mirror of https://github.com/ArduPilot/ardupilot
129 lines
3.3 KiB
C++
129 lines
3.3 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#include <AP_Baro/AP_Baro.h>
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#include "AP_InertialNav.h"
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/*
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A wrapper around the AP_InertialNav class which uses the NavEKF
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filter if available, and falls back to the AP_InertialNav filter
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when EKF is not available
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*/
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/**
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update internal state
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*/
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void AP_InertialNav::update(bool high_vibes)
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{
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// get the NE position relative to the local earth frame origin
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Vector2f posNE;
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if (_ahrs_ekf.get_relative_position_NE_origin(posNE)) {
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_relpos_cm.x = posNE.x * 100; // convert from m to cm
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_relpos_cm.y = posNE.y * 100; // convert from m to cm
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}
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// get the D position relative to the local earth frame origin
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float posD;
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if (_ahrs_ekf.get_relative_position_D_origin(posD)) {
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_relpos_cm.z = - posD * 100; // convert from m in NED to cm in NEU
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}
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// get the velocity relative to the local earth frame
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Vector3f velNED;
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const bool velned_ok = _ahrs_ekf.get_velocity_NED(velNED);
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if (velned_ok) {
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_velocity_cm = velNED * 100; // convert to cm/s
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_velocity_cm.z = -_velocity_cm.z; // convert from NED to NEU
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}
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// During high vibration events, or failure of get_velocity_NED, use the
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// fallback vertical velocity estimate. For get_velocity_NED failure, freeze
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// the horizontal velocity at the last good value.
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if (!velned_ok || high_vibes) {
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float rate_z;
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if (_ahrs_ekf.get_vert_pos_rate_D(rate_z)) {
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_velocity_cm.z = -rate_z * 100; // convert from m/s in NED to cm/s in NEU
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}
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}
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}
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/**
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* get_filter_status : returns filter status as a series of flags
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*/
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nav_filter_status AP_InertialNav::get_filter_status() const
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{
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nav_filter_status status;
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_ahrs_ekf.get_filter_status(status);
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return status;
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}
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/**
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* get_position_neu_cm - returns the current position relative to the EKF origin in cm.
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*
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* @return
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*/
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const Vector3f &AP_InertialNav::get_position_neu_cm(void) const
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{
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return _relpos_cm;
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}
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/**
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* get_position_xy_cm - returns the current x-y position relative to the EKF origin in cm.
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*
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* @return
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*/
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const Vector2f &AP_InertialNav::get_position_xy_cm() const
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{
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return _relpos_cm.xy();
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}
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/**
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* get_position_z_up_cm - returns the current z position relative to the EKF origin, frame z-axis up, in cm.
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* @return
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*/
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float AP_InertialNav::get_position_z_up_cm() const
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{
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return _relpos_cm.z;
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}
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/**
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* get_velocity_neu_cms - returns the current velocity in cm/s
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*
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* @return velocity vector:
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* .x : latitude velocity in cm/s
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* .y : longitude velocity in cm/s
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* .z : vertical velocity in cm/s
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*/
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const Vector3f &AP_InertialNav::get_velocity_neu_cms() const
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{
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return _velocity_cm;
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}
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/**
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* get_velocity_xy_cms - returns the current x-y velocity relative to the EKF origin in cm.
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*
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* @return
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*/
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const Vector2f &AP_InertialNav::get_velocity_xy_cms() const
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{
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return _velocity_cm.xy();
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}
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/**
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* get_speed_xy_cms - returns the current horizontal speed in cm/s
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*
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* @returns the current horizontal speed in cm/s
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*/
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float AP_InertialNav::get_speed_xy_cms() const
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{
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return _velocity_cm.xy().length();
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}
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/**
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* get_velocity_z_up_cms - returns the current z-axis velocity, frame z-axis up, in cm/s
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*
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* @return z-axis velocity, frame z-axis up, in cm/s
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*/
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float AP_InertialNav::get_velocity_z_up_cms() const
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{
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return _velocity_cm.z;
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}
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