mirror of https://github.com/ArduPilot/ardupilot
145 lines
3.6 KiB
C++
145 lines
3.6 KiB
C++
#include <AP_HAL/AP_HAL.h>
|
|
#include "AP_InertialNav.h"
|
|
|
|
#if AP_AHRS_NAVEKF_AVAILABLE
|
|
|
|
/*
|
|
A wrapper around the AP_InertialNav class which uses the NavEKF
|
|
filter if available, and falls back to the AP_InertialNav filter
|
|
when EKF is not available
|
|
*/
|
|
|
|
/**
|
|
update internal state
|
|
*/
|
|
void AP_InertialNav_NavEKF::update(float dt)
|
|
{
|
|
// get the NE position relative to the local earth frame origin
|
|
Vector2f posNE;
|
|
if (_ahrs_ekf.get_relative_position_NE_origin(posNE)) {
|
|
_relpos_cm.x = posNE.x * 100; // convert from m to cm
|
|
_relpos_cm.y = posNE.y * 100; // convert from m to cm
|
|
}
|
|
|
|
// get the D position relative to the local earth frame origin
|
|
float posD;
|
|
if (_ahrs_ekf.get_relative_position_D_origin(posD)) {
|
|
_relpos_cm.z = - posD * 100; // convert from m in NED to cm in NEU
|
|
}
|
|
|
|
// get the absolute WGS-84 position
|
|
_haveabspos = _ahrs_ekf.get_position(_abspos);
|
|
|
|
// get the velocity relative to the local earth frame
|
|
Vector3f velNED;
|
|
if (_ahrs_ekf.get_velocity_NED(velNED)) {
|
|
_velocity_cm = velNED * 100; // convert to cm/s
|
|
_velocity_cm.z = -_velocity_cm.z; // convert from NED to NEU
|
|
}
|
|
}
|
|
|
|
/**
|
|
* get_filter_status : returns filter status as a series of flags
|
|
*/
|
|
nav_filter_status AP_InertialNav_NavEKF::get_filter_status() const
|
|
{
|
|
nav_filter_status status;
|
|
_ahrs_ekf.get_filter_status(status);
|
|
return status;
|
|
}
|
|
|
|
/**
|
|
* get_origin - returns the inertial navigation origin in lat/lon/alt
|
|
*/
|
|
struct Location AP_InertialNav_NavEKF::get_origin() const
|
|
{
|
|
struct Location ret;
|
|
if (!_ahrs_ekf.get_origin(ret)) {
|
|
// initialise location to all zeros if EKF origin not yet set
|
|
memset(&ret, 0, sizeof(ret));
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
/**
|
|
* get_position - returns the current position relative to the home location in cm.
|
|
*
|
|
* @return
|
|
*/
|
|
const Vector3f &AP_InertialNav_NavEKF::get_position(void) const
|
|
{
|
|
return _relpos_cm;
|
|
}
|
|
|
|
/**
|
|
* get_location - updates the provided location with the latest calculated location
|
|
* returns true on success (i.e. the EKF knows it's latest position), false on failure
|
|
*/
|
|
bool AP_InertialNav_NavEKF::get_location(struct Location &loc) const
|
|
{
|
|
return _ahrs_ekf.get_location(loc);
|
|
}
|
|
|
|
/**
|
|
* get_latitude - returns the latitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
|
|
*/
|
|
int32_t AP_InertialNav_NavEKF::get_latitude() const
|
|
{
|
|
return _abspos.lat;
|
|
}
|
|
|
|
/**
|
|
* get_longitude - returns the longitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
|
|
* @return
|
|
*/
|
|
int32_t AP_InertialNav_NavEKF::get_longitude() const
|
|
{
|
|
return _abspos.lng;
|
|
}
|
|
|
|
/**
|
|
* get_velocity - returns the current velocity in cm/s
|
|
*
|
|
* @return velocity vector:
|
|
* .x : latitude velocity in cm/s
|
|
* .y : longitude velocity in cm/s
|
|
* .z : vertical velocity in cm/s
|
|
*/
|
|
const Vector3f &AP_InertialNav_NavEKF::get_velocity() const
|
|
{
|
|
return _velocity_cm;
|
|
}
|
|
|
|
/**
|
|
* get_speed_xy - returns the current horizontal speed in cm/s
|
|
*
|
|
* @returns the current horizontal speed in cm/s
|
|
*/
|
|
float AP_InertialNav_NavEKF::get_speed_xy() const
|
|
{
|
|
return norm(_velocity_cm.x, _velocity_cm.y);
|
|
}
|
|
|
|
/**
|
|
* get_altitude - get latest altitude estimate in cm
|
|
* @return
|
|
*/
|
|
float AP_InertialNav_NavEKF::get_altitude() const
|
|
{
|
|
return _relpos_cm.z;
|
|
}
|
|
|
|
/**
|
|
* get_velocity_z - returns the current climbrate.
|
|
*
|
|
* @see get_velocity().z
|
|
*
|
|
* @return climbrate in cm/s
|
|
*/
|
|
float AP_InertialNav_NavEKF::get_velocity_z() const
|
|
{
|
|
return _velocity_cm.z;
|
|
}
|
|
|
|
#endif // AP_AHRS_NAVEKF_AVAILABLE
|