBias;
float accelWeighting;
float accelZBias1;
float accelZBias2;
Vector3f windVel;
Vector3f magNED;
Vector3f magXYZ;
Vector3f DCM_attitude;
Vector3f velInnov;
Vector3f posInnov;
Vector3f magInnov;
float tasInnov;
float velVar;
float posVar;
float hgtVar;
Vector3f magVar;
float tasVar;
Vector2f offset;
uint16_t faultStatus;
const Matrix3f &dcm_matrix = _vehicle.ahrs.AP_AHRS_DCM::get_rotation_body_to_ned();
dcm_matrix.to_euler(&DCM_attitude.x, &DCM_attitude.y, &DCM_attitude.z);
_vehicle.EKF.getEulerAngles(ekf_euler);
_vehicle.EKF.getVelNED(velNED);
_vehicle.EKF.getPosNE(posNE);
_vehicle.EKF.getPosD(posD);
_vehicle.EKF.getGyroBias(gyroBias);
_vehicle.EKF.getIMU1Weighting(accelWeighting);
_vehicle.EKF.getAccelZBias(accelZBias1, accelZBias2);
_vehicle.EKF.getWind(windVel);
_vehicle.EKF.getMagNED(magNED);
_vehicle.EKF.getMagXYZ(magXYZ);
_vehicle.EKF.getInnovations(velInnov, posInnov, magInnov, tasInnov);
_vehicle.EKF.getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
_vehicle.EKF.getFilterFaults(faultStatus);
Vector3f inav_pos = _vehicle.inertial_nav.get_position() * 0.01f;
float temp = degrees(ekf_euler.z);
if (temp < 0.0f) temp = temp + 360.0f;
fprintf(plotf, "%.3f %.1f %.1f %.1f %.2f %.1f %.1f %.1f %.2f %.2f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.2f %.2f %.2f %.2f %.2f %.2f\n",
AP_HAL::millis() * 0.001f,
logreader.get_sim_attitude().x,
logreader.get_sim_attitude().y,
logreader.get_sim_attitude().z,
_vehicle.barometer.get_altitude(),
logreader.get_attitude().x,
logreader.get_attitude().y,
wrap_180_cd(logreader.get_attitude().z*100)*0.01f,
logreader.get_inavpos().x,
logreader.get_inavpos().y,
logreader.get_ahr2_attitude().x,
logreader.get_ahr2_attitude().y,
wrap_180_cd(logreader.get_ahr2_attitude().z*100)*0.01f,
degrees(DCM_attitude.x),
degrees(DCM_attitude.y),
degrees(DCM_attitude.z),
degrees(ekf_euler.x),
degrees(ekf_euler.y),
degrees(ekf_euler.z),
inav_pos.x,
inav_pos.y,
inav_pos.z,
posNE.x,
posNE.y,
-posD);
fprintf(plotf2, "%.3f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f %.1f\n",
AP_HAL::millis() * 0.001f,
degrees(ekf_euler.x),
degrees(ekf_euler.y),
temp,
velNED.x,
velNED.y,
velNED.z,
posNE.x,
posNE.y,
posD,
60*degrees(gyroBias.x),
60*degrees(gyroBias.y),
60*degrees(gyroBias.z),
windVel.x,
windVel.y,
magNED.x,
magNED.y,
magNED.z,
magXYZ.x,
magXYZ.y,
magXYZ.z,
logreader.get_attitude().x,
logreader.get_attitude().y,
logreader.get_attitude().z);
// define messages for EKF1 data packet
int16_t roll = (int16_t)(100*degrees(ekf_euler.x)); // roll angle (centi-deg)
int16_t pitch = (int16_t)(100*degrees(ekf_euler.y)); // pitch angle (centi-deg)
uint16_t yaw = (uint16_t)wrap_360_cd(100*degrees(ekf_euler.z)); // yaw angle (centi-deg)
float velN = (float)(velNED.x); // velocity North (m/s)
float velE = (float)(velNED.y); // velocity East (m/s)
float velD = (float)(velNED.z); // velocity Down (m/s)
float posN = (float)(posNE.x); // metres North
float posE = (float)(posNE.y); // metres East
float gyrX = (float)(6000*degrees(gyroBias.x)); // centi-deg/min
float gyrY = (float)(6000*degrees(gyroBias.y)); // centi-deg/min
float gyrZ = (float)(6000*degrees(gyroBias.z)); // centi-deg/min
// print EKF1 data packet
fprintf(ekf1f, "%.3f %u %d %d %u %.2f %.2f %.2f %.2f %.2f %.2f %.0f %.0f %.0f\n",
AP_HAL::millis() * 0.001f,
AP_HAL::millis(),
roll,
pitch,
yaw,
velN,
velE,
velD,
posN,
posE,
posD,
gyrX,
gyrY,
gyrZ);
// define messages for EKF2 data packet
int8_t accWeight = (int8_t)(100*accelWeighting);
int8_t acc1 = (int8_t)(100*accelZBias1);
int8_t acc2 = (int8_t)(100*accelZBias2);
int16_t windN = (int16_t)(100*windVel.x);
int16_t windE = (int16_t)(100*windVel.y);
int16_t magN = (int16_t)(magNED.x);
int16_t magE = (int16_t)(magNED.y);
int16_t magD = (int16_t)(magNED.z);
int16_t magX = (int16_t)(magXYZ.x);
int16_t magY = (int16_t)(magXYZ.y);
int16_t magZ = (int16_t)(magXYZ.z);
// print EKF2 data packet
fprintf(ekf2f, "%.3f %d %d %d %d %d %d %d %d %d %d %d %d\n",
AP_HAL::millis() * 0.001f,
AP_HAL::millis(),
accWeight,
acc1,
acc2,
windN,
windE,
magN,
magE,
magD,
magX,
magY,
magZ);
// define messages for EKF3 data packet
int16_t innovVN = (int16_t)(100*velInnov.x);
int16_t innovVE = (int16_t)(100*velInnov.y);
int16_t innovVD = (int16_t)(100*velInnov.z);
int16_t innovPN = (int16_t)(100*posInnov.x);
int16_t innovPE = (int16_t)(100*posInnov.y);
int16_t innovPD = (int16_t)(100*posInnov.z);
int16_t innovMX = (int16_t)(magInnov.x);
int16_t innovMY = (int16_t)(magInnov.y);
int16_t innovMZ = (int16_t)(magInnov.z);
int16_t innovVT = (int16_t)(100*tasInnov);
// print EKF3 data packet
fprintf(ekf3f, "%.3f %d %d %d %d %d %d %d %d %d %d %d\n",
AP_HAL::millis() * 0.001f,
AP_HAL::millis(),
innovVN,
innovVE,
innovVD,
innovPN,
innovPE,
innovPD,
innovMX,
innovMY,
innovMZ,
innovVT);
// define messages for EKF4 data packet
int16_t sqrtvarV = (int16_t)(constrain_float(100*velVar,INT16_MIN,INT16_MAX));
int16_t sqrtvarP = (int16_t)(constrain_float(100*posVar,INT16_MIN,INT16_MAX));
int16_t sqrtvarH = (int16_t)(constrain_float(100*hgtVar,INT16_MIN,INT16_MAX));
int16_t sqrtvarMX = (int16_t)(constrain_float(100*magVar.x,INT16_MIN,INT16_MAX));
int16_t sqrtvarMY = (int16_t)(constrain_float(100*magVar.y,INT16_MIN,INT16_MAX));
int16_t sqrtvarMZ = (int16_t)(constrain_float(100*magVar.z,INT16_MIN,INT16_MAX));
int16_t sqrtvarVT = (int16_t)(constrain_float(100*tasVar,INT16_MIN,INT16_MAX));
int16_t offsetNorth = (int8_t)(constrain_float(offset.x,INT16_MIN,INT16_MAX));
int16_t offsetEast = (int8_t)(constrain_float(offset.y,INT16_MIN,INT16_MAX));
// print EKF4 data packet
fprintf(ekf4f, "%.3f %u %d %d %d %d %d %d %d %d %d %d\n",
AP_HAL::millis() * 0.001f,
(unsigned)AP_HAL::millis(),
(int)sqrtvarV,
(int)sqrtvarP,
(int)sqrtvarH,
(int)sqrtvarMX,
(int)sqrtvarMY,
(int)sqrtvarMZ,
(int)sqrtvarVT,
(int)offsetNorth,
(int)offsetEast,
(int)faultStatus);
}

6
Tools/Replay/Replay.h
View File

@ -36,8 +36,8 @@
#include <AP_Baro/AP_Baro.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_InertialNav/AP_InertialNav.h>
#include <AP_NavEKF/AP_NavEKF.h>
#include <AP_NavEKF2/AP_NavEKF2.h>
#include <AP_NavEKF3/AP_NavEKF3.h>
#include <AP_Mission/AP_Mission.h>
#include <AP_Rally/AP_Rally.h>
#include <AP_BattMonitor/AP_BattMonitor.h>
@ -63,9 +63,9 @@ public:
Compass compass;
AP_SerialManager serial_manager;
RangeFinder rng {serial_manager};
NavEKF EKF{&ahrs, barometer, rng};
NavEKF2 EKF2{&ahrs, barometer, rng};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, rng, EKF, EKF2};
NavEKF3 EKF3{&ahrs, barometer, rng};
AP_AHRS_NavEKF ahrs {ins, barometer, gps, rng, EKF2, EKF3};
AP_InertialNav_NavEKF inertial_nav{ahrs};
AP_Vehicle::FixedWing aparm;
AP_Airspeed airspeed;

2
Tools/Replay/make.inc
View File

@ -18,8 +18,8 @@ LIBRARIES += AP_Compass
LIBRARIES += AP_Baro
LIBRARIES += AP_InertialSensor
LIBRARIES += AP_InertialNav
LIBRARIES += AP_NavEKF
LIBRARIES += AP_NavEKF2
LIBRARIES += AP_NavEKF3
LIBRARIES += AP_Mission
LIBRARIES += AP_Rally
LIBRARIES += AP_BattMonitor

2
Tools/ardupilotwaf/ardupilotwaf.py
View File

@ -34,8 +34,8 @@ COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
'AP_InertialSensor',
'AP_Math',
'AP_Mission',
'AP_NavEKF',
'AP_NavEKF2',
'AP_NavEKF3',
'AP_Notify',
'AP_OpticalFlow',
'AP_Param',