mirror of https://github.com/ArduPilot/ardupilot
272 lines
9.8 KiB
C++
272 lines
9.8 KiB
C++
#include "AP_NavEKF2.h"
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#include <AP_HAL/HAL.h>
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#include <AP_Logger/AP_Logger.h>
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void NavEKF2::Log_Write_NKF1(uint8_t _core, uint64_t time_us) const
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{
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// Write first EKF packet
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Vector3f euler;
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Vector2f posNE;
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float posD;
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Vector3f velNED;
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Vector3f gyroBias;
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float posDownDeriv;
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Location originLLH;
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getEulerAngles(_core,euler);
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getVelNED(_core,velNED);
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getPosNE(_core,posNE);
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getPosD(_core,posD);
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getGyroBias(_core,gyroBias);
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posDownDeriv = getPosDownDerivative(_core);
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if (!getOriginLLH(_core,originLLH)) {
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originLLH.alt = 0;
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}
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const struct log_EKF1 pkt{
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LOG_PACKET_HEADER_INIT(LOG_NKF1_MSG),
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time_us : time_us,
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core : _core,
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roll : (int16_t)(100*degrees(euler.x)), // roll angle (centi-deg, displayed as deg due to format string)
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pitch : (int16_t)(100*degrees(euler.y)), // pitch angle (centi-deg, displayed as deg due to format string)
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yaw : (uint16_t)wrap_360_cd(100*degrees(euler.z)), // yaw angle (centi-deg, displayed as deg due to format string)
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velN : (float)(velNED.x), // velocity North (m/s)
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velE : (float)(velNED.y), // velocity East (m/s)
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velD : (float)(velNED.z), // velocity Down (m/s)
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posD_dot : (float)(posDownDeriv), // first derivative of down position
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posN : (float)(posNE.x), // metres North
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posE : (float)(posNE.y), // metres East
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posD : (float)(posD), // metres Down
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gyrX : (int16_t)(100*degrees(gyroBias.x)), // cd/sec, displayed as deg/sec due to format string
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gyrY : (int16_t)(100*degrees(gyroBias.y)), // cd/sec, displayed as deg/sec due to format string
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gyrZ : (int16_t)(100*degrees(gyroBias.z)), // cd/sec, displayed as deg/sec due to format string
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originHgt : originLLH.alt // WGS-84 altitude of EKF origin in cm
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};
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AP::logger().WriteBlock(&pkt, sizeof(pkt));
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}
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void NavEKF2::Log_Write_NKF2(uint8_t _core, uint64_t time_us) const
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{
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// Write second EKF packet
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float azbias = 0;
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Vector3f wind;
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Vector3f magNED;
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Vector3f magXYZ;
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Vector3f gyroScaleFactor;
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uint8_t magIndex = getActiveMag(_core);
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getAccelZBias(_core,azbias);
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getWind(_core,wind);
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getMagNED(_core,magNED);
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getMagXYZ(_core,magXYZ);
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getGyroScaleErrorPercentage(_core,gyroScaleFactor);
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const struct log_NKF2 pkt2{
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LOG_PACKET_HEADER_INIT(LOG_NKF2_MSG),
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time_us : time_us,
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core : _core,
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AZbias : (int8_t)(100*azbias),
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scaleX : (int16_t)(100*gyroScaleFactor.x),
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scaleY : (int16_t)(100*gyroScaleFactor.y),
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scaleZ : (int16_t)(100*gyroScaleFactor.z),
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windN : (int16_t)(100*wind.x),
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windE : (int16_t)(100*wind.y),
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magN : (int16_t)(magNED.x),
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magE : (int16_t)(magNED.y),
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magD : (int16_t)(magNED.z),
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magX : (int16_t)(magXYZ.x),
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magY : (int16_t)(magXYZ.y),
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magZ : (int16_t)(magXYZ.z),
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index : (uint8_t)(magIndex)
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};
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AP::logger().WriteBlock(&pkt2, sizeof(pkt2));
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}
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void NavEKF2::Log_Write_NKF3(uint8_t _core, uint64_t time_us) const
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{
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// Write third EKF packet
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Vector3f velInnov;
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Vector3f posInnov;
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Vector3f magInnov;
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float tasInnov = 0;
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float yawInnov = 0;
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getInnovations(_core,velInnov, posInnov, magInnov, tasInnov, yawInnov);
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const struct log_NKF3 pkt3{
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LOG_PACKET_HEADER_INIT(LOG_NKF3_MSG),
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time_us : time_us,
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core : _core,
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innovVN : (int16_t)(100*velInnov.x),
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innovVE : (int16_t)(100*velInnov.y),
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innovVD : (int16_t)(100*velInnov.z),
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innovPN : (int16_t)(100*posInnov.x),
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innovPE : (int16_t)(100*posInnov.y),
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innovPD : (int16_t)(100*posInnov.z),
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innovMX : (int16_t)(magInnov.x),
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innovMY : (int16_t)(magInnov.y),
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innovMZ : (int16_t)(magInnov.z),
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innovYaw : (int16_t)(100*degrees(yawInnov)),
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innovVT : (int16_t)(100*tasInnov)
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};
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AP::logger().WriteBlock(&pkt3, sizeof(pkt3));
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}
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void NavEKF2::Log_Write_NKF4(uint8_t _core, uint64_t time_us) const
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{
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// Write fourth EKF packet
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float velVar = 0;
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float posVar = 0;
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float hgtVar = 0;
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Vector3f magVar;
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float tasVar = 0;
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Vector2f offset;
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uint16_t faultStatus=0;
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uint8_t timeoutStatus=0;
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nav_filter_status solutionStatus {};
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nav_gps_status gpsStatus {};
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getVariances(_core,velVar, posVar, hgtVar, magVar, tasVar, offset);
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float tempVar = fmaxf(fmaxf(magVar.x,magVar.y),magVar.z);
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getFilterFaults(_core,faultStatus);
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getFilterTimeouts(_core,timeoutStatus);
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getFilterStatus(_core,solutionStatus);
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getFilterGpsStatus(_core,gpsStatus);
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float tiltError;
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getTiltError(_core,tiltError);
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int8_t primaryIndex = getPrimaryCoreIndex();
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const struct log_NKF4 pkt4{
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LOG_PACKET_HEADER_INIT(LOG_NKF4_MSG),
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time_us : time_us,
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core : _core,
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sqrtvarV : (int16_t)(100*velVar),
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sqrtvarP : (int16_t)(100*posVar),
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sqrtvarH : (int16_t)(100*hgtVar),
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sqrtvarM : (int16_t)(100*tempVar),
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sqrtvarVT : (int16_t)(100*tasVar),
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tiltErr : (float)tiltError,
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offsetNorth : (int8_t)(offset.x),
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offsetEast : (int8_t)(offset.y),
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faults : (uint16_t)(faultStatus),
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timeouts : (uint8_t)(timeoutStatus),
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solution : (uint32_t)(solutionStatus.value),
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gps : (uint16_t)(gpsStatus.value),
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primary : (int8_t)primaryIndex
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};
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AP::logger().WriteBlock(&pkt4, sizeof(pkt4));
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}
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void NavEKF2::Log_Write_NKF5(uint64_t time_us) const
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{
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// Write fifth EKF packet - take data from the primary instance
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float normInnov=0; // normalised innovation variance ratio for optical flow observations fused by the main nav filter
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float gndOffset=0; // estimated vertical position of the terrain relative to the nav filter zero datum
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float flowInnovX=0, flowInnovY=0; // optical flow LOS rate vector innovations from the main nav filter
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float auxFlowInnov=0; // optical flow LOS rate innovation from terrain offset estimator
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float HAGL=0; // height above ground level
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float rngInnov=0; // range finder innovations
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float range=0; // measured range
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float gndOffsetErr=0; // filter ground offset state error
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Vector3f predictorErrors; // output predictor angle, velocity and position tracking error
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getFlowDebug(-1,normInnov, gndOffset, flowInnovX, flowInnovY, auxFlowInnov, HAGL, rngInnov, range, gndOffsetErr);
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getOutputTrackingError(-1,predictorErrors);
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const struct log_NKF5 pkt5{
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LOG_PACKET_HEADER_INIT(LOG_NKF5_MSG),
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time_us : time_us,
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normInnov : (uint8_t)(MIN(100*normInnov,255)),
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FIX : (int16_t)(1000*flowInnovX),
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FIY : (int16_t)(1000*flowInnovY),
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AFI : (int16_t)(1000*auxFlowInnov),
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HAGL : (int16_t)(100*HAGL),
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offset : (int16_t)(100*gndOffset),
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RI : (int16_t)(100*rngInnov),
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meaRng : (uint16_t)(100*range),
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errHAGL : (uint16_t)(100*gndOffsetErr),
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angErr : (float)predictorErrors.x,
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velErr : (float)predictorErrors.y,
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posErr : (float)predictorErrors.z
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};
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AP::logger().WriteBlock(&pkt5, sizeof(pkt5));
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}
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void NavEKF2::Log_Write_Quaternion(uint8_t _core, uint64_t time_us) const
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{
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// log quaternion
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Quaternion quat;
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getQuaternion(_core, quat);
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const struct log_Quaternion pktq1{
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LOG_PACKET_HEADER_INIT(LOG_NKQ_MSG),
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time_us : time_us,
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core : _core,
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q1 : quat.q1,
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q2 : quat.q2,
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q3 : quat.q3,
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q4 : quat.q4
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};
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AP::logger().WriteBlock(&pktq1, sizeof(pktq1));
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}
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void NavEKF2::Log_Write_Beacon(uint64_t time_us) const
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{
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if (AP::beacon() != nullptr) {
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uint8_t ID;
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float rng;
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float innovVar;
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float innov;
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float testRatio;
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Vector3f beaconPosNED;
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float bcnPosOffsetHigh;
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float bcnPosOffsetLow;
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if (getRangeBeaconDebug(-1, ID, rng, innov, innovVar, testRatio, beaconPosNED, bcnPosOffsetHigh, bcnPosOffsetLow)) {
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if (rng > 0.0f) {
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struct log_RngBcnDebug pkt10 = {
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LOG_PACKET_HEADER_INIT(LOG_NKF10_MSG),
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time_us : time_us,
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ID : (uint8_t)ID,
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rng : (int16_t)(100*rng),
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innov : (int16_t)(100*innov),
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sqrtInnovVar : (uint16_t)(100*safe_sqrt(innovVar)),
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testRatio : (uint16_t)(100*constrain_float(testRatio,0.0f,650.0f)),
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beaconPosN : (int16_t)(100*beaconPosNED.x),
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beaconPosE : (int16_t)(100*beaconPosNED.y),
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beaconPosD : (int16_t)(100*beaconPosNED.z),
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offsetHigh : (int16_t)(100*bcnPosOffsetHigh),
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offsetLow : (int16_t)(100*bcnPosOffsetLow),
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posN : 0,
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posE : 0,
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posD : 0
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};
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AP::logger().WriteBlock(&pkt10, sizeof(pkt10));
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}
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}
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}
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}
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void NavEKF2::Log_Write()
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{
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// only log if enabled
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if (activeCores() <= 0) {
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return;
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}
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const uint64_t time_us = AP_HAL::micros64();
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Log_Write_NKF5(time_us);
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for (uint8_t i=0; i<activeCores(); i++) {
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Log_Write_NKF1(i, time_us);
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Log_Write_NKF2(i, time_us);
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Log_Write_NKF3(i, time_us);
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Log_Write_NKF4(i, time_us);
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Log_Write_Quaternion(i, time_us);
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}
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// write range beacon fusion debug packet if the range value is non-zero
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Log_Write_Beacon(time_us);
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// log EKF timing statistics every 5s
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static uint32_t lastTimingLogTime_ms = 0;
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if (AP_HAL::millis() - lastTimingLogTime_ms > 5000) {
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lastTimingLogTime_ms = AP_HAL::millis();
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struct ekf_timing timing;
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for (uint8_t i=0; i<activeCores(); i++) {
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getTimingStatistics(i, timing);
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Log_EKF_Timing("NKT", i, time_us, timing);
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}
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}
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}
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