mirror of https://github.com/ArduPilot/ardupilot
429 lines
14 KiB
C++
429 lines
14 KiB
C++
#include "AP_NavEKF3.h"
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#include "AP_NavEKF3_core.h"
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#include <AP_HAL/HAL.h>
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#include <AP_Logger/AP_Logger.h>
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#include <AP_DAL/AP_DAL.h>
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#pragma GCC diagnostic ignored "-Wnarrowing"
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void NavEKF3_core::Log_Write_XKF1(uint64_t time_us) const
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{
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// Write first EKF packet
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Vector3f euler;
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Vector2f posNE;
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float posD;
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Vector3f velNED;
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Vector3f gyroBias;
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float posDownDeriv;
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Location originLLH;
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getEulerAngles(euler);
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getVelNED(velNED);
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getPosNE(posNE);
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getPosD(posD);
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getGyroBias(gyroBias);
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posDownDeriv = getPosDownDerivative();
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if (!getOriginLLH(originLLH)) {
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originLLH.alt = 0;
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}
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const struct log_XKF1 pkt{
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LOG_PACKET_HEADER_INIT(LOG_XKF1_MSG),
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time_us : time_us,
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core : DAL_CORE(core_index),
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roll : (int16_t)(100*degrees(euler.x)), // roll angle (centi-deg, displayed as deg due to format string)
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pitch : (int16_t)(100*degrees(euler.y)), // pitch angle (centi-deg, displayed as deg due to format string)
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yaw : (uint16_t)wrap_360_cd(100*degrees(euler.z)), // yaw angle (centi-deg, displayed as deg due to format string)
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velN : (float)(velNED.x), // velocity North (m/s)
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velE : (float)(velNED.y), // velocity East (m/s)
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velD : (float)(velNED.z), // velocity Down (m/s)
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posD_dot : (float)(posDownDeriv), // first derivative of down position
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posN : (float)(posNE.x), // metres North
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posE : (float)(posNE.y), // metres East
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posD : (float)(posD), // metres Down
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gyrX : (int16_t)(100*degrees(gyroBias.x)), // cd/sec, displayed as deg/sec due to format string
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gyrY : (int16_t)(100*degrees(gyroBias.y)), // cd/sec, displayed as deg/sec due to format string
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gyrZ : (int16_t)(100*degrees(gyroBias.z)), // cd/sec, displayed as deg/sec due to format string
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originHgt : originLLH.alt // WGS-84 altitude of EKF origin in cm
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};
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AP::logger().WriteBlock(&pkt, sizeof(pkt));
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}
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void NavEKF3_core::Log_Write_XKF2(uint64_t time_us) const
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{
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// Write second EKF packet
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Vector3f accelBias;
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Vector3f wind;
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Vector3f magNED;
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Vector3f magXYZ;
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getAccelBias(accelBias);
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getWind(wind);
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getMagNED(magNED);
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getMagXYZ(magXYZ);
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Vector2f dragInnov;
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float betaInnov = 0;
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getSynthAirDataInnovations(dragInnov, betaInnov);
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const struct log_XKF2 pkt2{
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LOG_PACKET_HEADER_INIT(LOG_XKF2_MSG),
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time_us : time_us,
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core : DAL_CORE(core_index),
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accBiasX : (int16_t)(100*accelBias.x),
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accBiasY : (int16_t)(100*accelBias.y),
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accBiasZ : (int16_t)(100*accelBias.z),
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windN : (int16_t)(100*wind.x),
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windE : (int16_t)(100*wind.y),
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magN : (int16_t)(magNED.x),
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magE : (int16_t)(magNED.y),
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magD : (int16_t)(magNED.z),
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magX : (int16_t)(magXYZ.x),
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magY : (int16_t)(magXYZ.y),
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magZ : (int16_t)(magXYZ.z),
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innovDragX : dragInnov.x,
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innovDragY : dragInnov.y,
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innovSideslip : betaInnov
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};
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AP::logger().WriteBlock(&pkt2, sizeof(pkt2));
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}
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void NavEKF3_core::Log_Write_XKFS(uint64_t time_us) const
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{
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// Write sensor selection EKF packet
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const struct log_XKFS pkt {
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LOG_PACKET_HEADER_INIT(LOG_XKFS_MSG),
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time_us : time_us,
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core : DAL_CORE(core_index),
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mag_index : magSelectIndex,
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baro_index : selected_baro,
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gps_index : selected_gps,
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airspeed_index : getActiveAirspeed()
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};
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AP::logger().WriteBlock(&pkt, sizeof(pkt));
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}
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void NavEKF3_core::Log_Write_XKF3(uint64_t time_us) const
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{
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// Write third EKF packet
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Vector3f velInnov;
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Vector3f posInnov;
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Vector3f magInnov;
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float tasInnov = 0;
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float yawInnov = 0;
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getInnovations(velInnov, posInnov, magInnov, tasInnov, yawInnov);
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const struct log_XKF3 pkt3{
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LOG_PACKET_HEADER_INIT(LOG_XKF3_MSG),
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time_us : time_us,
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core : DAL_CORE(core_index),
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innovVN : (int16_t)(100*velInnov.x),
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innovVE : (int16_t)(100*velInnov.y),
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innovVD : (int16_t)(100*velInnov.z),
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innovPN : (int16_t)(100*posInnov.x),
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innovPE : (int16_t)(100*posInnov.y),
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innovPD : (int16_t)(100*posInnov.z),
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innovMX : (int16_t)(magInnov.x),
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innovMY : (int16_t)(magInnov.y),
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innovMZ : (int16_t)(magInnov.z),
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innovYaw : (int16_t)(100*degrees(yawInnov)),
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innovVT : (int16_t)(100*tasInnov),
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rerr : frontend->coreRelativeErrors[core_index],
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errorScore : frontend->coreErrorScores[core_index]
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};
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AP::logger().WriteBlock(&pkt3, sizeof(pkt3));
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}
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void NavEKF3_core::Log_Write_XKF4(uint64_t time_us) const
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{
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// Write fourth EKF packet
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float velVar = 0;
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float posVar = 0;
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float hgtVar = 0;
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Vector3f magVar;
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float tasVar = 0;
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uint16_t _faultStatus=0;
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Vector2f offset;
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const uint8_t timeoutStatus =
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posTimeout<<0 |
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velTimeout<<1 |
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hgtTimeout<<2 |
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magTimeout<<3 |
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tasTimeout<<4;
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nav_filter_status solutionStatus {};
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getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
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float tempVar = fmaxF(fmaxF(magVar.x,magVar.y),magVar.z);
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getFilterFaults(_faultStatus);
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getFilterStatus(solutionStatus);
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const struct log_NKF4 pkt4{
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LOG_PACKET_HEADER_INIT(LOG_XKF4_MSG),
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time_us : time_us,
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core : DAL_CORE(core_index),
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sqrtvarV : (int16_t)(100*velVar),
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sqrtvarP : (int16_t)(100*posVar),
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sqrtvarH : (int16_t)(100*hgtVar),
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sqrtvarM : (int16_t)(100*tempVar),
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sqrtvarVT : (int16_t)(100*tasVar),
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tiltErr : sqrtF(MAX(tiltErrorVariance,0.0f)), // estimated 1-sigma tilt error in radians
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offsetNorth : offset.x,
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offsetEast : offset.y,
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faults : _faultStatus,
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timeouts : timeoutStatus,
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solution : solutionStatus.value,
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gps : gpsCheckStatus.value,
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primary : frontend->getPrimaryCoreIndex()
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};
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AP::logger().WriteBlock(&pkt4, sizeof(pkt4));
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}
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void NavEKF3_core::Log_Write_XKF5(uint64_t time_us) const
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{
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if (core_index != frontend->primary) {
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// log only primary instance for now
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return;
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}
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const struct log_NKF5 pkt5{
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LOG_PACKET_HEADER_INIT(LOG_XKF5_MSG),
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time_us : time_us,
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core : DAL_CORE(core_index),
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normInnov : (uint8_t)(MIN(100*MAX(flowTestRatio[0],flowTestRatio[1]),255)), // normalised innovation variance ratio for optical flow observations fused by the main nav filter
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FIX : (int16_t)(1000*innovOptFlow[0]), // optical flow LOS rate vector innovations from the main nav filter
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FIY : (int16_t)(1000*innovOptFlow[1]), // optical flow LOS rate vector innovations from the main nav filter
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AFI : (int16_t)(1000*norm(auxFlowObsInnov.x,auxFlowObsInnov.y)), // optical flow LOS rate innovation from terrain offset estimator
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HAGL : (int16_t)(100*(terrainState - stateStruct.position.z)), // height above ground level
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offset : (int16_t)(100*terrainState), // filter ground offset state error
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RI : (int16_t)(100*innovRng), // range finder innovations
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meaRng : (uint16_t)(100*rangeDataDelayed.rng), // measured range
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errHAGL : (uint16_t)(100*sqrtF(Popt)), // note Popt is constrained to be non-negative in EstimateTerrainOffset()
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angErr : (float)outputTrackError.x, // output predictor angle error
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velErr : (float)outputTrackError.y, // output predictor velocity error
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posErr : (float)outputTrackError.z // output predictor position tracking error
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};
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AP::logger().WriteBlock(&pkt5, sizeof(pkt5));
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}
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void NavEKF3_core::Log_Write_Quaternion(uint64_t time_us) const
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{
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// log quaternion
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Quaternion quat;
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getQuaternion( quat);
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const struct log_XKQ pktq1{
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LOG_PACKET_HEADER_INIT(LOG_XKQ_MSG),
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time_us : time_us,
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core : DAL_CORE(core_index),
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q1 : quat.q1,
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q2 : quat.q2,
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q3 : quat.q3,
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q4 : quat.q4
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};
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AP::logger().WriteBlock(&pktq1, sizeof(pktq1));
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}
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// logs beacon information, one beacon per call
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void NavEKF3_core::Log_Write_Beacon(uint64_t time_us)
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{
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if (core_index != frontend->primary) {
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// log only primary instance for now
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return;
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}
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if (!statesInitialised || N_beacons == 0 || rngBcnFusionReport == nullptr) {
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return;
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}
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// Ensure that beacons are not skipped due to calling this function at a rate lower than the updates
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if (rngBcnFuseDataReportIndex >= N_beacons) {
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rngBcnFuseDataReportIndex = 0;
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}
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const rngBcnFusionReport_t &report = rngBcnFusionReport[rngBcnFuseDataReportIndex];
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// write range beacon fusion debug packet if the range value is non-zero
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if (report.rng <= 0.0f) {
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rngBcnFuseDataReportIndex++;
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return;
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}
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const struct log_XKF0 pkt10{
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LOG_PACKET_HEADER_INIT(LOG_XKF0_MSG),
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time_us : time_us,
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core : DAL_CORE(core_index),
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ID : rngBcnFuseDataReportIndex,
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rng : (int16_t)(100*report.rng),
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innov : (int16_t)(100*report.innov),
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sqrtInnovVar : (uint16_t)(100*sqrtF(report.innovVar)),
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testRatio : (uint16_t)(100*constrain_ftype(report.testRatio,0.0f,650.0f)),
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beaconPosN : (int16_t)(100*report.beaconPosNED.x),
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beaconPosE : (int16_t)(100*report.beaconPosNED.y),
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beaconPosD : (int16_t)(100*report.beaconPosNED.z),
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offsetHigh : (int16_t)(100*bcnPosDownOffsetMax),
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offsetLow : (int16_t)(100*bcnPosDownOffsetMin),
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posN : (int16_t)(100*receiverPos.x),
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posE : (int16_t)(100*receiverPos.y),
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posD : (int16_t)(100*receiverPos.z)
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};
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AP::logger().WriteBlock(&pkt10, sizeof(pkt10));
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rngBcnFuseDataReportIndex++;
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}
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#if EK3_FEATURE_BODY_ODOM
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void NavEKF3_core::Log_Write_BodyOdom(uint64_t time_us)
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{
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if (core_index != frontend->primary) {
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// log only primary instance for now
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return;
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}
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static uint32_t lastUpdateTime_ms = 0;
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const uint32_t updateTime_ms = MAX(bodyOdmDataDelayed.time_ms,wheelOdmDataDelayed.time_ms);
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if (updateTime_ms > lastUpdateTime_ms) {
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const struct log_XKFD pkt11{
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LOG_PACKET_HEADER_INIT(LOG_XKFD_MSG),
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time_us : time_us,
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core : DAL_CORE(core_index),
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velInnovX : innovBodyVel[0],
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velInnovY : innovBodyVel[1],
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velInnovZ : innovBodyVel[2],
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velInnovVarX : varInnovBodyVel[0],
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velInnovVarY : varInnovBodyVel[1],
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velInnovVarZ : varInnovBodyVel[2]
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};
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AP::logger().WriteBlock(&pkt11, sizeof(pkt11));
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lastUpdateTime_ms = updateTime_ms;
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}
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}
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#endif
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void NavEKF3_core::Log_Write_State_Variances(uint64_t time_us) const
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{
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if (core_index != frontend->primary) {
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// log only primary instance for now
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return;
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}
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static uint32_t lastEkfStateVarLogTime_ms = 0;
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if (AP::dal().millis() - lastEkfStateVarLogTime_ms > 490) {
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lastEkfStateVarLogTime_ms = AP::dal().millis();
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const struct log_XKV pktv1{
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LOG_PACKET_HEADER_INIT(LOG_XKV1_MSG),
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time_us : time_us,
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core : DAL_CORE(core_index),
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v00 : P[0][0],
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v01 : P[1][1],
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v02 : P[2][2],
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v03 : P[3][3],
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v04 : P[4][4],
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v05 : P[5][5],
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v06 : P[6][6],
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v07 : P[7][7],
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v08 : P[8][8],
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v09 : P[9][9],
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v10 : P[10][10],
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v11 : P[11][11]
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};
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AP::logger().WriteBlock(&pktv1, sizeof(pktv1));
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const struct log_XKV pktv2{
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LOG_PACKET_HEADER_INIT(LOG_XKV2_MSG),
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time_us : time_us,
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core : DAL_CORE(core_index),
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v00 : P[12][12],
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v01 : P[13][13],
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v02 : P[14][14],
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v03 : P[15][15],
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v04 : P[16][16],
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v05 : P[17][17],
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v06 : P[18][18],
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v07 : P[19][19],
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v08 : P[20][20],
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v09 : P[21][21],
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v10 : P[22][22],
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v11 : P[23][23]
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};
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AP::logger().WriteBlock(&pktv2, sizeof(pktv2));
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}
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}
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void NavEKF3::Log_Write()
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{
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// only log if enabled
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if (activeCores() <= 0) {
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return;
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}
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if (lastLogWrite_us == imuSampleTime_us) {
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// vehicle is doubling up on logging
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return;
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}
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lastLogWrite_us = imuSampleTime_us;
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uint64_t time_us = AP::dal().micros64();
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for (uint8_t i=0; i<activeCores(); i++) {
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core[i].Log_Write(time_us);
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}
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AP::dal().start_frame(AP_DAL::FrameType::LogWriteEKF3);
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}
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void NavEKF3_core::Log_Write(uint64_t time_us)
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{
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// note that several of these functions exit-early if they're not
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// attempting to log the primary core.
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Log_Write_XKF1(time_us);
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Log_Write_XKF2(time_us);
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Log_Write_XKF3(time_us);
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Log_Write_XKF4(time_us);
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Log_Write_XKF5(time_us);
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Log_Write_XKFS(time_us);
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Log_Write_Quaternion(time_us);
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Log_Write_GSF(time_us);
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// write range beacon fusion debug packet if the range value is non-zero
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Log_Write_Beacon(time_us);
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#if EK3_FEATURE_BODY_ODOM
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// write debug data for body frame odometry fusion
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Log_Write_BodyOdom(time_us);
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#endif
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// log state variances every 0.49s
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Log_Write_State_Variances(time_us);
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Log_Write_Timing(time_us);
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}
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void NavEKF3_core::Log_Write_Timing(uint64_t time_us)
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{
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// log EKF timing statistics every 5s
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static uint32_t lastTimingLogTime_ms = 0;
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if (AP::dal().millis() - lastTimingLogTime_ms <= 5000) {
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return;
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}
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lastTimingLogTime_ms = AP::dal().millis();
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const struct log_XKT xkt{
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LOG_PACKET_HEADER_INIT(LOG_XKT_MSG),
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time_us : time_us,
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core : core_index,
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timing_count : timing.count,
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dtIMUavg_min : timing.dtIMUavg_min,
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dtIMUavg_max : timing.dtIMUavg_max,
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dtEKFavg_min : timing.dtEKFavg_min,
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dtEKFavg_max : timing.dtEKFavg_max,
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delAngDT_min : timing.delAngDT_min,
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delAngDT_max : timing.delAngDT_max,
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delVelDT_min : timing.delVelDT_min,
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delVelDT_max : timing.delVelDT_max,
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};
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memset(&timing, 0, sizeof(timing));
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AP::logger().WriteBlock(&xkt, sizeof(xkt));
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}
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void NavEKF3_core::Log_Write_GSF(uint64_t time_us)
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{
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if (yawEstimator == nullptr) {
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return;
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}
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yawEstimator->Log_Write(time_us, LOG_XKY0_MSG, LOG_XKY1_MSG, DAL_CORE(core_index));
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}
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