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AP_NavEKF3: factor out and logging functions, reuse for 2nd core

This commit is contained in:
Peter Barker 2019-07-03 11:48:50 +10:00 committed by Andrew Tridgell
parent 6a0a466f42
commit ce45baa034
2 changed files with 119 additions and 171 deletions
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12
libraries/AP_NavEKF3/AP_NavEKF3.h
View File

@ -26,6 +26,7 @@
#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_RangeFinder/AP_RangeFinder.h>
#include <AP_Logger/LogStructure.h>
class NavEKF3_core;
class AP_AHRS;
@ -523,4 +524,15 @@ private:
// new_primary - index of the ekf instance that we are about to switch to as the primary
// old_primary - index of the ekf instance that we are currently using as the primary
void updateLaneSwitchPosDownResetData(uint8_t new_primary, uint8_t old_primary);
// logging functions shared by cores:
void Log_Write_EKF1(uint8_t core, LogMessages msg_id, uint64_t time_us) const;
void Log_Write_NKF2a(uint8_t core, LogMessages msg_id, uint64_t time_us) const;
void Log_Write_NKF3(uint8_t core, LogMessages msg_id, uint64_t time_us) const;
void Log_Write_NKF4(uint8_t core, LogMessages msg_id, uint64_t time_us) const;
void Log_Write_NKF5(uint64_t time_us) const;
void Log_Write_Quaternion(uint8_t core, LogMessages msg_id, uint64_t time_us) const;
void Log_Write_Beacon(uint64_t time_us) const;
void Log_Write_BodyOdom(uint64_t time_us) const;
void Log_Write_State_Variances(uint64_t time_us) const;
};

278
libraries/AP_NavEKF3/AP_NavEKF3_Logging.cpp
View File

@ -3,16 +3,8 @@
#include <AP_HAL/HAL.h>
#include <AP_Logger/AP_Logger.h>
void NavEKF3::Log_Write()
void NavEKF3::Log_Write_EKF1(uint8_t _core, LogMessages msg_id, uint64_t time_us) const
{
// only log if enabled
if (activeCores() <= 0) {
return;
}
AP_Logger &logger = AP::logger();
uint64_t time_us = AP_HAL::micros64();
// Write first EKF packet
Vector3f euler;
Vector2f posNE;
@ -21,17 +13,17 @@ void NavEKF3::Log_Write()
Vector3f gyroBias;
float posDownDeriv;
Location originLLH;
getEulerAngles(0,euler);
getVelNED(0,velNED);
getPosNE(0,posNE);
getPosD(0,posD);
getGyroBias(0,gyroBias);
posDownDeriv = getPosDownDerivative(0);
if (!getOriginLLH(0,originLLH)) {
getEulerAngles(_core,euler);
getVelNED(_core,velNED);
getPosNE(_core,posNE);
getPosD(_core,posD);
getGyroBias(_core,gyroBias);
posDownDeriv = getPosDownDerivative(_core);
if (!getOriginLLH(_core,originLLH)) {
originLLH.alt = 0;
}
struct log_EKF1 pkt = {
LOG_PACKET_HEADER_INIT(LOG_XKF1_MSG),
const struct log_EKF1 pkt{
LOG_PACKET_HEADER_INIT(msg_id),
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)
@ -48,20 +40,23 @@ void NavEKF3::Log_Write()
gyrZ : (int16_t)(100*degrees(gyroBias.z)), // cd/sec, displayed as deg/sec due to format string
originHgt : originLLH.alt // WGS-84 altitude of EKF origin in cm
};
logger.WriteBlock(&pkt, sizeof(pkt));
AP::logger().WriteBlock(&pkt, sizeof(pkt));
}
void NavEKF3::Log_Write_NKF2a(uint8_t _core, LogMessages msg_id, uint64_t time_us) const
{
// Write second EKF packet
Vector3f accelBias;
Vector3f wind;
Vector3f magNED;
Vector3f magXYZ;
uint8_t magIndex = getActiveMag(0);
getAccelBias(0,accelBias);
getWind(0,wind);
getMagNED(0,magNED);
getMagXYZ(0,magXYZ);
struct log_NKF2a pkt2 = {
LOG_PACKET_HEADER_INIT(LOG_XKF2_MSG),
uint8_t magIndex = getActiveMag(_core);
getAccelBias(_core,accelBias);
getWind(_core,wind);
getMagNED(_core,magNED);
getMagXYZ(_core,magXYZ);
const struct log_NKF2a pkt2{
LOG_PACKET_HEADER_INIT(msg_id),
time_us : time_us,
accBiasX : (int16_t)(100*accelBias.x),
accBiasY : (int16_t)(100*accelBias.y),
@ -76,17 +71,20 @@ void NavEKF3::Log_Write()
magZ : (int16_t)(magXYZ.z),
index : (uint8_t)(magIndex)
};
logger.WriteBlock(&pkt2, sizeof(pkt2));
AP::logger().WriteBlock(&pkt2, sizeof(pkt2));
}
void NavEKF3::Log_Write_NKF3(uint8_t _core, LogMessages msg_id, uint64_t time_us) const
{
// Write third EKF packet
Vector3f velInnov;
Vector3f posInnov;
Vector3f magInnov;
float tasInnov = 0;
float yawInnov = 0;
getInnovations(0,velInnov, posInnov, magInnov, tasInnov, yawInnov);
struct log_NKF3 pkt3 = {
LOG_PACKET_HEADER_INIT(LOG_XKF3_MSG),
getInnovations(_core,velInnov, posInnov, magInnov, tasInnov, yawInnov);
const struct log_NKF3 pkt3{
LOG_PACKET_HEADER_INIT(msg_id),
time_us : time_us,
innovVN : (int16_t)(100*velInnov.x),
innovVE : (int16_t)(100*velInnov.y),
@ -100,8 +98,11 @@ void NavEKF3::Log_Write()
innovYaw : (int16_t)(100*degrees(yawInnov)),
innovVT : (int16_t)(100*tasInnov)
};
logger.WriteBlock(&pkt3, sizeof(pkt3));
AP::logger().WriteBlock(&pkt3, sizeof(pkt3));
}
void NavEKF3::Log_Write_NKF4(uint8_t _core, LogMessages msg_id, uint64_t time_us) const
{
// Write fourth EKF packet
float velVar = 0;
float posVar = 0;
@ -113,17 +114,17 @@ void NavEKF3::Log_Write()
uint8_t timeoutStatus=0;
nav_filter_status solutionStatus {};
nav_gps_status gpsStatus {};
getVariances(0,velVar, posVar, hgtVar, magVar, tasVar, offset);
getVariances(_core,velVar, posVar, hgtVar, magVar, tasVar, offset);
float tempVar = fmaxf(fmaxf(magVar.x,magVar.y),magVar.z);
getFilterFaults(0,faultStatus);
getFilterTimeouts(0,timeoutStatus);
getFilterStatus(0,solutionStatus);
getFilterGpsStatus(0,gpsStatus);
getFilterFaults(_core,faultStatus);
getFilterTimeouts(_core,timeoutStatus);
getFilterStatus(_core,solutionStatus);
getFilterGpsStatus(_core,gpsStatus);
float tiltError;
getTiltError(0,tiltError);
getTiltError(_core,tiltError);
uint8_t primaryIndex = getPrimaryCoreIndex();
struct log_NKF4 pkt4 = {
LOG_PACKET_HEADER_INIT(LOG_XKF4_MSG),
const struct log_NKF4 pkt4{
LOG_PACKET_HEADER_INIT(msg_id),
time_us : time_us,
sqrtvarV : (int16_t)(100*velVar),
sqrtvarP : (int16_t)(100*posVar),
@ -139,8 +140,12 @@ void NavEKF3::Log_Write()
gps : (uint16_t)(gpsStatus.value),
primary : (int8_t)primaryIndex
};
logger.WriteBlock(&pkt4, sizeof(pkt4));
AP::logger().WriteBlock(&pkt4, sizeof(pkt4));
}
void NavEKF3::Log_Write_NKF5(uint64_t time_us) const
{
// 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
@ -153,7 +158,7 @@ void NavEKF3::Log_Write()
Vector3f predictorErrors; // output predictor angle, velocity and position tracking error
getFlowDebug(-1,normInnov, gndOffset, flowInnovX, flowInnovY, auxFlowInnov, HAGL, rngInnov, range, gndOffsetErr);
getOutputTrackingError(-1,predictorErrors);
struct log_NKF5 pkt5 = {
const struct log_NKF5 pkt5{
LOG_PACKET_HEADER_INIT(LOG_XKF5_MSG),
time_us : time_us,
normInnov : (uint8_t)(MIN(100*normInnov,255)),
@ -169,135 +174,27 @@ void NavEKF3::Log_Write()
velErr : (float)predictorErrors.y,
posErr : (float)predictorErrors.z
};
logger.WriteBlock(&pkt5, sizeof(pkt5));
AP::logger().WriteBlock(&pkt5, sizeof(pkt5));
}
void NavEKF3::Log_Write_Quaternion(uint8_t _core, LogMessages msg_id, uint64_t time_us) const
{
// log quaternion
Quaternion quat;
getQuaternion(0, quat);
struct log_Quaternion pktq1 = {
LOG_PACKET_HEADER_INIT(LOG_XKQ1_MSG),
getQuaternion(_core, quat);
const struct log_Quaternion pktq1{
LOG_PACKET_HEADER_INIT(msg_id),
time_us : time_us,
q1 : quat.q1,
q2 : quat.q2,
q3 : quat.q3,
q4 : quat.q4
};
logger.WriteBlock(&pktq1, sizeof(pktq1));
// log innovations for the second IMU if enabled
if (activeCores() >= 2) {
// Write 6th EKF packet
getEulerAngles(1,euler);
getVelNED(1,velNED);
getPosNE(1,posNE);
getPosD(1,posD);
getGyroBias(1,gyroBias);
posDownDeriv = getPosDownDerivative(1);
if (!getOriginLLH(1,originLLH)) {
originLLH.alt = 0;
}
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
originHgt : originLLH.alt // WGS-84 altitude of EKF origin in cm
};
logger.WriteBlock(&pkt6, sizeof(pkt6));
AP::logger().WriteBlock(&pktq1, sizeof(pktq1));
}
// Write 7th EKF packet
getAccelBias(1,accelBias);
getWind(1,wind);
getMagNED(1,magNED);
getMagXYZ(1,magXYZ);
magIndex = 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)
};
logger.WriteBlock(&pkt7, sizeof(pkt7));
// Write 8th EKF packet
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)
};
logger.WriteBlock(&pkt8, sizeof(pkt8));
// Write 9th EKF packet
getVariances(1,velVar, posVar, hgtVar, magVar, tasVar, offset);
tempVar = fmaxf(fmaxf(magVar.x,magVar.y),magVar.z);
getFilterFaults(1,faultStatus);
getFilterTimeouts(1,timeoutStatus);
getFilterStatus(1,solutionStatus);
getFilterGpsStatus(1,gpsStatus);
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
};
logger.WriteBlock(&pkt9, sizeof(pkt9));
// log quaternion
getQuaternion(1, quat);
struct log_Quaternion pktq2 = {
LOG_PACKET_HEADER_INIT(LOG_XKQ2_MSG),
time_us : time_us,
q1 : quat.q1,
q2 : quat.q2,
q3 : quat.q3,
q4 : quat.q4
};
logger.WriteBlock(&pktq2, sizeof(pktq2));
}
void NavEKF3::Log_Write_Beacon(uint64_t time_us) const
{
// write range beacon fusion debug packet if the range value is non-zero
uint8_t ID;
float rng;
@ -310,7 +207,7 @@ void NavEKF3::Log_Write()
Vector3f posNED;
if (getRangeBeaconDebug(-1, ID, rng, innov, innovVar, testRatio, beaconPosNED, bcnPosOffsetHigh, bcnPosOffsetLow, posNED)) {
if (rng > 0.0f) {
struct log_RngBcnDebug pkt10 = {
const struct log_RngBcnDebug pkt10{
LOG_PACKET_HEADER_INIT(LOG_XKF10_MSG),
time_us : time_us,
ID : (uint8_t)ID,
@ -328,15 +225,18 @@ void NavEKF3::Log_Write()
posD : (int16_t)(100*posNED.z)
};
logger.WriteBlock(&pkt10, sizeof(pkt10));
AP::logger().WriteBlock(&pkt10, sizeof(pkt10));
}
}
// write debug data for body frame odometry fusion
}
void NavEKF3::Log_Write_BodyOdom(uint64_t time_us) const
{
Vector3f velBodyInnov,velBodyInnovVar;
static uint32_t lastUpdateTime_ms = 0;
uint32_t updateTime_ms = getBodyFrameOdomDebug(-1, velBodyInnov, velBodyInnovVar);
if (updateTime_ms > lastUpdateTime_ms) {
struct log_ekfBodyOdomDebug pkt11 = {
const struct log_ekfBodyOdomDebug pkt11{
LOG_PACKET_HEADER_INIT(LOG_XKFD_MSG),
time_us : time_us,
velInnovX : velBodyInnov.x,
@ -346,17 +246,19 @@ void NavEKF3::Log_Write()
velInnovVarY : velBodyInnovVar.y,
velInnovVarZ : velBodyInnovVar.z
};
logger.WriteBlock(&pkt11, sizeof(pkt11));
AP::logger().WriteBlock(&pkt11, sizeof(pkt11));
lastUpdateTime_ms = updateTime_ms;
}
}
// log state variances every 0.49s
void NavEKF3::Log_Write_State_Variances(uint64_t time_us) const
{
static uint32_t lastEkfStateVarLogTime_ms = 0;
if (AP_HAL::millis() - lastEkfStateVarLogTime_ms > 490) {
lastEkfStateVarLogTime_ms = AP_HAL::millis();
float stateVar[24];
getStateVariances(-1, stateVar);
struct log_ekfStateVar pktv1 = {
const struct log_ekfStateVar pktv1{
LOG_PACKET_HEADER_INIT(LOG_XKV1_MSG),
time_us : time_us,
v00 : stateVar[0],
@ -372,8 +274,8 @@ void NavEKF3::Log_Write()
v10 : stateVar[10],
v11 : stateVar[11]
};
logger.WriteBlock(&pktv1, sizeof(pktv1));
struct log_ekfStateVar pktv2 = {
AP::logger().WriteBlock(&pktv1, sizeof(pktv1));
const struct log_ekfStateVar pktv2{
LOG_PACKET_HEADER_INIT(LOG_XKV2_MSG),
time_us : time_us,
v00 : stateVar[12],
@ -389,9 +291,43 @@ void NavEKF3::Log_Write()
v10 : stateVar[22],
v11 : stateVar[23]
};
logger.WriteBlock(&pktv2, sizeof(pktv2));
AP::logger().WriteBlock(&pktv2, sizeof(pktv2));
}
}
void NavEKF3::Log_Write()
{
// only log if enabled
if (activeCores() <= 0) {
return;
}
uint64_t time_us = AP_HAL::micros64();
Log_Write_EKF1(0, LOG_XKF1_MSG, time_us);
Log_Write_NKF2a(0, LOG_XKF2_MSG, time_us);
Log_Write_NKF3(0, LOG_XKF3_MSG, time_us);
Log_Write_NKF4(0, LOG_XKF4_MSG, time_us);
Log_Write_NKF5(time_us);
Log_Write_Quaternion(0, LOG_XKQ1_MSG, time_us);
// log innovations for the second IMU if enabled
if (activeCores() >= 2) {
Log_Write_EKF1(1, LOG_XKF6_MSG, time_us);
Log_Write_NKF2a(1, LOG_XKF7_MSG, time_us);
Log_Write_NKF3(1, LOG_XKF8_MSG, time_us);
Log_Write_NKF4(1, LOG_XKF9_MSG, time_us);
Log_Write_Quaternion(1, LOG_XKQ2_MSG, time_us);
}
// write range beacon fusion debug packet if the range value is non-zero
Log_Write_Beacon(time_us);
// write debug data for body frame odometry fusion
Log_Write_BodyOdom(time_us);
// log state variances every 0.49s
Log_Write_State_Variances(time_us);
// log EKF timing statistics every 5s
static uint32_t lastTimingLogTime_ms = 0;
@ -400,7 +336,7 @@ void NavEKF3::Log_Write()
struct ekf_timing timing;
for (uint8_t i=0; i<activeCores(); i++) {
getTimingStatistics(i, timing);
logger.Write_EKF_Timing(i==0?"XKT1":"XKT2", time_us, timing);
AP::logger().Write_EKF_Timing(i==0?"XKT1":"XKT2", time_us, timing);
}
}
}