mirror of https://github.com/ArduPilot/ardupilot
366 lines
14 KiB
C++
366 lines
14 KiB
C++
#pragma once
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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/AP_HAL.h>
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#ifndef HAL_NAVEKF2_AVAILABLE
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// only default to EK2 enabled on boards with over 1M flash
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#define HAL_NAVEKF2_AVAILABLE (BOARD_FLASH_SIZE>1024)
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#endif
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#ifndef HAL_NAVEKF3_AVAILABLE
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#define HAL_NAVEKF3_AVAILABLE 1
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#endif
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#define AP_AHRS_NAVEKF_AVAILABLE 1
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#include "AP_AHRS.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <SITL/SITL.h>
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#endif
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#include <AP_NavEKF2/AP_NavEKF2.h>
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#include <AP_NavEKF3/AP_NavEKF3.h>
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#include <AP_NavEKF/AP_Nav_Common.h> // definitions shared by inertial and ekf nav filters
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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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public:
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enum Flags {
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FLAG_NONE = 0,
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FLAG_ALWAYS_USE_EKF = 0x1,
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};
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// Constructor
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AP_AHRS_NavEKF(uint8_t flags = FLAG_NONE);
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// initialise
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void init(void) override;
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/* Do not allow copies */
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AP_AHRS_NavEKF(const AP_AHRS_NavEKF &other) = delete;
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AP_AHRS_NavEKF &operator=(const AP_AHRS_NavEKF&) = delete;
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// return the smoothed gyro vector corrected for drift
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const Vector3f &get_gyro(void) const override;
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const Matrix3f &get_rotation_body_to_ned(void) const override;
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// return the current drift correction integrator value
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const Vector3f &get_gyro_drift(void) const override;
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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() override;
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void update(bool skip_ins_update=false) override;
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void reset(bool recover_eulers = false) override;
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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) override;
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// dead-reckoning support
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bool get_position(struct Location &loc) const override;
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// get latest altitude estimate above ground level in meters and validity flag
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bool get_hagl(float &hagl) const override;
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// status reporting of estimated error
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float get_error_rp() const override;
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float get_error_yaw() const override;
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// return a wind estimation vector, in m/s
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Vector3f wind_estimate() const override;
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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 override;
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// true if compass is being used
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bool use_compass() override;
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// we will need to remove these to fully hide which EKF we are using
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#if HAL_NAVEKF2_AVAILABLE
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NavEKF2 &get_NavEKF2(void) {
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return EKF2;
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}
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const NavEKF2 &get_NavEKF2_const(void) const {
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return EKF2;
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}
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#endif
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#if HAL_NAVEKF3_AVAILABLE
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NavEKF3 &get_NavEKF3(void) {
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return EKF3;
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}
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const NavEKF3 &get_NavEKF3_const(void) const {
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return EKF3;
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}
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#endif
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// return the quaternion defining the rotation from NED to XYZ (body) axes
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bool get_quaternion(Quaternion &quat) const override WARN_IF_UNUSED;
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// return secondary attitude solution if available, as eulers in radians
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bool get_secondary_attitude(Vector3f &eulers) const override;
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// return secondary attitude solution if available, as quaternion
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bool get_secondary_quaternion(Quaternion &quat) const override;
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// return secondary position solution if available
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bool get_secondary_position(struct Location &loc) const override;
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// EKF has a better ground speed vector estimate
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Vector2f groundspeed_vector() override;
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const Vector3f &get_accel_ef(uint8_t i) const override;
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const Vector3f &get_accel_ef() const override;
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// Retrieves the corrected NED delta velocity in use by the inertial navigation
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void getCorrectedDeltaVelocityNED(Vector3f& ret, float& dt) const override;
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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() const override;
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// set the EKF's origin location in 10e7 degrees. This should only
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// be called when the EKF has no absolute position reference (i.e. GPS)
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// from which to decide the origin on its own
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bool set_origin(const Location &loc) override;
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// returns the inertial navigation origin in lat/lon/alt
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bool get_origin(Location &ret) const override;
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bool have_inertial_nav() const override;
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bool get_velocity_NED(Vector3f &vec) const override;
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// return the relative position NED to either home or origin
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// return true if the estimate is valid
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bool get_relative_position_NED_home(Vector3f &vec) const override;
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bool get_relative_position_NED_origin(Vector3f &vec) const override;
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// return the relative position NE to either home or origin
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// return true if the estimate is valid
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bool get_relative_position_NE_home(Vector2f &posNE) const override;
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bool get_relative_position_NE_origin(Vector2f &posNE) const override;
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// return the relative position down to either home or origin
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// baro will be used for the _home relative one if the EKF isn't
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void get_relative_position_D_home(float &posD) const override;
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bool get_relative_position_D_origin(float &posD) const override;
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// Get a derivative of the vertical position in m/s which is kinematically consistent with the vertical position is required by some control loops.
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// This is different to the vertical velocity from the EKF which is not always consistent with the vertical position due to the various errors that are being corrected for.
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bool get_vert_pos_rate(float &velocity) const;
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// write optical flow measurements to EKF
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void writeOptFlowMeas(const uint8_t rawFlowQuality, const Vector2f &rawFlowRates, const Vector2f &rawGyroRates, const uint32_t msecFlowMeas, const Vector3f &posOffset);
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// write body odometry measurements to the EKF
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void writeBodyFrameOdom(float quality, const Vector3f &delPos, const Vector3f &delAng, float delTime, uint32_t timeStamp_ms, uint16_t delay_ms, const Vector3f &posOffset);
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// Writes the default equivalent airspeed in m/s to be used in forward flight if a measured airspeed is required and not available.
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void writeDefaultAirSpeed(float airspeed);
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// Write position and quaternion data from an external navigation system
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void writeExtNavData(const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint16_t delay_ms, uint32_t resetTime_ms) override;
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// inhibit GPS usage
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uint8_t setInhibitGPS(void);
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// get speed limit
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void getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler) const;
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void set_ekf_use(bool setting);
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// is the AHRS subsystem healthy?
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bool healthy() const override;
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bool prearm_healthy() const override;
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// true if the AHRS has completed initialisation
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bool initialised() const override;
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// get_filter_status - returns filter status as a series of flags
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bool get_filter_status(nav_filter_status &status) const;
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// get compass offset estimates
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// true if offsets are valid
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bool getMagOffsets(uint8_t mag_idx, Vector3f &magOffsets) const;
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// report any reason for why the backend is refusing to initialise
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const char *prearm_failure_reason(void) const override;
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// check all cores providing consistent attitudes for prearm checks
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bool attitudes_consistent(char *failure_msg, const uint8_t failure_msg_len) const override;
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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 getLastYawResetAngle(float &yawAng) override;
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// return the amount of NE position change in meters due to the last reset
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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 getLastPosNorthEastReset(Vector2f &pos) override;
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// return the amount of NE velocity change in meters/sec due to the last reset
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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 getLastVelNorthEastReset(Vector2f &vel) const override;
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// return the amount of vertical position change due to the last reset in meters
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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 getLastPosDownReset(float &posDelta) override;
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// Resets the baro so that it reads zero at the current height
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// Resets the EKF height to zero
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// Adjusts the EKf origin height so that the EKF height + origin height is the same as before
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// Returns true if the height datum reset has been performed
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// If using a range finder for height no reset is performed and it returns false
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bool resetHeightDatum() override;
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// send a EKF_STATUS_REPORT for current EKF
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void send_ekf_status_report(mavlink_channel_t chan) const;
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// get_hgt_ctrl_limit - get maximum height to be observed by the control loops in meters and a validity flag
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// this is used to limit height during optical flow navigation
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// it will return invalid when no limiting is required
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bool get_hgt_ctrl_limit(float &limit) const override;
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// get_location - updates the provided location with the latest
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// calculated location including absolute altitude
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// returns true on success (i.e. the EKF knows it's latest
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// position), false on failure
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bool get_location(struct Location &loc) const;
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// return the innovations for the specified instance
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// An out of range instance (eg -1) returns data for the primary instance
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bool get_innovations(Vector3f &velInnov, Vector3f &posInnov, Vector3f &magInnov, float &tasInnov, float &yawInnov) const override;
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// get_variances - provides the innovations normalised using the innovation variance where a value of 0
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// indicates perfect consistency between the measurement and the EKF solution and a value of of 1 is the maximum
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// inconsistency that will be accepted by the filter
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// boolean false is returned if variances are not available
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bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const override;
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// returns the expected NED magnetic field
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bool get_mag_field_NED(Vector3f& ret) const;
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// returns the estimated magnetic field offsets in body frame
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bool get_mag_field_correction(Vector3f &ret) const override;
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void setTakeoffExpected(bool val);
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void setTouchdownExpected(bool val);
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bool getGpsGlitchStatus() const;
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// used by Replay to force start at right timestamp
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void force_ekf_start(void) { _force_ekf = true; }
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// is the EKF backend doing its own sensor logging?
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bool have_ekf_logging(void) const override;
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// return the index of the primary core or -1 if no primary core selected
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int8_t get_primary_core_index() const override;
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// get the index of the current primary accelerometer sensor
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uint8_t get_primary_accel_index(void) const override;
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// get the index of the current primary gyro sensor
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uint8_t get_primary_gyro_index(void) const override;
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// see if EKF lane switching is possible to avoid EKF failsafe
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void check_lane_switch(void) override;
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// request EKF yaw reset to try and avoid the need for an EKF lane switch or failsafe
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void request_yaw_reset(void) override;
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void Log_Write();
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// check whether external navigation is providing yaw. Allows compass pre-arm checks to be bypassed
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bool is_ext_nav_used_for_yaw(void) const override;
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// set and save the ALT_M_NSE parameter value
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void set_alt_measurement_noise(float noise) override;
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// these are only out here so vehicles can reference them for parameters
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#if HAL_NAVEKF2_AVAILABLE
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NavEKF2 EKF2;
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#endif
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#if HAL_NAVEKF3_AVAILABLE
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NavEKF3 EKF3;
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#endif
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private:
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enum class EKFType {
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NONE = 0
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#if HAL_NAVEKF3_AVAILABLE
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,THREE = 3
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#endif
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#if HAL_NAVEKF2_AVAILABLE
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,TWO = 2
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#endif
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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,SITL = 10
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#endif
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};
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EKFType active_EKF_type(void) const;
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bool always_use_EKF() const {
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return _ekf_flags & FLAG_ALWAYS_USE_EKF;
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}
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#if HAL_NAVEKF2_AVAILABLE
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void update_EKF2(void);
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bool _ekf2_started;
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#endif
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#if HAL_NAVEKF3_AVAILABLE
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bool _ekf3_started;
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void update_EKF3(void);
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#endif
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bool _force_ekf;
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// rotation from vehicle body to NED frame
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Matrix3f _dcm_matrix;
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Vector3f _dcm_attitude;
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Vector3f _gyro_drift;
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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 = 1000;
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uint32_t start_time_ms = 0;
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uint8_t _ekf_flags; // bitmask from Flags enumeration
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EKFType ekf_type(void) const;
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void update_DCM(bool skip_ins_update);
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// get the index of the current primary IMU
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uint8_t get_primary_IMU_index(void) const;
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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SITL::SITL *_sitl;
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uint32_t _last_body_odm_update_ms = 0;
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void update_SITL(void);
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#endif
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};
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