mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-19 23:28:32 -04:00
5532750a99
This provides the calling vehicle software the abiity to request the EKF to not use GPS. An integer is returned that indicates the type of operation available: 0 = request rejected (request will only be accepted if the EKF is in static mode, eg pre-armed) 1 = request accepted, attitude, vertical velocity and position estimates available 2 = request accepted, attitude, height rate, height, horizontal velocity and relative position estimates available
135 lines
4.1 KiB
C++
135 lines
4.1 KiB
C++
#ifndef __AP_AHRS_NAVEKF_H__
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#define __AP_AHRS_NAVEKF_H__
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/*
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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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/*
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* NavEKF based AHRS (Attitude Heading Reference System) interface for
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* ArduPilot
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*
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*/
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#include <AP_HAL.h>
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#include <AP_AHRS.h>
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#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
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#include <AP_NavEKF.h>
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#define AP_AHRS_NAVEKF_AVAILABLE 1
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#define AP_AHRS_NAVEKF_SETTLE_TIME_MS 20000 // time in milliseconds the ekf needs to settle after being started
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class AP_AHRS_NavEKF : public AP_AHRS_DCM
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{
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public:
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// Constructor
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AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps) :
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AP_AHRS_DCM(ins, baro, gps),
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EKF(this, baro),
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ekf_started(false),
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startup_delay_ms(10000)
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{
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}
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// return the smoothed gyro vector corrected for drift
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const Vector3f &get_gyro(void) const;
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const Matrix3f &get_dcm_matrix(void) const;
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// return the current drift correction integrator value
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const Vector3f &get_gyro_drift(void) const;
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// reset the current gyro drift estimate
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// should be called if gyro offsets are recalculated
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void reset_gyro_drift(void);
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void update(void);
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void reset(bool recover_eulers = false);
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// reset the current attitude, used on new IMU calibration
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void reset_attitude(const float &roll, const float &pitch, const float &yaw);
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// dead-reckoning support
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bool get_position(struct Location &loc) const;
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// status reporting of estimated error
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float get_error_rp(void);
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float get_error_yaw(void);
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// return a wind estimation vector, in m/s
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Vector3f wind_estimate(void);
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// return an airspeed estimate if available. return true
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// if we have an estimate
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bool airspeed_estimate(float *airspeed_ret) const;
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// true if compass is being used
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bool use_compass(void);
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NavEKF &get_NavEKF(void) { return EKF; }
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// return secondary attitude solution if available, as eulers in radians
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bool get_secondary_attitude(Vector3f &eulers);
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// return secondary position solution if available
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bool get_secondary_position(struct Location &loc);
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// EKF has a better ground speed vector estimate
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Vector2f groundspeed_vector(void);
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const Vector3f &get_accel_ef(uint8_t i) const;
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const Vector3f &get_accel_ef() const { return get_accel_ef(_ins.get_primary_accel()); };
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// blended accelerometer values in the earth frame in m/s/s
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const Vector3f &get_accel_ef_blended(void) const;
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// set home location
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void set_home(const Location &loc);
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bool have_inertial_nav(void) const;
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bool get_velocity_NED(Vector3f &vec) const;
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bool get_relative_position_NED(Vector3f &vec) const;
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// write optical flow measurements to EKF
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void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas, uint8_t &rangeHealth, float &rawSonarRange);
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// inibit GPS useage
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uint8_t setInhibitGPS(void);
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void set_ekf_use(bool setting) { _ekf_use.set(setting); }
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// is the AHRS subsystem healthy?
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bool healthy(void);
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// true if the AHRS has completed initialisation
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bool initialised(void) const;
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private:
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bool using_EKF(void) const;
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NavEKF EKF;
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bool ekf_started;
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Matrix3f _dcm_matrix;
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Vector3f _dcm_attitude;
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Vector3f _gyro_bias;
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Vector3f _gyro_estimate;
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Vector3f _accel_ef_ekf[INS_MAX_INSTANCES];
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Vector3f _accel_ef_ekf_blended;
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const uint16_t startup_delay_ms;
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uint32_t start_time_ms;
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};
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#endif
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#endif // __AP_AHRS_NAVEKF_H__
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