mirror of https://github.com/ArduPilot/ardupilot
620 lines
23 KiB
C++
620 lines
23 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#include "AP_NavEKF3.h"
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#include "AP_NavEKF3_core.h"
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#include <AP_DAL/AP_DAL.h>
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#include <GCS_MAVLink/GCS.h>
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// Check basic filter health metrics and return a consolidated health status
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bool NavEKF3_core::healthy(void) const
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{
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uint16_t faultInt;
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getFilterFaults(faultInt);
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if (faultInt > 0) {
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return false;
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}
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if (velTestRatio > 1 && posTestRatio > 1 && hgtTestRatio > 1) {
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// all three metrics being above 1 means the filter is
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// extremely unhealthy.
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return false;
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}
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// Give the filter a second to settle before use
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if ((imuSampleTime_ms - ekfStartTime_ms) < 1000 ) {
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return false;
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}
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// position and height innovations must be within limits when on-ground and in a static mode of operation
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float horizErrSq = sq(innovVelPos[3]) + sq(innovVelPos[4]);
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if (onGround && (PV_AidingMode == AID_NONE) && ((horizErrSq > 1.0f) || (fabsF(hgtInnovFiltState) > 1.0f))) {
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return false;
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}
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// all OK
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return true;
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}
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// Return a consolidated error score where higher numbers represent larger errors
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// Intended to be used by the front-end to determine which is the primary EKF
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float NavEKF3_core::errorScore() const
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{
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float score = 0.0f;
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if (tiltAlignComplete && yawAlignComplete) {
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// Check GPS fusion performance
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score = MAX(score, 0.5f * (velTestRatio + posTestRatio));
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// Check altimeter fusion performance
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score = MAX(score, hgtTestRatio);
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// Check airspeed fusion performance - only when we are using at least 2 airspeed sensors so we can switch lanes with
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// a better one. This only comes into effect for a forward flight vehicle. A sensitivity factor of 0.3 is added to keep the
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// EKF less sensitive to innovations arising due events like strong gusts of wind, thus, prevent reporting high error scores
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if (assume_zero_sideslip()) {
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const auto *arsp = dal.airspeed();
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if (arsp != nullptr && arsp->get_num_sensors() >= 2 && (frontend->_affinity & EKF_AFFINITY_ARSP)) {
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score = MAX(score, 0.3f * tasTestRatio);
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}
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}
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// Check magnetometer fusion performance - need this when magnetometer affinity is enabled to override the inherent compass
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// switching mechanism, and instead be able to move to a better lane
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if (frontend->_affinity & EKF_AFFINITY_MAG) {
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score = MAX(score, 0.3f * (magTestRatio.x + magTestRatio.y + magTestRatio.z));
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}
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}
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return score;
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}
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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 NavEKF3_core::getHeightControlLimit(float &height) const
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{
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// only ask for limiting if we are doing optical flow navigation
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if (frontend->sources.useVelXYSource(AP_NavEKF_Source::SourceXY::OPTFLOW) && (PV_AidingMode == AID_RELATIVE) && flowDataValid) {
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// If are doing optical flow nav, ensure the height above ground is within range finder limits after accounting for vehicle tilt and control errors
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const auto *_rng = dal.rangefinder();
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if (_rng == nullptr) {
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// we really, really shouldn't be here.
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return false;
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}
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height = MAX(float(_rng->max_distance_cm_orient(ROTATION_PITCH_270)) * 0.007f - 1.0f, 1.0f);
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// If we are are not using the range finder as the height reference, then compensate for the difference between terrain and EKF origin
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if (frontend->sources.getPosZSource() != AP_NavEKF_Source::SourceZ::RANGEFINDER) {
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height -= terrainState;
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}
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return true;
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} else {
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return false;
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}
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}
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// return the Euler roll, pitch and yaw angle in radians
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void NavEKF3_core::getEulerAngles(Vector3f &euler) const
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{
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outputDataNew.quat.to_euler(euler.x, euler.y, euler.z);
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euler = euler - dal.get_trim();
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}
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// return body axis gyro bias estimates in rad/sec
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void NavEKF3_core::getGyroBias(Vector3f &gyroBias) const
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{
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if (dtEkfAvg < 1e-6f) {
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gyroBias.zero();
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return;
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}
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gyroBias = (stateStruct.gyro_bias / dtEkfAvg).tofloat();
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}
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// return accelerometer bias in m/s/s
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void NavEKF3_core::getAccelBias(Vector3f &accelBias) const
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{
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if (!statesInitialised) {
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accelBias.zero();
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return;
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}
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accelBias = (stateStruct.accel_bias / dtEkfAvg).tofloat();
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}
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// return the transformation matrix from XYZ (body) to NED axes
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void NavEKF3_core::getRotationBodyToNED(Matrix3f &mat) const
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{
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outputDataNew.quat.rotation_matrix(mat);
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mat = mat * dal.get_rotation_vehicle_body_to_autopilot_body();
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}
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// return the quaternions defining the rotation from NED to XYZ (body) axes
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void NavEKF3_core::getQuaternion(Quaternion& ret) const
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{
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ret = outputDataNew.quat.tofloat();
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}
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// return the amount of yaw angle change due to the last yaw angle reset in radians
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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 NavEKF3_core::getLastYawResetAngle(float &yawAng) const
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{
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yawAng = yawResetAngle;
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return lastYawReset_ms;
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}
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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 NavEKF3_core::getLastPosNorthEastReset(Vector2f &pos) const
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{
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pos = posResetNE.tofloat();
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return lastPosReset_ms;
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}
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// return the amount of vertical position change due to the last vertical 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 NavEKF3_core::getLastPosDownReset(float &posD) const
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{
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posD = posResetD;
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return lastPosResetD_ms;
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}
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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 NavEKF3_core::getLastVelNorthEastReset(Vector2f &vel) const
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{
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vel = velResetNE.tofloat();
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return lastVelReset_ms;
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}
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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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// returns true if wind state estimation is active
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bool NavEKF3_core::getWind(Vector3f &wind) const
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{
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wind.x = stateStruct.wind_vel.x;
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wind.y = stateStruct.wind_vel.y;
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wind.z = 0.0f; // currently don't estimate this
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return !inhibitWindStates;
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}
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// return the NED velocity of the body frame origin in m/s
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//
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void NavEKF3_core::getVelNED(Vector3f &vel) const
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{
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// correct for the IMU position offset (EKF calculations are at the IMU)
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vel = (outputDataNew.velocity + velOffsetNED).tofloat();
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}
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// return estimate of true airspeed vector in body frame in m/s
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// returns false if estimate is unavailable
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bool NavEKF3_core::getAirSpdVec(Vector3f &vel) const
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{
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if (inhibitWindStates || PV_AidingMode == AID_NONE) {
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return false;
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}
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vel = (outputDataNew.velocity + velOffsetNED).tofloat();
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vel.x -= stateStruct.wind_vel.x;
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vel.y -= stateStruct.wind_vel.y;
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Matrix3f Tnb; // rotation from nav to body frame
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outputDataNew.quat.inverse().rotation_matrix(Tnb);
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vel = Tnb * vel;
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return true;
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}
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// Return the rate of change of vertical position in the down direction (dPosD/dt) of the body frame origin in m/s
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float NavEKF3_core::getPosDownDerivative(void) const
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{
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// return the value calculated from a complementary filter applied to the EKF height and vertical acceleration
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// correct for the IMU offset (EKF calculations are at the IMU)
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return vertCompFiltState.vel + velOffsetNED.z;
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}
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// Write the last estimated NE position of the body frame origin relative to the reference point (m).
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// Return true if the estimate is valid
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bool NavEKF3_core::getPosNE(Vector2f &posNE) const
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{
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// There are three modes of operation, absolute position (GPS fusion), relative position (optical flow fusion) and constant position (no position estimate available)
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if (PV_AidingMode != AID_NONE) {
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// This is the normal mode of operation where we can use the EKF position states
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// correct for the IMU offset (EKF calculations are at the IMU)
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posNE = (outputDataNew.position.xy() + posOffsetNED.xy() + public_origin.get_distance_NE_ftype(EKF_origin)).tofloat();
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return true;
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} else {
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// In constant position mode the EKF position states are at the origin, so we cannot use them as a position estimate
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if(validOrigin) {
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auto &gps = dal.gps();
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if ((gps.status(selected_gps) >= AP_DAL_GPS::GPS_OK_FIX_2D)) {
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// If the origin has been set and we have GPS, then return the GPS position relative to the origin
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const struct Location &gpsloc = gps.location(selected_gps);
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posNE = public_origin.get_distance_NE_ftype(gpsloc).tofloat();
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return false;
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} else if (rngBcnAlignmentStarted) {
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// If we are attempting alignment using range beacon data, then report the position
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posNE.x = receiverPos.x;
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posNE.y = receiverPos.y;
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return false;
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} else {
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// If no GPS fix is available, all we can do is provide the last known position
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posNE = outputDataNew.position.xy().tofloat();
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return false;
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}
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} else {
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// If the origin has not been set, then we have no means of providing a relative position
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posNE.zero();
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return false;
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}
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}
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return false;
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}
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// Write the last calculated D position of the body frame origin relative to the EKF origin (m).
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// Return true if the estimate is valid
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bool NavEKF3_core::getPosD(float &posD) const
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{
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// The EKF always has a height estimate regardless of mode of operation
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// Correct for the IMU offset (EKF calculations are at the IMU)
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// Also correct for changes to the origin height
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if ((frontend->_originHgtMode & (1<<2)) == 0) {
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// Any sensor height drift corrections relative to the WGS-84 reference are applied to the origin.
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posD = outputDataNew.position.z + posOffsetNED.z;
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} else {
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// The origin height is static and corrections are applied to the local vertical position
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// so that height returned by getLLH() = height returned by getOriginLLH - posD
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posD = outputDataNew.position.z + posOffsetNED.z + 0.01f * (float)EKF_origin.alt - (float)ekfGpsRefHgt;
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}
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// Return the current height solution status
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return filterStatus.flags.vert_pos;
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}
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// return the estimated height of body frame origin above ground level
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bool NavEKF3_core::getHAGL(float &HAGL) const
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{
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HAGL = terrainState - outputDataNew.position.z - posOffsetNED.z;
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// If we know the terrain offset and altitude, then we have a valid height above ground estimate
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return !hgtTimeout && gndOffsetValid && healthy();
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}
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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 NavEKF3_core::getLLH(struct Location &loc) const
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{
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Location origin;
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if (getOriginLLH(origin)) {
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float posD;
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if(getPosD(posD) && PV_AidingMode != AID_NONE) {
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// Altitude returned is an absolute altitude relative to the WGS-84 spherioid
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loc.set_alt_cm(origin.alt - posD*100.0, Location::AltFrame::ABSOLUTE);
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if (filterStatus.flags.horiz_pos_abs || filterStatus.flags.horiz_pos_rel) {
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// The EKF is able to provide a position estimate
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loc.lat = EKF_origin.lat;
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loc.lng = EKF_origin.lng;
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loc.offset(outputDataNew.position.x + posOffsetNED.x,
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outputDataNew.position.y + posOffsetNED.y);
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return true;
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} else {
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// We have been be doing inertial dead reckoning for too long so use raw GPS if available
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if (getGPSLLH(loc)) {
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return true;
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} else {
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// Return the EKF estimate but mark it as invalid
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loc.lat = EKF_origin.lat;
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loc.lng = EKF_origin.lng;
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loc.offset(outputDataNew.position.x + posOffsetNED.x,
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outputDataNew.position.y + posOffsetNED.y);
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return false;
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}
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}
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} else {
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// Return a raw GPS reading if available and the last recorded positon if not
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if (getGPSLLH(loc)) {
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return true;
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} else {
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loc.lat = EKF_origin.lat;
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loc.lng = EKF_origin.lng;
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loc.offset(lastKnownPositionNE.x + posOffsetNED.x,
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lastKnownPositionNE.y + posOffsetNED.y);
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loc.alt = EKF_origin.alt - lastKnownPositionD*100.0;
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return false;
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}
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}
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} else {
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// The EKF is not navigating so use raw GPS if available
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return getGPSLLH(loc);
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}
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}
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bool NavEKF3_core::getGPSLLH(struct Location &loc) const
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{
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const auto &gps = dal.gps();
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if ((gps.status(selected_gps) >= AP_DAL_GPS::GPS_OK_FIX_3D)) {
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loc = gps.location(selected_gps);
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return true;
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}
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return false;
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}
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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 NavEKF3_core::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler) const
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{
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// If in the last 10 seconds we have received flow data and no odometry data, then we are relying on optical flow
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bool relyingOnFlowData = (imuSampleTime_ms - prevBodyVelFuseTime_ms > 1000)
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&& (imuSampleTime_ms - flowValidMeaTime_ms <= 10000);
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// If relying on optical flow, limit speed to prevent sensor limit being exceeded and adjust
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// nav gains to prevent body rate feedback into flow rates destabilising the control loop
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if (PV_AidingMode == AID_RELATIVE && relyingOnFlowData) {
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// allow 1.0 rad/sec margin for angular motion
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ekfGndSpdLimit = MAX((frontend->_maxFlowRate - 1.0f), 0.0f) * MAX((terrainState - stateStruct.position[2]), rngOnGnd);
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// use standard gains up to 5.0 metres height and reduce above that
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ekfNavVelGainScaler = 4.0f / MAX((terrainState - stateStruct.position[2]),4.0f);
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} else {
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ekfGndSpdLimit = 400.0f; //return 80% of max filter speed
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ekfNavVelGainScaler = 1.0f;
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}
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}
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// return the LLH location of the filters NED origin
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bool NavEKF3_core::getOriginLLH(struct Location &loc) const
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{
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if (validOrigin) {
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loc = public_origin;
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// report internally corrected reference height if enabled
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if ((frontend->_originHgtMode & (1<<2)) == 0) {
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loc.alt = (int32_t)(100.0f * (float)ekfGpsRefHgt);
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}
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}
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return validOrigin;
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}
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// return earth magnetic field estimates in measurement units / 1000
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void NavEKF3_core::getMagNED(Vector3f &magNED) const
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{
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magNED = (stateStruct.earth_magfield * 1000.0f).tofloat();
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}
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// return body magnetic field estimates in measurement units / 1000
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void NavEKF3_core::getMagXYZ(Vector3f &magXYZ) const
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{
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magXYZ = (stateStruct.body_magfield*1000.0f).tofloat();
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}
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// return magnetometer offsets
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// return true if offsets are valid
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bool NavEKF3_core::getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const
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{
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const auto &compass = dal.compass();
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if (!compass.available()) {
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return false;
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}
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// compass offsets are valid if we have finalised magnetic field initialisation, magnetic field learning is not prohibited,
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// primary compass is valid and state variances have converged
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const float maxMagVar = 5E-6f;
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bool variancesConverged = (P[19][19] < maxMagVar) && (P[20][20] < maxMagVar) && (P[21][21] < maxMagVar);
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if ((mag_idx == magSelectIndex) &&
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finalInflightMagInit &&
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!inhibitMagStates &&
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compass.healthy(magSelectIndex) &&
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variancesConverged) {
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magOffsets = compass.get_offsets(magSelectIndex) - stateStruct.body_magfield.tofloat()*1000.0;
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return true;
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} else {
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magOffsets = compass.get_offsets(magSelectIndex);
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return false;
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}
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}
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// return the index for the active magnetometer
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// return the index for the active airspeed
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uint8_t NavEKF3_core::getActiveAirspeed() const
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{
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return (uint8_t)selected_airspeed;
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}
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// return the innovations for the NED Pos, NED Vel, XYZ Mag and Vtas measurements
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bool NavEKF3_core::getInnovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov) const
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{
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velInnov.x = innovVelPos[0];
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velInnov.y = innovVelPos[1];
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velInnov.z = innovVelPos[2];
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posInnov.x = innovVelPos[3];
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posInnov.y = innovVelPos[4];
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posInnov.z = innovVelPos[5];
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magInnov.x = 1e3f*innovMag[0]; // Convert back to sensor units
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magInnov.y = 1e3f*innovMag[1]; // Convert back to sensor units
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magInnov.z = 1e3f*innovMag[2]; // Convert back to sensor units
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tasInnov = innovVtas;
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yawInnov = innovYaw;
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return true;
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}
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// return the synthetic air data drag and sideslip innovations
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void NavEKF3_core::getSynthAirDataInnovations(Vector2f &dragInnov, float &betaInnov) const
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{
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#if EK3_FEATURE_DRAG_FUSION
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dragInnov.x = innovDrag[0];
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dragInnov.y = innovDrag[1];
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betaInnov = innovBeta;
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#endif
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}
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// return the innovation consistency test ratios for the velocity, position, magnetometer and true airspeed measurements
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|
// 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
|
|
bool NavEKF3_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.tofloat();
|
|
|
|
return true;
|
|
}
|
|
|
|
// get a particular source's velocity innovations
|
|
// returns true on success and results are placed in innovations and variances arguments
|
|
bool NavEKF3_core::getVelInnovationsAndVariancesForSource(AP_NavEKF_Source::SourceXY source, Vector3f &innovations, Vector3f &variances) const
|
|
{
|
|
switch (source) {
|
|
case AP_NavEKF_Source::SourceXY::GPS:
|
|
// check for timeouts
|
|
if (dal.millis() - gpsVelInnovTime_ms > 500) {
|
|
return false;
|
|
}
|
|
innovations = gpsVelInnov.tofloat();
|
|
variances = gpsVelVarInnov.tofloat();
|
|
return true;
|
|
#if EK3_FEATURE_EXTERNAL_NAV
|
|
case AP_NavEKF_Source::SourceXY::EXTNAV:
|
|
// check for timeouts
|
|
if (dal.millis() - extNavVelInnovTime_ms > 500) {
|
|
return false;
|
|
}
|
|
innovations = extNavVelInnov.tofloat();
|
|
variances = extNavVelVarInnov.tofloat();
|
|
return true;
|
|
#endif // EK3_FEATURE_EXTERNAL_NAV
|
|
case AP_NavEKF_Source::SourceXY::OPTFLOW:
|
|
// check for timeouts
|
|
if (dal.millis() - flowInnovTime_ms > 500) {
|
|
return false;
|
|
}
|
|
innovations.x = flowInnov[0];
|
|
innovations.y = flowInnov[1];
|
|
innovations.z = 0;
|
|
variances.x = flowVarInnov[0];
|
|
variances.y = flowVarInnov[1];
|
|
variances.z = 0;
|
|
return true;
|
|
default:
|
|
// variances are not available for this source
|
|
return false;
|
|
}
|
|
|
|
// should never get here but just in case
|
|
return false;
|
|
}
|
|
|
|
/*
|
|
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 NavEKF3_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 the navigation filter status message
|
|
void NavEKF3_core::getFilterStatus(nav_filter_status &status) const
|
|
{
|
|
status = filterStatus;
|
|
}
|
|
|
|
#if HAL_GCS_ENABLED
|
|
// send an EKF_STATUS message to GCS
|
|
void NavEKF3_core::send_status_report(GCS_MAVLINK &link) 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;
|
|
}
|
|
if (filterStatus.flags.gps_glitching) {
|
|
flags |= (1<<15);
|
|
}
|
|
|
|
// get variances
|
|
float velVar = 0, posVar = 0, hgtVar = 0, tasVar = 0;
|
|
Vector3f magVar;
|
|
Vector2f offset;
|
|
getVariances(velVar, posVar, hgtVar, magVar, tasVar, offset);
|
|
|
|
|
|
// 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 = 0;
|
|
if (((frontend->_useRngSwHgt > 0) && activeHgtSource == AP_NavEKF_Source::SourceZ::RANGEFINDER) || (PV_AidingMode == AID_RELATIVE && flowDataValid)) {
|
|
temp = sqrtF(auxRngTestRatio);
|
|
}
|
|
|
|
const mavlink_ekf_status_report_t packet{
|
|
velVar,
|
|
posVar,
|
|
hgtVar,
|
|
fmaxF(fmaxF(magVar.x,magVar.y),magVar.z),
|
|
temp,
|
|
flags,
|
|
tasVar
|
|
};
|
|
|
|
// send message
|
|
mavlink_msg_ekf_status_report_send_struct(link.get_chan(), &packet);
|
|
}
|
|
#endif // HAL_GCS_ENABLED
|
|
|
|
// report the reason for why the backend is refusing to initialise
|
|
const char *NavEKF3_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 NavEKF3_core::getFramesSincePredict(void) const
|
|
{
|
|
return framesSincePredict;
|
|
}
|