mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF3: fixed indentation in readGpsData()
This commit is contained in:
Andrew Tridgell
Randy Mackay
parent
9acb16acca
commit
93e1bd0160
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@ -563,156 +563,156 @@ void NavEKF3_core::readGpsData()
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return;
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}
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// report GPS fix status
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gpsCheckStatus.bad_fix = false;
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// report GPS fix status
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gpsCheckStatus.bad_fix = false;
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// store fix time from previous read
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const uint32_t secondLastGpsTime_ms = lastTimeGpsReceived_ms;
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// store fix time from previous read
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const uint32_t secondLastGpsTime_ms = lastTimeGpsReceived_ms;
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// get current fix time
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lastTimeGpsReceived_ms = gps.last_message_time_ms(selected_gps);
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// get current fix time
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lastTimeGpsReceived_ms = gps.last_message_time_ms(selected_gps);
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// estimate when the GPS fix was valid, allowing for GPS processing and other delays
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// ideally we should be using a timing signal from the GPS receiver to set this time
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// Use the driver specified delay
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float gps_delay_sec = 0;
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gps.get_lag(selected_gps, gps_delay_sec);
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gpsDataNew.time_ms = lastTimeGpsReceived_ms - (uint32_t)(gps_delay_sec * 1000.0f);
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// estimate when the GPS fix was valid, allowing for GPS processing and other delays
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// ideally we should be using a timing signal from the GPS receiver to set this time
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// Use the driver specified delay
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float gps_delay_sec = 0;
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gps.get_lag(selected_gps, gps_delay_sec);
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gpsDataNew.time_ms = lastTimeGpsReceived_ms - (uint32_t)(gps_delay_sec * 1000.0f);
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// Correct for the average intersampling delay due to the filter updaterate
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gpsDataNew.time_ms -= localFilterTimeStep_ms/2;
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// Correct for the average intersampling delay due to the filter updaterate
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gpsDataNew.time_ms -= localFilterTimeStep_ms/2;
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// Prevent the time stamp falling outside the oldest and newest IMU data in the buffer
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gpsDataNew.time_ms = MIN(MAX(gpsDataNew.time_ms,imuDataDelayed.time_ms),imuDataDownSampledNew.time_ms);
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// Prevent the time stamp falling outside the oldest and newest IMU data in the buffer
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gpsDataNew.time_ms = MIN(MAX(gpsDataNew.time_ms,imuDataDelayed.time_ms),imuDataDownSampledNew.time_ms);
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// Get which GPS we are using for position information
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gpsDataNew.sensor_idx = selected_gps;
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// Get which GPS we are using for position information
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gpsDataNew.sensor_idx = selected_gps;
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// read the NED velocity from the GPS
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gpsDataNew.vel = gps.velocity(selected_gps).toftype();
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gpsDataNew.have_vz = gps.have_vertical_velocity(selected_gps);
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// read the NED velocity from the GPS
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gpsDataNew.vel = gps.velocity(selected_gps).toftype();
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gpsDataNew.have_vz = gps.have_vertical_velocity(selected_gps);
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// position and velocity are not yet corrected for sensor position
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gpsDataNew.corrected = false;
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// position and velocity are not yet corrected for sensor position
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gpsDataNew.corrected = false;
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// Use the speed and position accuracy from the GPS if available, otherwise set it to zero.
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// Apply a decaying envelope filter with a 5 second time constant to the raw accuracy data
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ftype alpha = constrain_ftype(0.0002f * (lastTimeGpsReceived_ms - secondLastGpsTime_ms),0.0f,1.0f);
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gpsSpdAccuracy *= (1.0f - alpha);
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float gpsSpdAccRaw;
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if (!gps.speed_accuracy(selected_gps, gpsSpdAccRaw)) {
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gpsSpdAccuracy = 0.0f;
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} else {
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gpsSpdAccuracy = MAX(gpsSpdAccuracy,gpsSpdAccRaw);
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gpsSpdAccuracy = MIN(gpsSpdAccuracy,50.0f);
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gpsSpdAccuracy = MAX(gpsSpdAccuracy,frontend->_gpsHorizVelNoise);
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}
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gpsPosAccuracy *= (1.0f - alpha);
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float gpsPosAccRaw;
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if (!gps.horizontal_accuracy(selected_gps, gpsPosAccRaw)) {
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gpsPosAccuracy = 0.0f;
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} else {
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gpsPosAccuracy = MAX(gpsPosAccuracy,gpsPosAccRaw);
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gpsPosAccuracy = MIN(gpsPosAccuracy,100.0f);
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gpsPosAccuracy = MAX(gpsPosAccuracy, frontend->_gpsHorizPosNoise);
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}
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gpsHgtAccuracy *= (1.0f - alpha);
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float gpsHgtAccRaw;
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if (!gps.vertical_accuracy(selected_gps, gpsHgtAccRaw)) {
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gpsHgtAccuracy = 0.0f;
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} else {
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gpsHgtAccuracy = MAX(gpsHgtAccuracy,gpsHgtAccRaw);
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gpsHgtAccuracy = MIN(gpsHgtAccuracy,100.0f);
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gpsHgtAccuracy = MAX(gpsHgtAccuracy, 1.5f * frontend->_gpsHorizPosNoise);
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// Use the speed and position accuracy from the GPS if available, otherwise set it to zero.
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// Apply a decaying envelope filter with a 5 second time constant to the raw accuracy data
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ftype alpha = constrain_ftype(0.0002f * (lastTimeGpsReceived_ms - secondLastGpsTime_ms),0.0f,1.0f);
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gpsSpdAccuracy *= (1.0f - alpha);
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float gpsSpdAccRaw;
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if (!gps.speed_accuracy(selected_gps, gpsSpdAccRaw)) {
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gpsSpdAccuracy = 0.0f;
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} else {
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gpsSpdAccuracy = MAX(gpsSpdAccuracy,gpsSpdAccRaw);
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gpsSpdAccuracy = MIN(gpsSpdAccuracy,50.0f);
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gpsSpdAccuracy = MAX(gpsSpdAccuracy,frontend->_gpsHorizVelNoise);
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}
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gpsPosAccuracy *= (1.0f - alpha);
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float gpsPosAccRaw;
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if (!gps.horizontal_accuracy(selected_gps, gpsPosAccRaw)) {
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gpsPosAccuracy = 0.0f;
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} else {
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gpsPosAccuracy = MAX(gpsPosAccuracy,gpsPosAccRaw);
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gpsPosAccuracy = MIN(gpsPosAccuracy,100.0f);
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gpsPosAccuracy = MAX(gpsPosAccuracy, frontend->_gpsHorizPosNoise);
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}
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gpsHgtAccuracy *= (1.0f - alpha);
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float gpsHgtAccRaw;
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if (!gps.vertical_accuracy(selected_gps, gpsHgtAccRaw)) {
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gpsHgtAccuracy = 0.0f;
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} else {
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gpsHgtAccuracy = MAX(gpsHgtAccuracy,gpsHgtAccRaw);
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gpsHgtAccuracy = MIN(gpsHgtAccuracy,100.0f);
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gpsHgtAccuracy = MAX(gpsHgtAccuracy, 1.5f * frontend->_gpsHorizPosNoise);
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}
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// check if we have enough GPS satellites and increase the gps noise scaler if we don't
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if (gps.num_sats(selected_gps) >= 6 && (PV_AidingMode == AID_ABSOLUTE)) {
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gpsNoiseScaler = 1.0f;
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} else if (gps.num_sats(selected_gps) == 5 && (PV_AidingMode == AID_ABSOLUTE)) {
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gpsNoiseScaler = 1.4f;
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} else { // <= 4 satellites or in constant position mode
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gpsNoiseScaler = 2.0f;
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}
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// Check if GPS can output vertical velocity, vertical velocity use is permitted and set GPS fusion mode accordingly
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if (gpsDataNew.have_vz && frontend->sources.useVelZSource(AP_NavEKF_Source::SourceZ::GPS)) {
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useGpsVertVel = true;
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} else {
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useGpsVertVel = false;
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}
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// Monitor quality of the GPS velocity data before and after alignment
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calcGpsGoodToAlign();
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// Post-alignment checks
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calcGpsGoodForFlight();
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// Read the GPS location in WGS-84 lat,long,height coordinates
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const struct Location &gpsloc = gps.location(selected_gps);
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// Set the EKF origin and magnetic field declination if not previously set and GPS checks have passed
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if (gpsGoodToAlign && !validOrigin) {
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Location gpsloc_fieldelevation = gpsloc;
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// if flying, correct for height change from takeoff so that the origin is at field elevation
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if (inFlight) {
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gpsloc_fieldelevation.alt += (int32_t)(100.0f * stateStruct.position.z);
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}
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if (!setOrigin(gpsloc_fieldelevation)) {
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// set an error as an attempt was made to set the origin more than once
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INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
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return;
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}
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// set the NE earth magnetic field states using the published declination
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// and set the corresponding variances and covariances
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alignMagStateDeclination();
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// Set the height of the NED origin
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ekfGpsRefHgt = (double)0.01 * (double)gpsloc.alt + (double)outputDataNew.position.z;
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// Set the uncertainty of the GPS origin height
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ekfOriginHgtVar = sq(gpsHgtAccuracy);
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}
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if (gpsGoodToAlign && !have_table_earth_field) {
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const auto *compass = dal.get_compass();
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if (compass && compass->have_scale_factor(magSelectIndex) && compass->auto_declination_enabled()) {
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getEarthFieldTable(gpsloc);
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if (frontend->_mag_ef_limit > 0) {
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// initialise earth field from tables
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stateStruct.earth_magfield = table_earth_field_ga;
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}
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}
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}
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// check if we have enough GPS satellites and increase the gps noise scaler if we don't
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if (gps.num_sats(selected_gps) >= 6 && (PV_AidingMode == AID_ABSOLUTE)) {
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gpsNoiseScaler = 1.0f;
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} else if (gps.num_sats(selected_gps) == 5 && (PV_AidingMode == AID_ABSOLUTE)) {
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gpsNoiseScaler = 1.4f;
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} else { // <= 4 satellites or in constant position mode
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gpsNoiseScaler = 2.0f;
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}
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// convert GPS measurements to local NED and save to buffer to be fused later if we have a valid origin
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if (validOrigin) {
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gpsDataNew.lat = gpsloc.lat;
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gpsDataNew.lng = gpsloc.lng;
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if ((frontend->_originHgtMode & (1<<2)) == 0) {
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gpsDataNew.hgt = (ftype)((double)0.01 * (double)gpsloc.alt - ekfGpsRefHgt);
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} else {
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gpsDataNew.hgt = 0.01 * (gpsloc.alt - EKF_origin.alt);
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}
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storedGPS.push(gpsDataNew);
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// declare GPS available for use
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gpsNotAvailable = false;
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}
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// Check if GPS can output vertical velocity, vertical velocity use is permitted and set GPS fusion mode accordingly
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if (gpsDataNew.have_vz && frontend->sources.useVelZSource(AP_NavEKF_Source::SourceZ::GPS)) {
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useGpsVertVel = true;
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} else {
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useGpsVertVel = false;
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}
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// Monitor quality of the GPS velocity data before and after alignment
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calcGpsGoodToAlign();
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// Post-alignment checks
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calcGpsGoodForFlight();
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// Read the GPS location in WGS-84 lat,long,height coordinates
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const struct Location &gpsloc = gps.location(selected_gps);
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// Set the EKF origin and magnetic field declination if not previously set and GPS checks have passed
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if (gpsGoodToAlign && !validOrigin) {
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Location gpsloc_fieldelevation = gpsloc;
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// if flying, correct for height change from takeoff so that the origin is at field elevation
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if (inFlight) {
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gpsloc_fieldelevation.alt += (int32_t)(100.0f * stateStruct.position.z);
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}
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if (!setOrigin(gpsloc_fieldelevation)) {
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// set an error as an attempt was made to set the origin more than once
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INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
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return;
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}
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// set the NE earth magnetic field states using the published declination
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// and set the corresponding variances and covariances
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alignMagStateDeclination();
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// Set the height of the NED origin
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ekfGpsRefHgt = (double)0.01 * (double)gpsloc.alt + (double)outputDataNew.position.z;
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// Set the uncertainty of the GPS origin height
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ekfOriginHgtVar = sq(gpsHgtAccuracy);
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}
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if (gpsGoodToAlign && !have_table_earth_field) {
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const auto *compass = dal.get_compass();
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if (compass && compass->have_scale_factor(magSelectIndex) && compass->auto_declination_enabled()) {
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getEarthFieldTable(gpsloc);
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if (frontend->_mag_ef_limit > 0) {
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// initialise earth field from tables
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stateStruct.earth_magfield = table_earth_field_ga;
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}
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}
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}
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// convert GPS measurements to local NED and save to buffer to be fused later if we have a valid origin
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if (validOrigin) {
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gpsDataNew.lat = gpsloc.lat;
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gpsDataNew.lng = gpsloc.lng;
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if ((frontend->_originHgtMode & (1<<2)) == 0) {
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gpsDataNew.hgt = (ftype)((double)0.01 * (double)gpsloc.alt - ekfGpsRefHgt);
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} else {
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gpsDataNew.hgt = 0.01 * (gpsloc.alt - EKF_origin.alt);
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}
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storedGPS.push(gpsDataNew);
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// declare GPS available for use
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gpsNotAvailable = false;
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}
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// if the GPS has yaw data then input that as well
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float yaw_deg, yaw_accuracy_deg;
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if (dal.gps().gps_yaw_deg(selected_gps, yaw_deg, yaw_accuracy_deg)) {
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// GPS modules are rather too optimistic about their
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// accuracy. Set to min of 5 degrees here to prevent
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// the user constantly receiving warnings about high
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// normalised yaw innovations
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const ftype min_yaw_accuracy_deg = 5.0f;
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yaw_accuracy_deg = MAX(yaw_accuracy_deg, min_yaw_accuracy_deg);
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writeEulerYawAngle(radians(yaw_deg), radians(yaw_accuracy_deg), gpsDataNew.time_ms, 2);
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}
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// if the GPS has yaw data then input that as well
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float yaw_deg, yaw_accuracy_deg;
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if (dal.gps().gps_yaw_deg(selected_gps, yaw_deg, yaw_accuracy_deg)) {
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// GPS modules are rather too optimistic about their
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// accuracy. Set to min of 5 degrees here to prevent
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// the user constantly receiving warnings about high
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// normalised yaw innovations
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const ftype min_yaw_accuracy_deg = 5.0f;
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yaw_accuracy_deg = MAX(yaw_accuracy_deg, min_yaw_accuracy_deg);
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writeEulerYawAngle(radians(yaw_deg), radians(yaw_accuracy_deg), gpsDataNew.time_ms, 2);
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}
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}
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// read the delta angle and corresponding time interval from the IMU
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