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AP_NavEKF3: getOptFlowSample returns latest correct flow data for use in calibration

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This commit is contained in:
Randy Mackay 2022-01-20 12:17:40 +09:00
parent ee46b876cb
commit e16a64383f
4 changed files with 44 additions and 0 deletions
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10
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -1518,6 +1518,16 @@ void NavEKF3::writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &raw
}
}
// retrieve latest corrected optical flow samples (used for calibration)
bool NavEKF3::getOptFlowSample(uint32_t& timeStamp_ms, Vector2f& flowRate, Vector2f& bodyRate, Vector2f& losPred) const
{
// return optical flow samples from primary core
if (core) {
return core[primary].getOptFlowSample(timeStamp_ms, flowRate, bodyRate, losPred);
}
return false;
}
// write yaw angle sensor measurements
void NavEKF3::writeEulerYawAngle(float yawAngle, float yawAngleErr, uint32_t timeStamp_ms, uint8_t type)
{

3
libraries/AP_NavEKF3/AP_NavEKF3.h
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@ -198,6 +198,9 @@ public:
// posOffset is the XYZ flow sensor position in the body frame in m
void writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset);
// retrieve latest corrected optical flow samples (used for calibration)
bool getOptFlowSample(uint32_t& timeStamp_ms, Vector2f& flowRate, Vector2f& bodyRate, Vector2f& losPred) const;
/*
* Write body frame linear and angular displacement measurements from a visual odometry sensor
*

22
libraries/AP_NavEKF3/AP_NavEKF3_OptFlowFusion.cpp
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@ -737,6 +737,28 @@ void NavEKF3_core::FuseOptFlow(const of_elements &ofDataDelayed, bool really_fus
}
}
}
// store optical flow rates for use in external calibration
flowCalSample.timestamp_ms = imuSampleTime_ms;
flowCalSample.flowRate.x = ofDataDelayed.flowRadXY.x;
flowCalSample.flowRate.y = ofDataDelayed.flowRadXY.y;
flowCalSample.bodyRate.x = ofDataDelayed.bodyRadXYZ.x;
flowCalSample.bodyRate.y = ofDataDelayed.bodyRadXYZ.y;
flowCalSample.losPred.x = losPred[0];
flowCalSample.losPred.y = losPred[1];
}
// retrieve latest corrected optical flow samples (used for calibration)
bool NavEKF3_core::getOptFlowSample(uint32_t& timestamp_ms, Vector2f& flowRate, Vector2f& bodyRate, Vector2f& losPred) const
{
if (flowCalSample.timestamp_ms != 0) {
timestamp_ms = flowCalSample.timestamp_ms;
flowRate = flowCalSample.flowRate;
bodyRate = flowCalSample.bodyRate;
losPred = flowCalSample.losPred;
return true;
}
return false;
}
/********************************************************

9
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -248,6 +248,9 @@ public:
// posOffset is the XYZ flow sensor position in the body frame in m
void writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset);
// retrieve latest corrected optical flow samples (used for calibration)
bool getOptFlowSample(uint32_t& timeStamp_ms, Vector2f& flowRate, Vector2f& bodyRate, Vector2f& losPred) const;
/*
* Write body frame linear and angular displacement measurements from a visual odometry sensor
*
@ -1186,6 +1189,12 @@ private:
ftype prevPosE; // east position at last measurement
ftype varInnovRng; // range finder observation innovation variance (m^2)
ftype innovRng; // range finder observation innovation (m)
struct {
uint32_t timestamp_ms; // system timestamp of last correct optical flow sample (used for calibration)
Vector2f flowRate; // latest corrected optical flow flow rate (used for calibration)
Vector2f bodyRate; // latest corrected optical flow body rate (used for calibration)
Vector2f losPred; // EKF estimated component of flowRate that comes from vehicle movement (not rotation)
} flowCalSample;
ftype hgtMea; // height measurement derived from either baro, gps or range finder data (m)
bool inhibitGndState; // true when the terrain position state is to remain constant