mirror of https://github.com/ArduPilot/ardupilot
209 lines
11 KiB
Lua
209 lines
11 KiB
Lua
-- switches between AHRS/EKF sources based on the pilot's source selection switch or using an automatic source selection algorithm
|
|
-- this script is intended to help vehicles automatically switch between GPS and optical flow
|
|
--
|
|
-- configure a forward or downward facing lidar with a range of at least 5m
|
|
-- setup RCx_OPTION = 90 (EKF Pos Source) to select the source (low=GPS, middle=opticalflow, high=Not Used)
|
|
-- setup RCx_OPTION = 300 (Scripting1). When this switch is pulled high, the source will be automatically selected
|
|
-- SRC_ENABLE = 1 (enable scripting)
|
|
-- setup EK3_SRCn_ parameters so that GPS is the primary source, opticalflow is secondary.
|
|
-- EK3_SRC1_POSXY = 3 (GPS)
|
|
-- EK3_SRC1_VELXY = 3 (GPS)
|
|
-- EK3_SRC1_VELZ = 3 (GPS)
|
|
-- EK3_SRC1_POSZ = 1 (Baro)
|
|
-- EK3_SRC1_YAW = 1 (Compass)
|
|
-- EK3_SRC2_POSXY = 0 (None)
|
|
-- EK3_SRC2_VELXY = 5 (OpticalFlow)
|
|
-- EK3_SRC2_VELZ = 0 (None)
|
|
-- EK3_SRC2_POSZ = 1 (Baro)
|
|
-- EK3_SRC2_YAW = 1 (Compass)
|
|
-- EK3_OPTIONS = 0 (Do not fuse all velocities)
|
|
--
|
|
-- SCR_USER1 holds the threshold (in meters) for rangefinder altitude (around 15 is a good choice)
|
|
-- if rangefinder distance >= SCR_USER1, source1 (GPS) will be used
|
|
-- if rangefinder distance < SCR_USER1, source2 (optical flow) will be used if innovations are below SRC_USER3 value
|
|
-- SCR_USER2 holds the threshold for GPS speed accuracy (around 0.3 is a good choice)
|
|
-- SCR_USER3 holds the threshold for optical flow quality (about 50 is a good choice)
|
|
-- SCR_USER4 holds the threshold for optical flow innovations (about 0.15 is a good choice)
|
|
--
|
|
-- When the 2nd auxiliary switch (300/Scripting1) is pulled high automatic source selection uses these thresholds:
|
|
|
|
local rangefinder_rotation = 25 -- check downward (25) facing lidar
|
|
local source_prev = 0 -- previous source, defaults to primary source
|
|
local sw_source_prev = -1 -- previous source switch position
|
|
local sw_auto_pos_prev = -1 -- previous auto source switch position
|
|
local auto_switch = false -- true when auto switching between sources is active
|
|
local gps_usable_accuracy = 1.0 -- GPS is usable if speed accuracy is at or below this value
|
|
local vote_counter_max = 20 -- when a vote counter reaches this number (i.e. 2sec) source may be switched
|
|
local gps_vs_opticalflow_vote = 0 -- vote counter for GPS vs optical (-20 = GPS, +20 = optical flow)
|
|
local scr_user1_param = Parameter() -- user1 param (rangefinder altitude threshold)
|
|
local scr_user2_param = Parameter() -- user2 param (GPS speed accuracy threshold)
|
|
local scr_user3_param = Parameter() -- user3 param (optical flow quality threshold)
|
|
local scr_user4_param = Parameter() -- user4 param (optical flow innovation threshold)
|
|
|
|
-- initialise parameters
|
|
assert(scr_user1_param:init('SCR_USER1'), 'could not find SCR_USER1 parameter')
|
|
assert(scr_user2_param:init('SCR_USER2'), 'could not find SCR_USER2 parameter')
|
|
assert(scr_user3_param:init('SCR_USER3'), 'could not find SCR_USER3 parameter')
|
|
assert(scr_user4_param:init('SCR_USER4'), 'could not find SCR_USER4 parameter')
|
|
assert(optical_flow, 'could not access optical flow')
|
|
|
|
-- play tune on buzzer to alert user to change in active source set
|
|
function play_source_tune(source)
|
|
if (source) then
|
|
if (source == 0) then
|
|
notify:play_tune("L8C") -- one long lower tone
|
|
elseif (source == 1) then
|
|
notify:play_tune("L12DD") -- two fast medium tones
|
|
elseif (source == 2) then
|
|
notify:play_tune("L16FFF") -- three very fast, high tones
|
|
end
|
|
end
|
|
end
|
|
|
|
-- the main update function
|
|
function update()
|
|
|
|
-- check switches are configured
|
|
-- source selection from RCx_FUNCTION = 90 (EKF Source Select)
|
|
-- auto source from RCx_FUNCTION = 300 (Scripting1)
|
|
local rc_function_source = rc:find_channel_for_option(90)
|
|
local rc_function_auto = rc:find_channel_for_option(300)
|
|
if not rc_function_source or not rc_function_auto then
|
|
gcs:send_text(0, "ahrs-source.lua: RCx_FUNCTION=90 or 300 not set!")
|
|
return update, 1000
|
|
end
|
|
|
|
-- check rangefinder distance threshold has been set
|
|
local rangefinder_thresh_dist = scr_user1_param:get() -- SCR_USER1 holds rangefinder threshold
|
|
if (rangefinder_thresh_dist <= 0) then
|
|
gcs:send_text(0, "ahrs-source.lua: set SCR_USER1 to rangefinder threshold")
|
|
return update, 1000
|
|
end
|
|
|
|
-- check GPS speed accuracy threshold has been set
|
|
local gps_speedaccuracy_thresh = scr_user2_param:get() -- SCR_USER2 holds GPS speed accuracy threshold
|
|
if (gps_speedaccuracy_thresh <= 0) then
|
|
gcs:send_text(0, "ahrs-source.lua: set SCR_USER2 to GPS speed accuracy threshold")
|
|
return update, 1000
|
|
end
|
|
|
|
-- check optical flow quality threshold has been set
|
|
local opticalflow_quality_thresh = scr_user3_param:get() -- SCR_USER3 holds opticalflow quality
|
|
if (opticalflow_quality_thresh <= 0) then
|
|
gcs:send_text(0, "ahrs-source.lua: set SCR_USER3 to OpticalFlow quality threshold")
|
|
return update, 1000
|
|
end
|
|
|
|
-- check optical flow innovation threshold has been set
|
|
local opticalflow_innov_thresh = scr_user4_param:get() -- SCR_USER4 holds opticalflow innovation
|
|
if (opticalflow_innov_thresh <= 0) then
|
|
gcs:send_text(0, "ahrs-source.lua: set SCR_USER4 to OpticalFlow innovation threshold")
|
|
return update, 1000
|
|
end
|
|
|
|
-- check if GPS speed accuracy is over threshold
|
|
local gps_speed_accuracy = gps:speed_accuracy(gps:primary_sensor())
|
|
local gps_over_threshold = (gps_speed_accuracy == nil) or (gps:speed_accuracy(gps:primary_sensor()) > gps_speedaccuracy_thresh)
|
|
local gps_usable = (gps_speed_accuracy ~= nil) and (gps_speed_accuracy <= gps_usable_accuracy)
|
|
|
|
-- check optical flow quality
|
|
local opticalflow_quality_good = false
|
|
if (optical_flow) then
|
|
opticalflow_quality_good = (optical_flow:enabled() and optical_flow:healthy() and optical_flow:quality() >= opticalflow_quality_thresh)
|
|
end
|
|
|
|
-- get opticalflow innovations from ahrs (only x and y values are valid)
|
|
local opticalflow_over_threshold = true
|
|
local opticalflow_xy_innov = 0
|
|
local opticalflow_innov = Vector3f()
|
|
local opticalflow_var = Vector3f()
|
|
opticalflow_innov, opticalflow_var = ahrs:get_vel_innovations_and_variances_for_source(5)
|
|
if (opticalflow_innov) then
|
|
opticalflow_xy_innov = math.sqrt(opticalflow_innov:x() * opticalflow_innov:x() + opticalflow_innov:y() * opticalflow_innov:y())
|
|
opticalflow_over_threshold = (opticalflow_xy_innov == 0.0) or (opticalflow_xy_innov > opticalflow_innov_thresh)
|
|
end
|
|
|
|
-- get rangefinder distance
|
|
local rngfnd_distance_m = 0
|
|
if rangefinder:has_data_orient(rangefinder_rotation) then
|
|
rngfnd_distance_m = rangefinder:distance_cm_orient(rangefinder_rotation) * 0.01
|
|
end
|
|
local rngfnd_over_threshold = (rngfnd_distance_m == 0) or (rngfnd_distance_m > rangefinder_thresh_dist)
|
|
|
|
-- opticalflow is usable if quality and innovations are good and rangefinder is in range
|
|
local opticalflow_usable = opticalflow_quality_good and (not opticalflow_over_threshold) and (not rngfnd_over_threshold)
|
|
|
|
-- automatic selection logic --
|
|
|
|
-- GPS vs opticalflow vote. "-1" to move towards GPS, "+1" to move to Non-GPS
|
|
if (not gps_over_threshold) or (gps_usable and not opticalflow_usable) then
|
|
-- vote for GPS if GPS accuracy good OR GPS is usable and opticalflow is unusable
|
|
gps_vs_opticalflow_vote = math.max(gps_vs_opticalflow_vote - 1, -vote_counter_max)
|
|
elseif opticalflow_usable then
|
|
-- vote for opticalflow if usable
|
|
gps_vs_opticalflow_vote = math.min(gps_vs_opticalflow_vote + 1, vote_counter_max)
|
|
end
|
|
|
|
-- auto source vote collation
|
|
local auto_source = -1 -- auto source undecided if -1
|
|
if gps_vs_opticalflow_vote <= -vote_counter_max then
|
|
auto_source = 0 -- GPS
|
|
elseif gps_vs_opticalflow_vote >= vote_counter_max then
|
|
auto_source = 1 -- opticalflow
|
|
end
|
|
|
|
-- read source switch position from RCx_FUNCTION = 90 (EKF Source Select)
|
|
local sw_source_pos = rc_function_source:get_aux_switch_pos()
|
|
if sw_source_pos ~= sw_source_pos_prev then -- check for changes in source switch position
|
|
sw_source_pos_prev = sw_source_pos -- record new switch position so we can detect changes
|
|
auto_switch = false -- disable auto switching of source
|
|
if source_prev ~= sw_source_pos then -- check if switch position does not match source (there is a one-to-one mapping of switch to source)
|
|
source_prev = sw_source_pos -- record what source should now be (changed by ArduPilot vehicle code)
|
|
gcs:send_text(0, "Pilot switched to Source " .. string.format("%d", source_prev+1))
|
|
else
|
|
gcs:send_text(0, "Pilot switched but already Source " .. string.format("%d", source_prev+1))
|
|
end
|
|
play_source_tune(source_prev) -- alert user of source whether changed or not
|
|
end
|
|
|
|
-- read auto source switch position from RCx_FUNCTION = 300 (Scripting1)
|
|
local sw_auto_pos = rc_function_auto:get_aux_switch_pos()
|
|
if sw_auto_pos ~= sw_auto_pos_prev then -- check for changes in source auto switch position
|
|
sw_auto_pos_prev = sw_auto_pos -- record new switch position so we can detect changes
|
|
if sw_auto_pos == 0 then -- pilot has pulled switch low
|
|
auto_switch = false -- disable auto switching of source
|
|
if sw_source_pos ~= source_prev then -- check if source will change
|
|
source_prev = sw_source_pos -- record pilot's selected source
|
|
ahrs:set_posvelyaw_source_set(source_prev) -- switch to pilot's selected source
|
|
gcs:send_text(0, "Auto source disabled, switched to Source " .. string.format("%d", source_prev+1))
|
|
else
|
|
gcs:send_text(0, "Auto source disabled, already Source " .. string.format("%d", source_prev+1))
|
|
end
|
|
elseif sw_auto_pos == 2 then -- pilot has pulled switch high
|
|
auto_switch = true -- enable auto switching of source
|
|
if auto_source < 0 then
|
|
gcs:send_text(0, "Auto source enabled, undecided, Source " .. string.format("%d", source_prev+1))
|
|
elseif auto_source ~= source_prev then -- check if source will change
|
|
source_prev = auto_source -- record pilot's selected source
|
|
ahrs:set_posvelyaw_source_set(source_prev) -- switch to pilot's selected source
|
|
gcs:send_text(0, "Auto source enabled, switched to Source " .. string.format("%d", source_prev+1))
|
|
else
|
|
gcs:send_text(0, "Auto source enabled, already Source " .. string.format("%d", source_prev+1))
|
|
end
|
|
end
|
|
play_source_tune(source_prev)
|
|
end
|
|
|
|
-- auto switching
|
|
if auto_switch and (auto_source >= 0) and (auto_source ~= source_prev) then
|
|
source_prev = auto_source -- record selected source
|
|
ahrs:set_posvelyaw_source_set(source_prev) -- switch to pilot's selected source
|
|
gcs:send_text(0, "Auto switched to Source " .. string.format("%d", source_prev+1))
|
|
play_source_tune(source_prev)
|
|
end
|
|
|
|
return update, 100
|
|
end
|
|
|
|
return update()
|