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https://github.com/ArduPilot/ardupilot
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GPS_Glitch: remove class
This logic is now within the EKF
This commit is contained in:
Randy Mackay
parent
fbfc94cf69
commit
883e23b97d
@ -1,121 +0,0 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include <AP_Common.h>
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#include <AP_Math.h>
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#include <AP_HAL.h>
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#include <AP_Notify.h>
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#include "AP_GPS_Glitch.h"
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extern const AP_HAL::HAL& hal;
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// table of user settable parameters
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const AP_Param::GroupInfo GPS_Glitch::var_info[] PROGMEM = {
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// @Param: ENABLE
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// @DisplayName: GPS Glitch protection enable/disable
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// @Description: Allows you to enable (1) or disable (0) gps glitch protection
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// @Values: 0:Disabled,1:Enabled
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// @User: Standard
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AP_GROUPINFO("ENABLE", 0, GPS_Glitch, _enabled, 1),
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// @Param: RADIUS
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// @DisplayName: GPS glitch protection radius within which all new positions are accepted
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// @Description: GPS glitch protection radius within which all new positions are accepted
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// @Units: cm
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// @Range: 100 2000
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// @Increment: 100
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// @User: Advanced
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AP_GROUPINFO("RADIUS", 1, GPS_Glitch, _radius_cm, GPS_GLITCH_RADIUS_CM),
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// @Param: ACCEL
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// @DisplayName: GPS glitch protection's max vehicle acceleration assumption
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// @Description: GPS glitch protection's max vehicle acceleration assumption
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// @Units: cm/s/s
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// @Range: 100 2000
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// @Increment: 100
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// @User: Advanced
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AP_GROUPINFO("ACCEL", 2, GPS_Glitch, _accel_max_cmss, GPS_GLITCH_ACCEL_MAX_CMSS),
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AP_GROUPEND
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};
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// constuctor
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GPS_Glitch::GPS_Glitch(const AP_GPS &gps) :
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_gps(gps),
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_last_good_update(0),
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_last_good_lat(0),
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_last_good_lon(0)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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// check_position - returns true if gps position is acceptable, false if not
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void GPS_Glitch::check_position()
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{
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uint32_t now = hal.scheduler->millis(); // current system time
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float sane_dt; // time since last sane gps reading
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float accel_based_distance; // movement based on max acceleration
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Location curr_pos; // our current position estimate
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Location gps_pos; // gps reported position
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float distance_cm; // distance from gps to current position estimate in cm
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bool all_ok; // true if the new gps position passes sanity checks
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// exit immediately if we don't have gps lock
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if (_gps.status() < AP_GPS::GPS_OK_FIX_3D) {
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_flags.glitching = true;
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return;
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}
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// if not initialised or disabled update last good position and exit
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if (!_flags.initialised || !_enabled) {
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const Location &loc = _gps.location();
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const Vector3f &vel = _gps.velocity();
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_last_good_update = now;
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_last_good_lat = loc.lat;
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_last_good_lon = loc.lng;
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_last_good_vel.x = vel.x;
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_last_good_vel.y = vel.y;
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_flags.initialised = true;
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_flags.glitching = false;
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return;
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}
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// calculate time since last sane gps reading in ms
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sane_dt = (now - _last_good_update) / 1000.0f;
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// project forward our position from last known velocity
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curr_pos.lat = _last_good_lat;
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curr_pos.lng = _last_good_lon;
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location_offset(curr_pos, _last_good_vel.x * sane_dt, _last_good_vel.y * sane_dt);
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// calculate distance from recent gps position to current estimate
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const Location &loc = _gps.location();
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gps_pos.lat = loc.lat;
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gps_pos.lng = loc.lng;
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distance_cm = get_distance_cm(curr_pos, gps_pos);
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// all ok if within a given hardcoded radius
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if (distance_cm <= _radius_cm) {
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all_ok = true;
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}else{
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// or if within the maximum distance we could have moved based on our acceleration
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accel_based_distance = 0.5f * _accel_max_cmss * sane_dt * sane_dt;
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all_ok = (distance_cm <= accel_based_distance);
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}
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// store updates to gps position
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if (all_ok) {
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// position is acceptable
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_last_good_update = now;
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_last_good_lat = loc.lat;
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_last_good_lon = loc.lng;
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const Vector3f &vel = _gps.velocity();
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_last_good_vel.x = vel.x;
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_last_good_vel.y = vel.y;
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}
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// update glitching flag
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_flags.glitching = !all_ok;
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}
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@ -1,68 +0,0 @@
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// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file GPS_Glitch.h
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/// @brief GPS Glitch protection
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#ifndef __GPS_GLITCH_H__
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#define __GPS_GLITCH_H__
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#include <AP_HAL.h>
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#include <inttypes.h>
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#include <AP_Progmem.h>
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#include <AP_Math.h>
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#include <AP_GPS.h>
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#define GPS_GLITCH_ACCEL_MAX_CMSS 1000.0f // vehicle can accelerate at up to 5m/s/s in any direction
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#define GPS_GLITCH_RADIUS_CM 200.0f // gps movement within 2m of current position are always ok
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/// @class GPS_Glitch
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/// @brief GPS Glitch protection class
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class GPS_Glitch
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{
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public:
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// constructor
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GPS_Glitch(const AP_GPS &gps);
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// check_position - checks latest gps position against last know position, velocity and maximum acceleration and updates glitching flag
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void check_position();
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// enable - enable or disable gps sanity checking
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void enable(bool true_or_false) { _enabled = true_or_false; }
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// enabled - returns true if glitch detection is enabled
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bool enabled() const { return _enabled; }
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// glitching - returns true if we are experiencing a glitch
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bool glitching() const { return _flags.glitching; }
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// last_good_update - returns system time of the last good update
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uint32_t last_good_update() const { return _last_good_update; }
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// class level parameters
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static const struct AP_Param::GroupInfo var_info[];
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private:
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/// external dependencies
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const AP_GPS &_gps; // reference to gps
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/// structure for holding flags
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struct GPS_Glitch_flags {
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uint8_t initialised : 1; // 1 if we have received at least one good gps lock
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uint8_t glitching : 1; // 1 if we are experiencing a gps glitch
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} _flags;
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// parameters
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AP_Int8 _enabled; // top level enable/disable control
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AP_Float _radius_cm; // radius in cm within which all new positions from GPS are accepted
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AP_Float _accel_max_cmss; // vehicles maximum acceleration in cm/s/s
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// gps sanity check variables
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uint32_t _last_good_update; // system time of last gps update that passed checks
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int32_t _last_good_lat; // last good latitude reported by the gps
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int32_t _last_good_lon; // last good longitude reported by the gps
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Vector2f _last_good_vel; // last good velocity reported by the gps in cm/s in lat and lon directions
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};
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#endif // __GPS_H__
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