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DataFlash: Add EKF3 and remove EKF1

This commit is contained in:
Andrew Tridgell 2016-07-14 15:08:43 +10:00
parent 75688c8342
commit b00ec26957
3 changed files with 349 additions and 0 deletions
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2
libraries/DataFlash/DataFlash.h
View File

@ -123,7 +123,9 @@ public:
void Log_Write_AHRS2(AP_AHRS &ahrs);
void Log_Write_POS(AP_AHRS &ahrs);
#if AP_AHRS_NAVEKF_AVAILABLE
void Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled);
void Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled);
void Log_Write_EKF3(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled);
#endif
bool Log_Write_MavCmd(uint16_t cmd_total, const mavlink_mission_item_t& mav_cmd);
void Log_Write_Radio(const mavlink_radio_t &packet);

300
libraries/DataFlash/LogFile.cpp
View File

@ -1122,6 +1122,18 @@ void DataFlash_Class::Log_Write_POS(AP_AHRS &ahrs)
}
#if AP_AHRS_NAVEKF_AVAILABLE
void DataFlash_Class::Log_Write_EKF(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
{
// only log EKF2 if enabled
if (ahrs.get_NavEKF2().activeCores() > 0) {
Log_Write_EKF2(ahrs, optFlowEnabled);
}
// only log EKF3 if enabled
if (ahrs.get_NavEKF3().activeCores() > 0) {
Log_Write_EKF3(ahrs, optFlowEnabled);
}
}
void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
{
uint64_t time_us = AP_HAL::micros64();
@ -1415,6 +1427,294 @@ void DataFlash_Class::Log_Write_EKF2(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
}
}
}
void DataFlash_Class::Log_Write_EKF3(AP_AHRS_NavEKF &ahrs, bool optFlowEnabled)
{
uint64_t time_us = AP_HAL::micros64();
// Write first EKF packet
Vector3f euler;
Vector2f posNE;
float posD;
Vector3f velNED;
Vector3f dAngBias;
Vector3f dVelBias;
Vector3f gyroBias;
float posDownDeriv;
ahrs.get_NavEKF3().getEulerAngles(0,euler);
ahrs.get_NavEKF3().getVelNED(0,velNED);
ahrs.get_NavEKF3().getPosNE(0,posNE);
ahrs.get_NavEKF3().getPosD(0,posD);
ahrs.get_NavEKF3().getGyroBias(0,gyroBias);
posDownDeriv = ahrs.get_NavEKF3().getPosDownDerivative(0);
struct log_EKF1 pkt = {
LOG_PACKET_HEADER_INIT(LOG_XKF1_MSG),
time_us : time_us,
roll : (int16_t)(100*degrees(euler.x)), // roll angle (centi-deg, displayed as deg due to format string)
pitch : (int16_t)(100*degrees(euler.y)), // pitch angle (centi-deg, displayed as deg due to format string)
yaw : (uint16_t)wrap_360_cd(100*degrees(euler.z)), // yaw angle (centi-deg, displayed as deg due to format string)
velN : (float)(velNED.x), // velocity North (m/s)
velE : (float)(velNED.y), // velocity East (m/s)
velD : (float)(velNED.z), // velocity Down (m/s)
posD_dot : (float)(posDownDeriv), // first derivative of down position
posN : (float)(posNE.x), // metres North
posE : (float)(posNE.y), // metres East
posD : (float)(posD), // metres Down
gyrX : (int16_t)(100*degrees(gyroBias.x)), // cd/sec, displayed as deg/sec due to format string
gyrY : (int16_t)(100*degrees(gyroBias.y)), // cd/sec, displayed as deg/sec due to format string
gyrZ : (int16_t)(100*degrees(gyroBias.z)) // cd/sec, displayed as deg/sec due to format string
};
WriteBlock(&pkt, sizeof(pkt));
// Write second EKF packet
Vector3f accelBias;
Vector3f wind;
Vector3f magNED;
Vector3f magXYZ;
uint8_t magIndex = ahrs.get_NavEKF3().getActiveMag(0);
ahrs.get_NavEKF3().getAccelBias(0,accelBias);
ahrs.get_NavEKF3().getWind(0,wind);
ahrs.get_NavEKF3().getMagNED(0,magNED);
ahrs.get_NavEKF3().getMagXYZ(0,magXYZ);
struct log_NKF2a pkt2 = {
LOG_PACKET_HEADER_INIT(LOG_XKF2_MSG),
time_us : time_us,
accBiasX : (int16_t)(100*accelBias.x),
accBiasY : (int16_t)(100*accelBias.y),
accBiasZ : (int16_t)(100*accelBias.z),
windN : (int16_t)(100*wind.x),
windE : (int16_t)(100*wind.y),
magN : (int16_t)(magNED.x),
magE : (int16_t)(magNED.y),
magD : (int16_t)(magNED.z),
magX : (int16_t)(magXYZ.x),
magY : (int16_t)(magXYZ.y),
magZ : (int16_t)(magXYZ.z),
index : (uint8_t)(magIndex)
};
WriteBlock(&pkt2, sizeof(pkt2));
// Write third EKF packet
Vector3f velInnov;
Vector3f posInnov;
Vector3f magInnov;
float tasInnov = 0;
float yawInnov = 0;
ahrs.get_NavEKF3().getInnovations(0,velInnov, posInnov, magInnov, tasInnov, yawInnov);
struct log_NKF3 pkt3 = {
LOG_PACKET_HEADER_INIT(LOG_XKF3_MSG),
time_us : time_us,
innovVN : (int16_t)(100*velInnov.x),
innovVE : (int16_t)(100*velInnov.y),
innovVD : (int16_t)(100*velInnov.z),
innovPN : (int16_t)(100*posInnov.x),
innovPE : (int16_t)(100*posInnov.y),
innovPD : (int16_t)(100*posInnov.z),
innovMX : (int16_t)(magInnov.x),
innovMY : (int16_t)(magInnov.y),
innovMZ : (int16_t)(magInnov.z),
innovYaw : (int16_t)(100*degrees(yawInnov)),
innovVT : (int16_t)(100*tasInnov)
};
WriteBlock(&pkt3, sizeof(pkt3));
// Write fourth EKF packet
float velVar = 0;
float posVar = 0;
float hgtVar = 0;
Vector3f magVar;
float tasVar = 0;
Vector2f offset;
uint16_t faultStatus=0;
uint8_t timeoutStatus=0;
nav_filter_status solutionStatus {};
nav_gps_status gpsStatus {};
ahrs.get_NavEKF3().getVariances(0,velVar, posVar, hgtVar, magVar, tasVar, offset);
float tempVar = fmaxf(fmaxf(magVar.x,magVar.y),magVar.z);
ahrs.get_NavEKF3().getFilterFaults(0,faultStatus);
ahrs.get_NavEKF3().getFilterTimeouts(0,timeoutStatus);
ahrs.get_NavEKF3().getFilterStatus(0,solutionStatus);
ahrs.get_NavEKF3().getFilterGpsStatus(0,gpsStatus);
float tiltError;
ahrs.get_NavEKF3().getTiltError(0,tiltError);
uint8_t primaryIndex = ahrs.get_NavEKF3().getPrimaryCoreIndex();
struct log_NKF4 pkt4 = {
LOG_PACKET_HEADER_INIT(LOG_XKF4_MSG),
time_us : time_us,
sqrtvarV : (int16_t)(100*velVar),
sqrtvarP : (int16_t)(100*posVar),
sqrtvarH : (int16_t)(100*hgtVar),
sqrtvarM : (int16_t)(100*tempVar),
sqrtvarVT : (int16_t)(100*tasVar),
tiltErr : (float)tiltError,
offsetNorth : (int8_t)(offset.x),
offsetEast : (int8_t)(offset.y),
faults : (uint16_t)(faultStatus),
timeouts : (uint8_t)(timeoutStatus),
solution : (uint16_t)(solutionStatus.value),
gps : (uint16_t)(gpsStatus.value),
primary : (int8_t)primaryIndex
};
WriteBlock(&pkt4, sizeof(pkt4));
// Write fifth EKF packet - take data from the primary instance
float normInnov=0; // normalised innovation variance ratio for optical flow observations fused by the main nav filter
float gndOffset=0; // estimated vertical position of the terrain relative to the nav filter zero datum
float flowInnovX=0, flowInnovY=0; // optical flow LOS rate vector innovations from the main nav filter
float auxFlowInnov=0; // optical flow LOS rate innovation from terrain offset estimator
float HAGL=0; // height above ground level
float rngInnov=0; // range finder innovations
float range=0; // measured range
float gndOffsetErr=0; // filter ground offset state error
Vector3f predictorErrors; // output predictor angle, velocity and position tracking error
ahrs.get_NavEKF3().getFlowDebug(-1,normInnov, gndOffset, flowInnovX, flowInnovY, auxFlowInnov, HAGL, rngInnov, range, gndOffsetErr);
ahrs.get_NavEKF3().getOutputTrackingError(-1,predictorErrors);
struct log_NKF5 pkt5 = {
LOG_PACKET_HEADER_INIT(LOG_XKF5_MSG),
time_us : time_us,
normInnov : (uint8_t)(MIN(100*normInnov,255)),
FIX : (int16_t)(1000*flowInnovX),
FIY : (int16_t)(1000*flowInnovY),
AFI : (int16_t)(1000*auxFlowInnov),
HAGL : (int16_t)(100*HAGL),
offset : (int16_t)(100*gndOffset),
RI : (int16_t)(100*rngInnov),
meaRng : (uint16_t)(100*range),
errHAGL : (uint16_t)(100*gndOffsetErr),
angErr : (float)predictorErrors.x,
velErr : (float)predictorErrors.y,
posErr : (float)predictorErrors.z
};
WriteBlock(&pkt5, sizeof(pkt5));
// log innovations for the second IMU if enabled
if (ahrs.get_NavEKF3().activeCores() >= 2) {
// Write 6th EKF packet
ahrs.get_NavEKF3().getEulerAngles(1,euler);
ahrs.get_NavEKF3().getVelNED(1,velNED);
ahrs.get_NavEKF3().getPosNE(1,posNE);
ahrs.get_NavEKF3().getPosD(1,posD);
ahrs.get_NavEKF3().getGyroBias(1,gyroBias);
posDownDeriv = ahrs.get_NavEKF3().getPosDownDerivative(1);
struct log_EKF1 pkt6 = {
LOG_PACKET_HEADER_INIT(LOG_XKF6_MSG),
time_us : time_us,
roll : (int16_t)(100*degrees(euler.x)), // roll angle (centi-deg, displayed as deg due to format string)
pitch : (int16_t)(100*degrees(euler.y)), // pitch angle (centi-deg, displayed as deg due to format string)
yaw : (uint16_t)wrap_360_cd(100*degrees(euler.z)), // yaw angle (centi-deg, displayed as deg due to format string)
velN : (float)(velNED.x), // velocity North (m/s)
velE : (float)(velNED.y), // velocity East (m/s)
velD : (float)(velNED.z), // velocity Down (m/s)
posD_dot : (float)(posDownDeriv), // first derivative of down position
posN : (float)(posNE.x), // metres North
posE : (float)(posNE.y), // metres East
posD : (float)(posD), // metres Down
gyrX : (int16_t)(100*degrees(gyroBias.x)), // cd/sec, displayed as deg/sec due to format string
gyrY : (int16_t)(100*degrees(gyroBias.y)), // cd/sec, displayed as deg/sec due to format string
gyrZ : (int16_t)(100*degrees(gyroBias.z)) // cd/sec, displayed as deg/sec due to format string
};
WriteBlock(&pkt6, sizeof(pkt6));
// Write 7th EKF packet
ahrs.get_NavEKF3().getAccelBias(1,accelBias);
ahrs.get_NavEKF3().getWind(1,wind);
ahrs.get_NavEKF3().getMagNED(1,magNED);
ahrs.get_NavEKF3().getMagXYZ(1,magXYZ);
magIndex = ahrs.get_NavEKF3().getActiveMag(1);
struct log_NKF2a pkt7 = {
LOG_PACKET_HEADER_INIT(LOG_XKF7_MSG),
time_us : time_us,
accBiasX : (int16_t)(100*accelBias.x),
accBiasY : (int16_t)(100*accelBias.y),
accBiasZ : (int16_t)(100*accelBias.z),
windN : (int16_t)(100*wind.x),
windE : (int16_t)(100*wind.y),
magN : (int16_t)(magNED.x),
magE : (int16_t)(magNED.y),
magD : (int16_t)(magNED.z),
magX : (int16_t)(magXYZ.x),
magY : (int16_t)(magXYZ.y),
magZ : (int16_t)(magXYZ.z),
index : (uint8_t)(magIndex)
};
WriteBlock(&pkt7, sizeof(pkt7));
// Write 8th EKF packet
ahrs.get_NavEKF3().getInnovations(1,velInnov, posInnov, magInnov, tasInnov, yawInnov);
struct log_NKF3 pkt8 = {
LOG_PACKET_HEADER_INIT(LOG_XKF8_MSG),
time_us : time_us,
innovVN : (int16_t)(100*velInnov.x),
innovVE : (int16_t)(100*velInnov.y),
innovVD : (int16_t)(100*velInnov.z),
innovPN : (int16_t)(100*posInnov.x),
innovPE : (int16_t)(100*posInnov.y),
innovPD : (int16_t)(100*posInnov.z),
innovMX : (int16_t)(magInnov.x),
innovMY : (int16_t)(magInnov.y),
innovMZ : (int16_t)(magInnov.z),
innovYaw : (int16_t)(100*degrees(yawInnov)),
innovVT : (int16_t)(100*tasInnov)
};
WriteBlock(&pkt8, sizeof(pkt8));
// Write 9th EKF packet
ahrs.get_NavEKF3().getVariances(1,velVar, posVar, hgtVar, magVar, tasVar, offset);
tempVar = fmaxf(fmaxf(magVar.x,magVar.y),magVar.z);
ahrs.get_NavEKF3().getFilterFaults(1,faultStatus);
ahrs.get_NavEKF3().getFilterTimeouts(1,timeoutStatus);
ahrs.get_NavEKF3().getFilterStatus(1,solutionStatus);
ahrs.get_NavEKF3().getFilterGpsStatus(1,gpsStatus);
ahrs.get_NavEKF3().getTiltError(1,tiltError);
struct log_NKF4 pkt9 = {
LOG_PACKET_HEADER_INIT(LOG_XKF9_MSG),
time_us : time_us,
sqrtvarV : (int16_t)(100*velVar),
sqrtvarP : (int16_t)(100*posVar),
sqrtvarH : (int16_t)(100*hgtVar),
sqrtvarM : (int16_t)(100*tempVar),
sqrtvarVT : (int16_t)(100*tasVar),
tiltErr : (float)tiltError,
offsetNorth : (int8_t)(offset.x),
offsetEast : (int8_t)(offset.y),
faults : (uint16_t)(faultStatus),
timeouts : (uint8_t)(timeoutStatus),
solution : (uint16_t)(solutionStatus.value),
gps : (uint16_t)(gpsStatus.value),
primary : (int8_t)primaryIndex
};
WriteBlock(&pkt9, sizeof(pkt9));
}
// write range beacon fusion debug packet if the range value is non-zero
uint8_t ID;
float rng;
float innovVar;
float innov;
float testRatio;
Vector3f beaconPosNED;
float bcnPosOffsetHigh;
float bcnPosOffsetLow;
if (ahrs.get_NavEKF3().getRangeBeaconDebug(-1, ID, rng, innov, innovVar, testRatio, beaconPosNED, bcnPosOffsetHigh, bcnPosOffsetLow)) {
if (rng > 0.0f) {
struct log_RngBcnDebug pkt10 = {
LOG_PACKET_HEADER_INIT(LOG_XKF10_MSG),
time_us : time_us,
ID : (uint8_t)ID,
rng : (int16_t)(100*rng),
innov : (int16_t)(100*innov),
sqrtInnovVar : (uint16_t)(100*sqrtf(innovVar)),
testRatio : (uint16_t)(100*testRatio),
beaconPosN : (int16_t)(100*beaconPosNED.x),
beaconPosE : (int16_t)(100*beaconPosNED.y),
beaconPosD : (int16_t)(100*beaconPosNED.z),
offsetHigh : (int16_t)(100*bcnPosOffsetHigh),
offsetLow : (int16_t)(100*bcnPosOffsetLow)
};
WriteBlock(&pkt10, sizeof(pkt10));
}
}
}
#endif
// Write a command processing packet

47
libraries/DataFlash/LogStructure.h
View File

@ -273,6 +273,23 @@ struct PACKED log_NKF2 {
uint8_t index;
};
struct PACKED log_NKF2a {
LOG_PACKET_HEADER;
uint64_t time_us;
int16_t accBiasX;
int16_t accBiasY;
int16_t accBiasZ;
int16_t windN;
int16_t windE;
int16_t magN;
int16_t magE;
int16_t magD;
int16_t magX;
int16_t magY;
int16_t magZ;
uint8_t index;
};
struct PACKED log_EKF3 {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -838,6 +855,26 @@ Format characters in the format string for binary log messages
"NKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
{ LOG_NKF10_MSG, sizeof(log_RngBcnDebug), \
"NKF0","QBccCCccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL" }, \
{ LOG_XKF1_MSG, sizeof(log_EKF1), \
"XKF1","QccCfffffffccc","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ" }, \
{ LOG_XKF2_MSG, sizeof(log_NKF2a), \
"XKF2","QccccchhhhhhB","TimeUS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI" }, \
{ LOG_XKF3_MSG, sizeof(log_NKF3), \
"XKF3","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT" }, \
{ LOG_XKF4_MSG, sizeof(log_NKF4), \
"XKF4","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
{ LOG_XKF5_MSG, sizeof(log_NKF5), \
"XKF5","QBhhhcccCCfff","TimeUS,NI,FIX,FIY,AFI,HAGL,offset,RI,rng,Herr,eAng,eVel,ePos" }, \
{ LOG_XKF6_MSG, sizeof(log_EKF1), \
"XKF6","QccCfffffffccc","TimeUS,Roll,Pitch,Yaw,VN,VE,VD,dPD,PN,PE,PD,GX,GY,GZ" }, \
{ LOG_XKF7_MSG, sizeof(log_NKF2a), \
"XKF7","QccccchhhhhhB","TimeUS,AX,AY,AZ,VWN,VWE,MN,ME,MD,MX,MY,MZ,MI" }, \
{ LOG_XKF8_MSG, sizeof(log_NKF3), \
"XKF8","Qcccccchhhcc","TimeUS,IVN,IVE,IVD,IPN,IPE,IPD,IMX,IMY,IMZ,IYAW,IVT" }, \
{ LOG_XKF9_MSG, sizeof(log_NKF4), \
"XKF9","QcccccfbbHBHHb","TimeUS,SV,SP,SH,SM,SVT,errRP,OFN,OFE,FS,TS,SS,GPS,PI" }, \
{ LOG_XKF10_MSG, sizeof(log_RngBcnDebug), \
"XKF0","QBccCCccccc","TimeUS,ID,rng,innov,SIV,TR,BPN,BPE,BPD,OFH,OFL" }, \
{ LOG_TERRAIN_MSG, sizeof(log_TERRAIN), \
"TERR","QBLLHffHH","TimeUS,Status,Lat,Lng,Spacing,TerrH,CHeight,Pending,Loaded" }, \
{ LOG_GPS_UBX1_MSG, sizeof(log_Ubx1), \
@ -1018,6 +1055,16 @@ enum LogMessages {
LOG_NKF8_MSG,
LOG_NKF9_MSG,
LOG_NKF10_MSG,
LOG_XKF1_MSG,
LOG_XKF2_MSG,
LOG_XKF3_MSG,
LOG_XKF4_MSG,
LOG_XKF5_MSG,
LOG_XKF6_MSG,
LOG_XKF7_MSG,
LOG_XKF8_MSG,
LOG_XKF9_MSG,
LOG_XKF10_MSG,
LOG_DF_MAV_STATS,
LOG_MSG_SBPHEALTH,