ardupilot/libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp

111 lines
2.7 KiB
C++

#include <AP_HAL/AP_HAL.h>
#include <AP_Baro/AP_Baro.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(bool high_vibes)
{
// 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 velocity relative to the local earth frame
Vector3f velNED;
if (_ahrs_ekf.get_velocity_NED(velNED)) {
// during high vibration events use vertical position change
if (high_vibes) {
float rate_z;
if (_ahrs_ekf.get_vert_pos_rate(rate_z)) {
velNED.z = rate_z;
}
}
_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_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_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