mirror of https://github.com/ArduPilot/ardupilot
645 lines
25 KiB
C++
645 lines
25 KiB
C++
#include <AP_HAL/AP_HAL.h>
|
|
|
|
#include "AP_NavEKF2_core.h"
|
|
#include <AP_AHRS/AP_AHRS.h>
|
|
#include <AP_GPS/AP_GPS.h>
|
|
#include <AP_RangeFinder/AP_RangeFinder.h>
|
|
|
|
extern const AP_HAL::HAL& hal;
|
|
|
|
|
|
// Check basic filter health metrics and return a consolidated health status
|
|
bool NavEKF2_core::healthy(void) const
|
|
{
|
|
uint16_t faultInt;
|
|
getFilterFaults(faultInt);
|
|
if (faultInt > 0) {
|
|
return false;
|
|
}
|
|
if (velTestRatio > 1 && posTestRatio > 1 && hgtTestRatio > 1) {
|
|
// all three metrics being above 1 means the filter is
|
|
// extremely unhealthy.
|
|
return false;
|
|
}
|
|
// Give the filter a second to settle before use
|
|
if ((imuSampleTime_ms - ekfStartTime_ms) < 1000 ) {
|
|
return false;
|
|
}
|
|
// position and height innovations must be within limits when on-ground and in a static mode of operation
|
|
float horizErrSq = sq(innovVelPos[3]) + sq(innovVelPos[4]);
|
|
if (onGround && (PV_AidingMode == AID_NONE) && ((horizErrSq > 1.0f) || (fabsf(hgtInnovFiltState) > 1.0f))) {
|
|
return false;
|
|
}
|
|
|
|
// all OK
|
|
return true;
|
|
}
|
|
|
|
// Return a consolidated error score where higher numbers represent larger errors
|
|
// Intended to be used by the front-end to determine which is the primary EKF
|
|
float NavEKF2_core::errorScore() const
|
|
{
|
|
float score = 0.0f;
|
|
if (tiltAlignComplete && yawAlignComplete) {
|
|
// Check GPS fusion performance
|
|
score = MAX(score, 0.5f * (velTestRatio + posTestRatio));
|
|
// Check altimeter fusion performance
|
|
score = MAX(score, hgtTestRatio);
|
|
// Check attitude corrections
|
|
const float tiltErrThreshold = 0.05f;
|
|
score = MAX(score, tiltErrFilt / tiltErrThreshold);
|
|
}
|
|
return score;
|
|
}
|
|
|
|
// return data for debugging optical flow fusion
|
|
void NavEKF2_core::getFlowDebug(float &varFlow, float &gndOffset, float &flowInnovX, float &flowInnovY, float &auxInnov, float &HAGL, float &rngInnov, float &range, float &gndOffsetErr) const
|
|
{
|
|
varFlow = MAX(flowTestRatio[0],flowTestRatio[1]);
|
|
gndOffset = terrainState;
|
|
flowInnovX = innovOptFlow[0];
|
|
flowInnovY = innovOptFlow[1];
|
|
auxInnov = norm(auxFlowObsInnov.x,auxFlowObsInnov.y);
|
|
HAGL = terrainState - stateStruct.position.z;
|
|
rngInnov = innovRng;
|
|
range = rangeDataDelayed.rng;
|
|
gndOffsetErr = sqrtf(Popt); // note Popt is constrained to be non-negative in EstimateTerrainOffset()
|
|
}
|
|
|
|
// return data for debugging range beacon fusion one beacon at a time, incrementing the beacon index after each call
|
|
bool NavEKF2_core::getRangeBeaconDebug(uint8_t &ID, float &rng, float &innov, float &innovVar, float &testRatio, Vector3f &beaconPosNED, float &offsetHigh, float &offsetLow)
|
|
{
|
|
// if the states have not been initialised or we have not received any beacon updates then return zeros
|
|
if (!statesInitialised || N_beacons == 0) {
|
|
return false;
|
|
}
|
|
|
|
// Ensure that beacons are not skipped due to calling this function at a rate lower than the updates
|
|
if (rngBcnFuseDataReportIndex >= N_beacons) {
|
|
rngBcnFuseDataReportIndex = 0;
|
|
}
|
|
|
|
// Output the fusion status data for the specified beacon
|
|
ID = rngBcnFuseDataReportIndex; // beacon identifier
|
|
rng = rngBcnFusionReport[rngBcnFuseDataReportIndex].rng; // measured range to beacon (m)
|
|
innov = rngBcnFusionReport[rngBcnFuseDataReportIndex].innov; // range innovation (m)
|
|
innovVar = rngBcnFusionReport[rngBcnFuseDataReportIndex].innovVar; // innovation variance (m^2)
|
|
testRatio = rngBcnFusionReport[rngBcnFuseDataReportIndex].testRatio; // innovation consistency test ratio
|
|
beaconPosNED = rngBcnFusionReport[rngBcnFuseDataReportIndex].beaconPosNED; // beacon NED position
|
|
offsetHigh = bcnPosOffsetMax; // beacon system vertical pos offset upper estimate
|
|
offsetLow = bcnPosOffsetMin; // beacon system vertical pos offset lower estimate
|
|
rngBcnFuseDataReportIndex++;
|
|
return true;
|
|
}
|
|
|
|
// provides the height limit to be observed by the control loops
|
|
// returns false if no height limiting is required
|
|
// this is needed to ensure the vehicle does not fly too high when using optical flow navigation
|
|
bool NavEKF2_core::getHeightControlLimit(float &height) const
|
|
{
|
|
// only ask for limiting if we are doing optical flow only navigation
|
|
if (frontend->_fusionModeGPS == 3 && (PV_AidingMode == AID_RELATIVE) && flowDataValid) {
|
|
// If are doing optical flow nav, ensure the height above ground is within range finder limits after accounting for vehicle tilt and control errors
|
|
const RangeFinder *_rng = AP::rangefinder();
|
|
if (_rng == nullptr) {
|
|
// we really, really shouldn't be here.
|
|
return false;
|
|
}
|
|
height = MAX(float(_rng->max_distance_cm_orient(ROTATION_PITCH_270)) * 0.007f - 1.0f, 1.0f);
|
|
// If we are are not using the range finder as the height reference, then compensate for the difference between terrain and EKF origin
|
|
if (frontend->_altSource != 1) {
|
|
height -= terrainState;
|
|
}
|
|
return true;
|
|
} else {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
|
|
// return the Euler roll, pitch and yaw angle in radians
|
|
void NavEKF2_core::getEulerAngles(Vector3f &euler) const
|
|
{
|
|
outputDataNew.quat.to_euler(euler.x, euler.y, euler.z);
|
|
euler = euler - _ahrs->get_trim();
|
|
}
|
|
|
|
// return body axis gyro bias estimates in rad/sec
|
|
void NavEKF2_core::getGyroBias(Vector3f &gyroBias) const
|
|
{
|
|
if (dtEkfAvg < 1e-6f) {
|
|
gyroBias.zero();
|
|
return;
|
|
}
|
|
gyroBias = stateStruct.gyro_bias / dtEkfAvg;
|
|
}
|
|
|
|
// return body axis gyro scale factor error as a percentage
|
|
void NavEKF2_core::getGyroScaleErrorPercentage(Vector3f &gyroScale) const
|
|
{
|
|
if (!statesInitialised) {
|
|
gyroScale.x = gyroScale.y = gyroScale.z = 0;
|
|
return;
|
|
}
|
|
gyroScale.x = 100.0f/stateStruct.gyro_scale.x - 100.0f;
|
|
gyroScale.y = 100.0f/stateStruct.gyro_scale.y - 100.0f;
|
|
gyroScale.z = 100.0f/stateStruct.gyro_scale.z - 100.0f;
|
|
}
|
|
|
|
// return tilt error convergence metric
|
|
void NavEKF2_core::getTiltError(float &ang) const
|
|
{
|
|
ang = tiltErrFilt;
|
|
}
|
|
|
|
// return the transformation matrix from XYZ (body) to NED axes
|
|
void NavEKF2_core::getRotationBodyToNED(Matrix3f &mat) const
|
|
{
|
|
outputDataNew.quat.rotation_matrix(mat);
|
|
mat = mat * _ahrs->get_rotation_vehicle_body_to_autopilot_body();
|
|
}
|
|
|
|
// return the quaternions defining the rotation from NED to XYZ (body) axes
|
|
void NavEKF2_core::getQuaternion(Quaternion& ret) const
|
|
{
|
|
ret = outputDataNew.quat;
|
|
}
|
|
|
|
// return the amount of yaw angle change due to the last yaw angle reset in radians
|
|
// returns the time of the last yaw angle reset or 0 if no reset has ever occurred
|
|
uint32_t NavEKF2_core::getLastYawResetAngle(float &yawAng) const
|
|
{
|
|
yawAng = yawResetAngle;
|
|
return lastYawReset_ms;
|
|
}
|
|
|
|
// return the amount of NE position change due to the last position reset in metres
|
|
// returns the time of the last reset or 0 if no reset has ever occurred
|
|
uint32_t NavEKF2_core::getLastPosNorthEastReset(Vector2f &pos) const
|
|
{
|
|
pos = posResetNE;
|
|
return lastPosReset_ms;
|
|
}
|
|
|
|
// return the amount of vertical position change due to the last vertical position reset in metres
|
|
// returns the time of the last reset or 0 if no reset has ever occurred
|
|
uint32_t NavEKF2_core::getLastPosDownReset(float &posD) const
|
|
{
|
|
posD = posResetD;
|
|
return lastPosResetD_ms;
|
|
}
|
|
|
|
// return the amount of NE velocity change due to the last velocity reset in metres/sec
|
|
// returns the time of the last reset or 0 if no reset has ever occurred
|
|
uint32_t NavEKF2_core::getLastVelNorthEastReset(Vector2f &vel) const
|
|
{
|
|
vel = velResetNE;
|
|
return lastVelReset_ms;
|
|
}
|
|
|
|
// return the NED wind speed estimates in m/s (positive is air moving in the direction of the axis)
|
|
void NavEKF2_core::getWind(Vector3f &wind) const
|
|
{
|
|
wind.x = stateStruct.wind_vel.x;
|
|
wind.y = stateStruct.wind_vel.y;
|
|
wind.z = 0.0f; // currently don't estimate this
|
|
}
|
|
|
|
|
|
// return the NED velocity of the body frame origin in m/s
|
|
//
|
|
void NavEKF2_core::getVelNED(Vector3f &vel) const
|
|
{
|
|
// correct for the IMU position offset (EKF calculations are at the IMU)
|
|
vel = outputDataNew.velocity + velOffsetNED;
|
|
}
|
|
|
|
// Return the rate of change of vertical position in the down direction (dPosD/dt) of the body frame origin in m/s
|
|
float NavEKF2_core::getPosDownDerivative(void) const
|
|
{
|
|
// return the value calculated from a complementary filter applied to the EKF height and vertical acceleration
|
|
// correct for the IMU offset (EKF calculations are at the IMU)
|
|
return vertCompFiltState.vel + velOffsetNED.z;
|
|
}
|
|
|
|
// This returns the specific forces in the NED frame
|
|
void NavEKF2_core::getAccelNED(Vector3f &accelNED) const {
|
|
accelNED = velDotNED;
|
|
accelNED.z -= GRAVITY_MSS;
|
|
}
|
|
|
|
// return the Z-accel bias estimate in m/s^2
|
|
void NavEKF2_core::getAccelZBias(float &zbias) const {
|
|
if (dtEkfAvg > 0) {
|
|
zbias = stateStruct.accel_zbias / dtEkfAvg;
|
|
} else {
|
|
zbias = 0;
|
|
}
|
|
}
|
|
|
|
// Write the last estimated NE position of the body frame origin relative to the reference point (m).
|
|
// Return true if the estimate is valid
|
|
bool NavEKF2_core::getPosNE(Vector2f &posNE) const
|
|
{
|
|
// There are three modes of operation, absolute position (GPS fusion), relative position (optical flow fusion) and constant position (no position estimate available)
|
|
if (PV_AidingMode != AID_NONE) {
|
|
// This is the normal mode of operation where we can use the EKF position states
|
|
// correct for the IMU offset (EKF calculations are at the IMU)
|
|
posNE.x = outputDataNew.position.x + posOffsetNED.x;
|
|
posNE.y = outputDataNew.position.y + posOffsetNED.y;
|
|
return true;
|
|
|
|
} else {
|
|
// In constant position mode the EKF position states are at the origin, so we cannot use them as a position estimate
|
|
if(validOrigin) {
|
|
if ((AP::gps().status() >= AP_GPS::GPS_OK_FIX_2D)) {
|
|
// If the origin has been set and we have GPS, then return the GPS position relative to the origin
|
|
const struct Location &gpsloc = AP::gps().location();
|
|
const Vector2f tempPosNE = EKF_origin.get_distance_NE(gpsloc);
|
|
posNE.x = tempPosNE.x;
|
|
posNE.y = tempPosNE.y;
|
|
return false;
|
|
} else if (rngBcnAlignmentStarted) {
|
|
// If we are attempting alignment using range beacon data, then report the position
|
|
posNE.x = receiverPos.x;
|
|
posNE.y = receiverPos.y;
|
|
return false;
|
|
} else {
|
|
// If no GPS fix is available, all we can do is provide the last known position
|
|
posNE.x = outputDataNew.position.x;
|
|
posNE.y = outputDataNew.position.y;
|
|
return false;
|
|
}
|
|
} else {
|
|
// If the origin has not been set, then we have no means of providing a relative position
|
|
posNE.x = 0.0f;
|
|
posNE.y = 0.0f;
|
|
return false;
|
|
}
|
|
}
|
|
return false;
|
|
}
|
|
|
|
// Write the last calculated D position of the body frame origin relative to the EKF origin (m).
|
|
// Return true if the estimate is valid
|
|
bool NavEKF2_core::getPosD(float &posD) const
|
|
{
|
|
// The EKF always has a height estimate regardless of mode of operation
|
|
// Correct for the IMU offset in body frame (EKF calculations are at the IMU)
|
|
// Also correct for changes to the origin height
|
|
if ((frontend->_originHgtMode & (1<<2)) == 0) {
|
|
// Any sensor height drift corrections relative to the WGS-84 reference are applied to the origin.
|
|
posD = outputDataNew.position.z + posOffsetNED.z;
|
|
} else {
|
|
// The origin height is static and corrections are applied to the local vertical position
|
|
// so that height returned by getLLH() = height returned by getOriginLLH - posD
|
|
posD = outputDataNew.position.z + posOffsetNED.z + 0.01f * (float)EKF_origin.alt - (float)ekfGpsRefHgt;
|
|
}
|
|
|
|
// Return the current height solution status
|
|
return filterStatus.flags.vert_pos;
|
|
|
|
}
|
|
|
|
// return the estimated height of body frame origin above ground level
|
|
bool NavEKF2_core::getHAGL(float &HAGL) const
|
|
{
|
|
HAGL = terrainState - outputDataNew.position.z - posOffsetNED.z;
|
|
// If we know the terrain offset and altitude, then we have a valid height above ground estimate
|
|
return !hgtTimeout && gndOffsetValid && healthy();
|
|
}
|
|
|
|
|
|
// Return the last calculated latitude, longitude and height of the body frame origin in WGS-84
|
|
// If a calculated location isn't available, return a raw GPS measurement
|
|
// The status will return true if a calculation or raw measurement is available
|
|
// The getFilterStatus() function provides a more detailed description of data health and must be checked if data is to be used for flight control
|
|
bool NavEKF2_core::getLLH(struct Location &loc) const
|
|
{
|
|
const AP_GPS &gps = AP::gps();
|
|
Location origin;
|
|
float posD;
|
|
|
|
if(getPosD(posD) && getOriginLLH(origin)) {
|
|
// Altitude returned is an absolute altitude relative to the WGS-84 spherioid
|
|
loc.alt = origin.alt - posD*100;
|
|
loc.relative_alt = 0;
|
|
loc.terrain_alt = 0;
|
|
|
|
// there are three modes of operation, absolute position (GPS fusion), relative position (optical flow fusion) and constant position (no aiding)
|
|
if (filterStatus.flags.horiz_pos_abs || filterStatus.flags.horiz_pos_rel) {
|
|
loc.lat = EKF_origin.lat;
|
|
loc.lng = EKF_origin.lng;
|
|
// correct for IMU offset (EKF calculations are at the IMU position)
|
|
loc.offset((outputDataNew.position.x + posOffsetNED.x), (outputDataNew.position.y + posOffsetNED.y));
|
|
return true;
|
|
} else {
|
|
// we could be in constant position mode because the vehicle has taken off without GPS, or has lost GPS
|
|
// in this mode we cannot use the EKF states to estimate position so will return the best available data
|
|
if ((gps.status() >= AP_GPS::GPS_OK_FIX_2D)) {
|
|
// we have a GPS position fix to return
|
|
const struct Location &gpsloc = gps.location();
|
|
loc.lat = gpsloc.lat;
|
|
loc.lng = gpsloc.lng;
|
|
return true;
|
|
} else {
|
|
// if no GPS fix, provide last known position before entering the mode
|
|
// correct for IMU offset (EKF calculations are at the IMU position)
|
|
loc.lat = EKF_origin.lat;
|
|
loc.lng = EKF_origin.lng;
|
|
if (PV_AidingMode == AID_NONE) {
|
|
loc.offset((lastKnownPositionNE.x + posOffsetNED.x), (lastKnownPositionNE.y + posOffsetNED.y));
|
|
} else {
|
|
loc.offset((outputDataNew.position.x + posOffsetNED.x), (outputDataNew.position.y + posOffsetNED.y));
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
} else {
|
|
// If no origin has been defined for the EKF, then we cannot use its position states so return a raw
|
|
// GPS reading if available and return false
|
|
if ((gps.status() >= AP_GPS::GPS_OK_FIX_3D)) {
|
|
const struct Location &gpsloc = gps.location();
|
|
loc = gpsloc;
|
|
loc.relative_alt = 0;
|
|
loc.terrain_alt = 0;
|
|
}
|
|
return false;
|
|
}
|
|
}
|
|
|
|
|
|
// return the horizontal speed limit in m/s set by optical flow sensor limits
|
|
// return the scale factor to be applied to navigation velocity gains to compensate for increase in velocity noise with height when using optical flow
|
|
void NavEKF2_core::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler) const
|
|
{
|
|
if (PV_AidingMode == AID_RELATIVE) {
|
|
// allow 1.0 rad/sec margin for angular motion
|
|
ekfGndSpdLimit = MAX((frontend->_maxFlowRate - 1.0f), 0.0f) * MAX((terrainState - stateStruct.position[2]), rngOnGnd);
|
|
// use standard gains up to 5.0 metres height and reduce above that
|
|
ekfNavVelGainScaler = 4.0f / MAX((terrainState - stateStruct.position[2]),4.0f);
|
|
} else {
|
|
ekfGndSpdLimit = 400.0f; //return 80% of max filter speed
|
|
ekfNavVelGainScaler = 1.0f;
|
|
}
|
|
}
|
|
|
|
|
|
// return the LLH location of the filters NED origin
|
|
bool NavEKF2_core::getOriginLLH(struct Location &loc) const
|
|
{
|
|
if (validOrigin) {
|
|
loc = EKF_origin;
|
|
// report internally corrected reference height if enabled
|
|
if ((frontend->_originHgtMode & (1<<2)) == 0) {
|
|
loc.alt = (int32_t)(100.0f * (float)ekfGpsRefHgt);
|
|
}
|
|
}
|
|
return validOrigin;
|
|
}
|
|
|
|
// return earth magnetic field estimates in measurement units / 1000
|
|
void NavEKF2_core::getMagNED(Vector3f &magNED) const
|
|
{
|
|
magNED = stateStruct.earth_magfield * 1000.0f;
|
|
}
|
|
|
|
// return body magnetic field estimates in measurement units / 1000
|
|
void NavEKF2_core::getMagXYZ(Vector3f &magXYZ) const
|
|
{
|
|
magXYZ = stateStruct.body_magfield*1000.0f;
|
|
}
|
|
|
|
// return magnetometer offsets
|
|
// return true if offsets are valid
|
|
bool NavEKF2_core::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const
|
|
{
|
|
if (!_ahrs->get_compass()) {
|
|
return false;
|
|
}
|
|
|
|
// compass offsets are valid if we have finalised magnetic field initialisation, magnetic field learning is not prohibited,
|
|
// primary compass is valid and state variances have converged
|
|
const float maxMagVar = 5E-6f;
|
|
bool variancesConverged = (P[19][19] < maxMagVar) && (P[20][20] < maxMagVar) && (P[21][21] < maxMagVar);
|
|
if ((mag_idx == magSelectIndex) &&
|
|
finalInflightMagInit &&
|
|
!inhibitMagStates &&
|
|
_ahrs->get_compass()->healthy(magSelectIndex) &&
|
|
variancesConverged) {
|
|
magOffsets = _ahrs->get_compass()->get_offsets(magSelectIndex) - stateStruct.body_magfield*1000.0f;
|
|
return true;
|
|
} else {
|
|
magOffsets = _ahrs->get_compass()->get_offsets(magSelectIndex);
|
|
return false;
|
|
}
|
|
}
|
|
|
|
// return the index for the active magnetometer
|
|
uint8_t NavEKF2_core::getActiveMag() const
|
|
{
|
|
return (uint8_t)magSelectIndex;
|
|
}
|
|
|
|
// return the innovations for the NED Pos, NED Vel, XYZ Mag and Vtas measurements
|
|
void NavEKF2_core::getInnovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov) const
|
|
{
|
|
velInnov.x = innovVelPos[0];
|
|
velInnov.y = innovVelPos[1];
|
|
velInnov.z = innovVelPos[2];
|
|
posInnov.x = innovVelPos[3];
|
|
posInnov.y = innovVelPos[4];
|
|
posInnov.z = innovVelPos[5];
|
|
magInnov.x = 1e3f*innovMag[0]; // Convert back to sensor units
|
|
magInnov.y = 1e3f*innovMag[1]; // Convert back to sensor units
|
|
magInnov.z = 1e3f*innovMag[2]; // Convert back to sensor units
|
|
tasInnov = innovVtas;
|
|
yawInnov = innovYaw;
|
|
}
|
|
|
|
// return the innovation consistency test ratios for the velocity, position, magnetometer and true airspeed measurements
|
|
// this indicates the amount of margin available when tuning the various error traps
|
|
// also return the delta in position due to the last position reset
|
|
void NavEKF2_core::getVariances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const
|
|
{
|
|
velVar = sqrtf(velTestRatio);
|
|
posVar = sqrtf(posTestRatio);
|
|
hgtVar = sqrtf(hgtTestRatio);
|
|
// If we are using simple compass yaw fusion, populate all three components with the yaw test ratio to provide an equivalent output
|
|
magVar.x = sqrtf(MAX(magTestRatio.x,yawTestRatio));
|
|
magVar.y = sqrtf(MAX(magTestRatio.y,yawTestRatio));
|
|
magVar.z = sqrtf(MAX(magTestRatio.z,yawTestRatio));
|
|
tasVar = sqrtf(tasTestRatio);
|
|
offset = posResetNE;
|
|
}
|
|
|
|
|
|
/*
|
|
return the filter fault status as a bitmasked integer
|
|
0 = quaternions are NaN
|
|
1 = velocities are NaN
|
|
2 = badly conditioned X magnetometer fusion
|
|
3 = badly conditioned Y magnetometer fusion
|
|
4 = badly conditioned Z magnetometer fusion
|
|
5 = badly conditioned airspeed fusion
|
|
6 = badly conditioned synthetic sideslip fusion
|
|
7 = filter is not initialised
|
|
*/
|
|
void NavEKF2_core::getFilterFaults(uint16_t &faults) const
|
|
{
|
|
faults = (stateStruct.quat.is_nan()<<0 |
|
|
stateStruct.velocity.is_nan()<<1 |
|
|
faultStatus.bad_xmag<<2 |
|
|
faultStatus.bad_ymag<<3 |
|
|
faultStatus.bad_zmag<<4 |
|
|
faultStatus.bad_airspeed<<5 |
|
|
faultStatus.bad_sideslip<<6 |
|
|
!statesInitialised<<7);
|
|
}
|
|
|
|
/*
|
|
return filter timeout status as a bitmasked integer
|
|
0 = position measurement timeout
|
|
1 = velocity measurement timeout
|
|
2 = height measurement timeout
|
|
3 = magnetometer measurement timeout
|
|
4 = true airspeed measurement timeout
|
|
5 = unassigned
|
|
6 = unassigned
|
|
7 = unassigned
|
|
*/
|
|
void NavEKF2_core::getFilterTimeouts(uint8_t &timeouts) const
|
|
{
|
|
timeouts = (posTimeout<<0 |
|
|
velTimeout<<1 |
|
|
hgtTimeout<<2 |
|
|
magTimeout<<3 |
|
|
tasTimeout<<4);
|
|
}
|
|
|
|
// Return the navigation filter status message
|
|
void NavEKF2_core::getFilterStatus(nav_filter_status &status) const
|
|
{
|
|
status = filterStatus;
|
|
}
|
|
|
|
/*
|
|
return filter gps quality check status
|
|
*/
|
|
void NavEKF2_core::getFilterGpsStatus(nav_gps_status &faults) const
|
|
{
|
|
// init return value
|
|
faults.value = 0;
|
|
|
|
// set individual flags
|
|
faults.flags.bad_sAcc = gpsCheckStatus.bad_sAcc; // reported speed accuracy is insufficient
|
|
faults.flags.bad_hAcc = gpsCheckStatus.bad_hAcc; // reported horizontal position accuracy is insufficient
|
|
faults.flags.bad_vAcc = gpsCheckStatus.bad_vAcc; // reported vertical position accuracy is insufficient
|
|
faults.flags.bad_yaw = gpsCheckStatus.bad_yaw; // EKF heading accuracy is too large for GPS use
|
|
faults.flags.bad_sats = gpsCheckStatus.bad_sats; // reported number of satellites is insufficient
|
|
faults.flags.bad_horiz_drift = gpsCheckStatus.bad_horiz_drift; // GPS horizontal drift is too large to start using GPS (check assumes vehicle is static)
|
|
faults.flags.bad_hdop = gpsCheckStatus.bad_hdop; // reported HDoP is too large to start using GPS
|
|
faults.flags.bad_vert_vel = gpsCheckStatus.bad_vert_vel; // GPS vertical speed is too large to start using GPS (check assumes vehicle is static)
|
|
faults.flags.bad_fix = gpsCheckStatus.bad_fix; // The GPS cannot provide the 3D fix required
|
|
faults.flags.bad_horiz_vel = gpsCheckStatus.bad_horiz_vel; // The GPS horizontal speed is excessive (check assumes the vehicle is static)
|
|
}
|
|
|
|
// send an EKF_STATUS message to GCS
|
|
void NavEKF2_core::send_status_report(mavlink_channel_t chan) const
|
|
{
|
|
// prepare flags
|
|
uint16_t flags = 0;
|
|
if (filterStatus.flags.attitude) {
|
|
flags |= EKF_ATTITUDE;
|
|
}
|
|
if (filterStatus.flags.horiz_vel) {
|
|
flags |= EKF_VELOCITY_HORIZ;
|
|
}
|
|
if (filterStatus.flags.vert_vel) {
|
|
flags |= EKF_VELOCITY_VERT;
|
|
}
|
|
if (filterStatus.flags.horiz_pos_rel) {
|
|
flags |= EKF_POS_HORIZ_REL;
|
|
}
|
|
if (filterStatus.flags.horiz_pos_abs) {
|
|
flags |= EKF_POS_HORIZ_ABS;
|
|
}
|
|
if (filterStatus.flags.vert_pos) {
|
|
flags |= EKF_POS_VERT_ABS;
|
|
}
|
|
if (filterStatus.flags.terrain_alt) {
|
|
flags |= EKF_POS_VERT_AGL;
|
|
}
|
|
if (filterStatus.flags.const_pos_mode) {
|
|
flags |= EKF_CONST_POS_MODE;
|
|
}
|
|
if (filterStatus.flags.pred_horiz_pos_rel) {
|
|
flags |= EKF_PRED_POS_HORIZ_REL;
|
|
}
|
|
if (filterStatus.flags.pred_horiz_pos_abs) {
|
|
flags |= EKF_PRED_POS_HORIZ_ABS;
|
|
}
|
|
if (!filterStatus.flags.initalized) {
|
|
flags |= EKF_UNINITIALIZED;
|
|
}
|
|
|
|
// get variances
|
|
float velVar, posVar, hgtVar, tasVar;
|
|
Vector3f magVar;
|
|
Vector2f offset;
|
|
getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
|
|
|
|
const float mag_max = fmaxf(fmaxf(magVar.x,magVar.y),magVar.z);
|
|
|
|
// Only report range finder normalised innovation levels if the EKF needs the data for primary
|
|
// height estimation or optical flow operation. This prevents false alarms at the GCS if a
|
|
// range finder is fitted for other applications
|
|
float temp;
|
|
if (((frontend->_useRngSwHgt > 0) && activeHgtSource == HGT_SOURCE_RNG) || (PV_AidingMode == AID_RELATIVE && flowDataValid)) {
|
|
temp = sqrtf(auxRngTestRatio);
|
|
} else {
|
|
temp = 0.0f;
|
|
}
|
|
|
|
// send message
|
|
mavlink_msg_ekf_status_report_send(chan, flags, velVar, posVar, hgtVar, mag_max, temp, tasVar);
|
|
}
|
|
|
|
// report the reason for why the backend is refusing to initialise
|
|
const char *NavEKF2_core::prearm_failure_reason(void) const
|
|
{
|
|
if (gpsGoodToAlign) {
|
|
// we are not failing
|
|
return nullptr;
|
|
}
|
|
return prearm_fail_string;
|
|
}
|
|
|
|
|
|
// report the number of frames lapsed since the last state prediction
|
|
// this is used by other instances to level load
|
|
uint8_t NavEKF2_core::getFramesSincePredict(void) const
|
|
{
|
|
return framesSincePredict;
|
|
}
|
|
|
|
// publish output observer angular, velocity and position tracking error
|
|
void NavEKF2_core::getOutputTrackingError(Vector3f &error) const
|
|
{
|
|
error = outputTrackError;
|
|
}
|
|
|
|
// return true when external nav data is also being used as a yaw observation
|
|
bool NavEKF2_core::isExtNavUsedForYaw()
|
|
{
|
|
return extNavUsedForYaw;
|
|
}
|
|
|
|
bool NavEKF2_core::getDataEKFGSF(float &yaw_composite, float &yaw_composite_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF])
|
|
{
|
|
if (yawEstimator != nullptr) {
|
|
return yawEstimator->getLogData(yaw_composite, yaw_composite_variance, yaw, innov_VN, innov_VE, weight);
|
|
}
|
|
return false;
|
|
}
|