mirror of https://github.com/ArduPilot/ardupilot
475 lines
27 KiB
C++
475 lines
27 KiB
C++
/*
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24 state EKF based on the derivation in https://github.com/PX4/ecl/
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blob/master/matlab/scripts/Inertial%20Nav%20EKF/GenerateNavFilterEquations.m
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Converted from Matlab to C++ by Paul Riseborough
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_Math/AP_Math.h>
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#include <AP_Param/AP_Param.h>
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#include <GCS_MAVLink/GCS_MAVLink.h>
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#include <AP_NavEKF/AP_Nav_Common.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_Airspeed/AP_Airspeed.h>
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#include <AP_Compass/AP_Compass.h>
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#include <AP_RangeFinder/AP_RangeFinder.h>
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class NavEKF3_core;
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class AP_AHRS;
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class NavEKF3
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{
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public:
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friend class NavEKF3_core;
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static const struct AP_Param::GroupInfo var_info[];
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NavEKF3(const AP_AHRS *ahrs, AP_Baro &baro, const RangeFinder &rng);
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// allow logging to determine the number of active cores
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uint8_t activeCores(void) const {
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return num_cores;
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}
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// Initialise the filter
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bool InitialiseFilter(void);
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// Update Filter States - this should be called whenever new IMU data is available
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void UpdateFilter(void);
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// check if we should write log messages
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void check_log_write(void);
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// Check basic filter health metrics and return a consolidated health status
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bool healthy(void) const;
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// returns the index of the primary core
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// return -1 if no primary core selected
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int8_t getPrimaryCoreIndex(void) const;
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// returns the index of the IMU of the primary core
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// return -1 if no primary core selected
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int8_t getPrimaryCoreIMUIndex(void) const;
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// Write the last calculated NE position relative to the reference point (m) for the specified instance.
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// An out of range instance (eg -1) returns data for the the primary instance
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// If a calculated solution is not available, use the best available data and return false
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// If false returned, do not use for flight control
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bool getPosNE(int8_t instance, Vector2f &posNE);
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// Write the last calculated D position relative to the reference point (m) for the specified instance.
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// An out of range instance (eg -1) returns data for the the primary instance
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// If a calculated solution is not available, use the best available data and return false
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// If false returned, do not use for flight control
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bool getPosD(int8_t instance, float &posD);
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// return NED velocity in m/s for the specified instance
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// An out of range instance (eg -1) returns data for the the primary instance
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void getVelNED(int8_t instance, Vector3f &vel);
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// Return the rate of change of vertical position in the down direction (dPosD/dt) in m/s for the specified instance
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// An out of range instance (eg -1) returns data for the the primary instance
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// This can be different to the z component of the EKF velocity state because it will fluctuate with height errors and corrections in the EKF
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// but will always be kinematically consistent with the z component of the EKF position state
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float getPosDownDerivative(int8_t instance);
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// This returns the specific forces in the NED frame
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void getAccelNED(Vector3f &accelNED) const;
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// return body axis gyro bias estimates in rad/sec for the specified instance
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// An out of range instance (eg -1) returns data for the the primary instance
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void getGyroBias(int8_t instance, Vector3f &gyroBias);
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// return accelerometer bias estimate in m/s/s
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// An out of range instance (eg -1) returns data for the the primary instance
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void getAccelBias(int8_t instance, Vector3f &accelBias);
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// return tilt error convergence metric for the specified instance
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// An out of range instance (eg -1) returns data for the the primary instance
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void getTiltError(int8_t instance, float &ang);
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// reset body axis gyro bias estimates
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void resetGyroBias(void);
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// Resets the baro so that it reads zero at the current height
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// Resets the EKF height to zero
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// Adjusts the EKf origin height so that the EKF height + origin height is the same as before
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// Returns true if the height datum reset has been performed
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// If using a range finder for height no reset is performed and it returns false
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bool resetHeightDatum(void);
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// Commands the EKF to not use GPS.
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// This command must be sent prior to vehicle arming and EKF commencement of GPS usage
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// Returns 0 if command rejected
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// Returns 1 if command accepted
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uint8_t setInhibitGPS(void);
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// return the horizontal speed limit in m/s set by optical flow sensor limits
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// return the scale factor to be applied to navigation velocity gains to compensate for increase in velocity noise with height when using optical flow
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void getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler) const;
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// return the NED wind speed estimates in m/s (positive is air moving in the direction of the axis)
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// An out of range instance (eg -1) returns data for the the primary instance
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void getWind(int8_t instance, Vector3f &wind);
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// return earth magnetic field estimates in measurement units / 1000 for the specified instance
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// An out of range instance (eg -1) returns data for the the primary instance
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void getMagNED(int8_t instance, Vector3f &magNED);
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// return body magnetic field estimates in measurement units / 1000 for the specified instance
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// An out of range instance (eg -1) returns data for the the primary instance
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void getMagXYZ(int8_t instance, Vector3f &magXYZ);
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// return the magnetometer in use for the specified instance
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// An out of range instance (eg -1) returns data for the the primary instance
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uint8_t getActiveMag(int8_t instance);
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// Return estimated magnetometer offsets
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// Return true if magnetometer offsets are valid
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bool getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const;
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// Return the last calculated latitude, longitude and height in WGS-84
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// If a calculated location isn't available, return a raw GPS measurement
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// The status will return true if a calculation or raw measurement is available
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// The getFilterStatus() function provides a more detailed description of data health and must be checked if data is to be used for flight control
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bool getLLH(struct Location &loc) const;
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// return the latitude and longitude and height used to set the NED origin
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// All NED positions calculated by the filter are relative to this location
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// Returns false if the origin has not been set
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bool getOriginLLH(struct Location &loc) const;
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// set the latitude and longitude and height used to set the NED origin
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// All NED positions calculated by the filter will be relative to this location
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// The origin cannot be set if the filter is in a flight mode (eg vehicle armed)
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// Returns false if the filter has rejected the attempt to set the origin
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bool setOriginLLH(const Location &loc);
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// return estimated height above ground level
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// return false if ground height is not being estimated.
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bool getHAGL(float &HAGL) const;
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// return the Euler roll, pitch and yaw angle in radians for the specified instance
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// An out of range instance (eg -1) returns data for the the primary instance
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void getEulerAngles(int8_t instance, Vector3f &eulers);
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// return the transformation matrix from XYZ (body) to NED axes
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void getRotationBodyToNED(Matrix3f &mat) const;
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// return the quaternions defining the rotation from NED to XYZ (body) axes
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void getQuaternion(int8_t instance, Quaternion &quat) const;
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// return the innovations for the specified instance
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// An out of range instance (eg -1) returns data for the the primary instance
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void getInnovations(int8_t index, Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov);
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// publish output observer angular, velocity and position tracking error
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void getOutputTrackingError(int8_t instance, Vector3f &error) const;
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// return the innovation consistency test ratios for the specified instance
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// An out of range instance (eg -1) returns data for the the primary instance
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void getVariances(int8_t instance, float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset);
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// should we use the compass? This is public so it can be used for
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// reporting via ahrs.use_compass()
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bool use_compass(void) const;
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// write the raw optical flow measurements
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// rawFlowQuality is a measured of quality between 0 and 255, with 255 being the best quality
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// rawFlowRates are the optical flow rates in rad/sec about the X and Y sensor axes.
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// rawGyroRates are the sensor rotation rates in rad/sec measured by the sensors internal gyro
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// The sign convention is that a RH physical rotation of the sensor about an axis produces both a positive flow and gyro rate
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// msecFlowMeas is the scheduler time in msec when the optical flow data was received from the sensor.
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// posOffset is the XYZ flow sensor position in the body frame in m
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void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, const Vector3f &posOffset);
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/*
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* Write body frame linear and angular displacement measurements from a visual odometry sensor
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*
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* quality is a normalised confidence value from 0 to 100
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* delPos is the XYZ change in linear position measured in body frame and relative to the inertial reference at timeStamp_ms (m)
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* delAng is the XYZ angular rotation measured in body frame and relative to the inertial reference at timeStamp_ms (rad)
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* delTime is the time interval for the measurement of delPos and delAng (sec)
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* timeStamp_ms is the timestamp of the last image used to calculate delPos and delAng (msec)
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* posOffset is the XYZ body frame position of the camera focal point (m)
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*/
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void writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, const Vector3f &posOffset);
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/*
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* Return data for debugging body frame odometry fusion:
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*
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* velInnov are the XYZ body frame velocity innovations (m/s)
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* velInnovVar are the XYZ body frame velocity innovation variances (m/s)**2
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*
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* Return the system time stamp of the last update (msec)
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*/
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uint32_t getBodyFrameOdomDebug(int8_t instance, Vector3f &velInnov, Vector3f &velInnovVar);
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// return data for debugging optical flow fusion for the specified instance
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// An out of range instance (eg -1) returns data for the the primary instance
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void getFlowDebug(int8_t instance, float &varFlow, float &gndOffset, float &flowInnovX, float &flowInnovY, float &auxInnov, float &HAGL, float &rngInnov, float &range, float &gndOffsetErr);
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/*
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Returns the following data for debugging range beacon fusion
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ID : beacon identifier
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rng : measured range to beacon (m)
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innov : range innovation (m)
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innovVar : innovation variance (m^2)
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testRatio : innovation consistency test ratio
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beaconPosNED : beacon NED position (m)
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offsetHigh : high hypothesis for range beacons system vertical offset (m)
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offsetLow : low hypothesis for range beacons system vertical offset (m)
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posNED : North,East,Down position estimate of receiver from 3-state filter
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returns true if data could be found, false if it could not
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*/
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bool getRangeBeaconDebug(int8_t instance, uint8_t &ID, float &rng, float &innov, float &innovVar, float &testRatio, Vector3f &beaconPosNED,
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float &offsetHigh, float &offsetLow, Vector3f &posNED);
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// called by vehicle code to specify that a takeoff is happening
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// causes the EKF to compensate for expected barometer errors due to ground effect
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void setTakeoffExpected(bool val);
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// called by vehicle code to specify that a touchdown is expected to happen
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// causes the EKF to compensate for expected barometer errors due to ground effect
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void setTouchdownExpected(bool val);
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// Set to true if the terrain underneath is stable enough to be used as a height reference
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// in combination with a range finder. Set to false if the terrain underneath the vehicle
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// cannot be used as a height reference
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void setTerrainHgtStable(bool val);
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/*
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return the filter fault status as a bitmasked integer for the specified instance
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An out of range instance (eg -1) returns data for the the primary instance
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0 = quaternions are NaN
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1 = velocities are NaN
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2 = badly conditioned X magnetometer fusion
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3 = badly conditioned Y magnetometer fusion
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5 = badly conditioned Z magnetometer fusion
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6 = badly conditioned airspeed fusion
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7 = badly conditioned synthetic sideslip fusion
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7 = filter is not initialised
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*/
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void getFilterFaults(int8_t instance, uint16_t &faults);
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/*
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return filter timeout status as a bitmasked integer for the specified instance
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An out of range instance (eg -1) returns data for the the primary instance
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0 = position measurement timeout
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1 = velocity measurement timeout
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2 = height measurement timeout
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3 = magnetometer measurement timeout
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5 = unassigned
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6 = unassigned
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7 = unassigned
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7 = unassigned
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*/
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void getFilterTimeouts(int8_t instance, uint8_t &timeouts);
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/*
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return filter gps quality check status for the specified instance
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An out of range instance (eg -1) returns data for the the primary instance
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*/
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void getFilterGpsStatus(int8_t instance, nav_gps_status &faults);
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/*
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return filter status flags for the specified instance
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An out of range instance (eg -1) returns data for the the primary instance
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*/
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void getFilterStatus(int8_t instance, nav_filter_status &status);
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// send an EKF_STATUS_REPORT message to GCS
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void send_status_report(mavlink_channel_t chan);
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// provides the height limit to be observed by the control loops
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// returns false if no height limiting is required
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// this is needed to ensure the vehicle does not fly too high when using optical flow navigation
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bool getHeightControlLimit(float &height) const;
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// return the amount of yaw angle change (in radians) due to the last yaw angle reset or core selection switch
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// returns the time of the last yaw angle reset or 0 if no reset has ever occurred
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uint32_t getLastYawResetAngle(float &yawAngDelta);
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// return the amount of NE position change due to the last position reset in metres
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// returns the time of the last reset or 0 if no reset has ever occurred
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uint32_t getLastPosNorthEastReset(Vector2f &posDelta);
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// return the amount of NE velocity change due to the last velocity reset in metres/sec
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// returns the time of the last reset or 0 if no reset has ever occurred
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uint32_t getLastVelNorthEastReset(Vector2f &vel) const;
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// return the amount of vertical position change due to the last reset in metres
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// returns the time of the last reset or 0 if no reset has ever occurred
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uint32_t getLastPosDownReset(float &posDelta);
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// report any reason for why the backend is refusing to initialise
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const char *prearm_failure_reason(void) const;
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// set and save the _baroAltNoise parameter
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void set_baro_alt_noise(float noise) { _baroAltNoise.set_and_save(noise); };
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// allow the enable flag to be set by Replay
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void set_enable(bool enable) { _enable.set(enable); }
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// are we doing sensor logging inside the EKF?
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bool have_ekf_logging(void) const { return logging.enabled && _logging_mask != 0; }
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// get timing statistics structure
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void getTimingStatistics(int8_t instance, struct ekf_timing &timing);
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private:
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uint8_t num_cores; // number of allocated cores
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uint8_t primary; // current primary core
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NavEKF3_core *core = nullptr;
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const AP_AHRS *_ahrs;
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AP_Baro &_baro;
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const RangeFinder &_rng;
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uint32_t _frameTimeUsec; // time per IMU frame
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uint8_t _framesPerPrediction; // expected number of IMU frames per prediction
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// EKF Mavlink Tuneable Parameters
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AP_Int8 _enable; // zero to disable EKF3
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AP_Float _gpsHorizVelNoise; // GPS horizontal velocity measurement noise : m/s
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AP_Float _gpsVertVelNoise; // GPS vertical velocity measurement noise : m/s
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AP_Float _gpsHorizPosNoise; // GPS horizontal position measurement noise m
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AP_Float _baroAltNoise; // Baro height measurement noise : m
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AP_Float _magNoise; // magnetometer measurement noise : gauss
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AP_Float _easNoise; // equivalent airspeed measurement noise : m/s
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AP_Float _windVelProcessNoise; // wind velocity state process noise : m/s^2
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AP_Float _wndVarHgtRateScale; // scale factor applied to wind process noise due to height rate
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AP_Float _magEarthProcessNoise; // Earth magnetic field process noise : gauss/sec
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AP_Float _magBodyProcessNoise; // Body magnetic field process noise : gauss/sec
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AP_Float _gyrNoise; // gyro process noise : rad/s
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AP_Float _accNoise; // accelerometer process noise : m/s^2
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AP_Float _gyroBiasProcessNoise; // gyro bias state process noise : rad/s
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AP_Float _accelBiasProcessNoise;// accel bias state process noise : m/s^2
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AP_Int16 _hgtDelay_ms; // effective average delay of Height measurements relative to inertial measurements (msec)
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AP_Int8 _fusionModeGPS; // 0 = use 3D velocity, 1 = use 2D velocity, 2 = use no velocity
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AP_Int16 _gpsVelInnovGate; // Percentage number of standard deviations applied to GPS velocity innovation consistency check
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AP_Int16 _gpsPosInnovGate; // Percentage number of standard deviations applied to GPS position innovation consistency check
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AP_Int16 _hgtInnovGate; // Percentage number of standard deviations applied to height innovation consistency check
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AP_Int16 _magInnovGate; // Percentage number of standard deviations applied to magnetometer innovation consistency check
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AP_Int16 _tasInnovGate; // Percentage number of standard deviations applied to true airspeed innovation consistency check
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AP_Int8 _magCal; // Sets activation condition for in-flight magnetometer calibration
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AP_Int8 _gpsGlitchRadiusMax; // Maximum allowed discrepancy between inertial and GPS Horizontal position before GPS glitch is declared : m
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AP_Float _flowNoise; // optical flow rate measurement noise
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AP_Int16 _flowInnovGate; // Percentage number of standard deviations applied to optical flow innovation consistency check
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AP_Int8 _flowDelay_ms; // effective average delay of optical flow measurements rel to IMU (msec)
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AP_Int16 _rngInnovGate; // Percentage number of standard deviations applied to range finder innovation consistency check
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AP_Float _maxFlowRate; // Maximum flow rate magnitude that will be accepted by the filter
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AP_Int8 _altSource; // Primary alt source during optical flow navigation. 0 = use Baro, 1 = use range finder.
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AP_Float _rngNoise; // Range finder noise : m
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AP_Int8 _gpsCheck; // Bitmask controlling which preflight GPS checks are bypassed
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AP_Int8 _imuMask; // Bitmask of IMUs to instantiate EKF3 for
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AP_Int16 _gpsCheckScaler; // Percentage increase to be applied to GPS pre-flight accuracy and drift thresholds
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AP_Float _noaidHorizNoise; // horizontal position measurement noise assumed when synthesised zero position measurements are used to constrain attitude drift : m
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AP_Int8 _logging_mask; // mask of IMUs to log
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AP_Float _yawNoise; // magnetic yaw measurement noise : rad
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AP_Int16 _yawInnovGate; // Percentage number of standard deviations applied to magnetic yaw innovation consistency check
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AP_Int8 _tauVelPosOutput; // Time constant of output complementary filter : csec (centi-seconds)
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AP_Int8 _useRngSwHgt; // Maximum valid range of the range finder as a percentage of the maximum range specified by the sensor driver
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AP_Float _terrGradMax; // Maximum terrain gradient below the vehicle
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AP_Float _rngBcnNoise; // Range beacon measurement noise (m)
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AP_Int16 _rngBcnInnovGate; // Percentage number of standard deviations applied to range beacon innovation consistency check
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AP_Int8 _rngBcnDelay_ms; // effective average delay of range beacon measurements rel to IMU (msec)
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AP_Float _useRngSwSpd; // Maximum horizontal ground speed to use range finder as the primary height source (m/s)
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AP_Float _accBiasLim; // Accelerometer bias limit (m/s/s)
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AP_Int8 _magMask; // Bitmask forcng specific EKF core instances to use simple heading magnetometer fusion.
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// Tuning parameters
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const float gpsNEVelVarAccScale; // Scale factor applied to NE velocity measurement variance due to manoeuvre acceleration
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const float gpsDVelVarAccScale; // Scale factor applied to vertical velocity measurement variance due to manoeuvre acceleration
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const float gpsPosVarAccScale; // Scale factor applied to horizontal position measurement variance due to manoeuvre acceleration
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const uint16_t magDelay_ms; // Magnetometer measurement delay (msec)
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const uint16_t tasDelay_ms; // Airspeed measurement delay (msec)
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const uint16_t tiltDriftTimeMax_ms; // Maximum number of ms allowed without any form of tilt aiding (GPS, flow, TAS, etc)
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const uint16_t posRetryTimeUseVel_ms; // Position aiding retry time with velocity measurements (msec)
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const uint16_t posRetryTimeNoVel_ms; // Position aiding retry time without velocity measurements (msec)
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const uint16_t hgtRetryTimeMode0_ms; // Height retry time with vertical velocity measurement (msec)
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const uint16_t hgtRetryTimeMode12_ms; // Height retry time without vertical velocity measurement (msec)
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const uint16_t tasRetryTime_ms; // True airspeed timeout and retry interval (msec)
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const uint32_t magFailTimeLimit_ms; // number of msec before a magnetometer failing innovation consistency checks is declared failed (msec)
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const float magVarRateScale; // scale factor applied to magnetometer variance due to angular rate
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const float gyroBiasNoiseScaler; // scale factor applied to gyro bias state process noise when on ground
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const uint16_t hgtAvg_ms; // average number of msec between height measurements
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const uint16_t betaAvg_ms; // average number of msec between synthetic sideslip measurements
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const float covTimeStepMax; // maximum time (sec) between covariance prediction updates
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const float covDelAngMax; // maximum delta angle between covariance prediction updates
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const float DCM33FlowMin; // If Tbn(3,3) is less than this number, optical flow measurements will not be fused as tilt is too high.
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const float fScaleFactorPnoise; // Process noise added to focal length scale factor state variance at each time step
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const uint8_t flowTimeDeltaAvg_ms; // average interval between optical flow measurements (msec)
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const uint32_t flowIntervalMax_ms; // maximum allowable time between flow fusion events
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const uint16_t gndEffectTimeout_ms; // time in msec that ground effect mode is active after being activated
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const float gndEffectBaroScaler; // scaler applied to the barometer observation variance when ground effect mode is active
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const uint8_t gndGradientSigma; // RMS terrain gradient percentage assumed by the terrain height estimation
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const uint16_t fusionTimeStep_ms; // The minimum time interval between covariance predictions and measurement fusions in msec
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const uint8_t sensorIntervalMin_ms; // The minimum allowed time between measurements from any non-IMU sensor (msec)
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struct {
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bool enabled:1;
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bool log_compass:1;
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bool log_gps:1;
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bool log_baro:1;
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bool log_imu:1;
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} logging;
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// time at start of current filter update
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uint64_t imuSampleTime_us;
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struct {
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uint32_t last_function_call; // last time getLastYawYawResetAngle was called
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bool core_changed; // true when a core change happened and hasn't been consumed, false otherwise
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uint32_t last_primary_change; // last time a primary has changed
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float core_delta; // the amount of yaw change between cores when a change happened
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} yaw_reset_data;
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struct {
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uint32_t last_function_call; // last time getLastPosNorthEastReset was called
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bool core_changed; // true when a core change happened and hasn't been consumed, false otherwise
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uint32_t last_primary_change; // last time a primary has changed
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Vector2f core_delta; // the amount of NE position change between cores when a change happened
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} pos_reset_data;
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struct {
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uint32_t last_function_call; // last time getLastPosDownReset was called
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bool core_changed; // true when a core change happened and hasn't been consumed, false otherwise
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uint32_t last_primary_change; // last time a primary has changed
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float core_delta; // the amount of D position change between cores when a change happened
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} pos_down_reset_data;
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bool runCoreSelection; // true when the primary core has stabilised and the core selection logic can be started
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bool coreSetupRequired[7]; // true when this core index needs to be setup
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uint8_t coreImuIndex[7]; // IMU index used by this core
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// update the yaw reset data to capture changes due to a lane switch
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// new_primary - index of the ekf instance that we are about to switch to as the primary
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// old_primary - index of the ekf instance that we are currently using as the primary
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void updateLaneSwitchYawResetData(uint8_t new_primary, uint8_t old_primary);
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// update the position reset data to capture changes due to a lane switch
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// new_primary - index of the ekf instance that we are about to switch to as the primary
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// old_primary - index of the ekf instance that we are currently using as the primary
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void updateLaneSwitchPosResetData(uint8_t new_primary, uint8_t old_primary);
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// update the position down reset data to capture changes due to a lane switch
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// new_primary - index of the ekf instance that we are about to switch to as the primary
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// old_primary - index of the ekf instance that we are currently using as the primary
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void updateLaneSwitchPosDownResetData(uint8_t new_primary, uint8_t old_primary);
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};
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