mirror of https://github.com/ArduPilot/ardupilot
186 lines
10 KiB
Lua
186 lines
10 KiB
Lua
-- switches between AHRS/EKF sources based on the pilot's source selection switch or using an automatic source selection algorithm
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-- this script is intended to help vehicles move between GPS and Non-GPS environments
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--
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-- setup RCx_OPTION = 90 (EKF Pos Source) to select the source (low=primary, middle=secondary, high=tertiary)
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-- setup RCx_OPTION = 300 (Scripting1). When this switch is pulled high, the source will be automatically selected
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-- setup EK3_SRCn_ parameters so that GPS is the primary source, Non-GPS (i.e. T265) is secondary and optical flow tertiary
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-- configure a forward or downward facing lidar with a range of more than 5m
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--
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-- When the auxiliary switch (ZigZag Auto) is pulled high automatic source selection uses these thresholds:
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-- SCR_USER1 holds the threshold for rangefinder altitude:
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-- if rangefinder distance >= SCR_USER1, source2 (ExtNav) will be used (if Non-GPS vel innovations are good)
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-- if rangefinder distance < SCR_USER1, source3 (optical flow) will be used (if Non-GPS vel innovations are not good)
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-- SCR_USER2 holds the threshold for GPS speed accuracy (around 0.3 is a good choice)
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-- SCR_USER3 holds the threshold for Non-GPS vertical speed innovation (about 0.3 is a good choice)
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-- if both GPS speed accuracy <= SCR_USER2 and ExternalNav speed variance >= SCR_USER3, source1 will be used
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-- otherwise source2 (T265) or source3 (optical flow) will be used based on rangefinder distance
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-- luacheck: only 0
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local rangefinder_rotation = 25 -- check downward (25) facing lidar
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local source_prev = 0 -- previous source, defaults to primary source
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local sw_source_prev = -1 -- previous source switch position
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local sw_auto_pos_prev = -1 -- previous auto source switch position
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local auto_switch = false -- true when auto switching between sources is active
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local gps_usable_accuracy = 1.0 -- GPS is usable if speed accuracy is at or below this value
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local vote_counter_max = 20 -- when a vote counter reaches this number (i.e. 2sec) source may be switched
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local gps_vs_nongps_vote = 0 -- vote counter for GPS vs NonGPS (-20 = GPS, +20 = NonGPS)
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local extnav_vs_opticalflow_vote = 0 -- vote counter for extnav vs optical flow (-20 = extnav, +20 = opticalflow)
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-- play tune on buzzer to alert user to change in active source set
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function play_source_tune(source)
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if (source) then
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if (source == 0) then
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notify:play_tune("L8C") -- one long lower tone
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elseif (source == 1) then
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notify:play_tune("L12DD") -- two fast medium tones
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elseif (source == 2) then
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notify:play_tune("L16FFF") -- three very fast, high tones
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end
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end
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end
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-- the main update function
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function update()
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-- check switches are configured
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-- at least one switch must be set
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-- source selection from RCx_FUNCTION = 90 (EKF Source Select)
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-- auto source from RCx_FUNCTION = 300 (Scripting1)
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local rc_function_source = rc:find_channel_for_option(90)
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local rc_function_auto = rc:find_channel_for_option(300)
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if (rc_function_source == nil) and (rc_function_auto == nil) then
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gcs:send_text(0, "ahrs-source.lua: RCx_FUNCTION=90 or 300 not set!")
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return update, 1000
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end
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-- check rangefinder distance threshold has been set
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local rangefinder_thresh_dist = param:get('SCR_USER1') -- SCR_USER1 holds rangefinder threshold
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if (rangefinder_thresh_dist == nil) or (rangefinder_thresh_dist <= 0) then
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gcs:send_text(0, "ahrs-source.lua: set SCR_USER1 to rangefinder threshold")
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return update, 1000
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end
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-- check GPS speed accuracy threshold has been set
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local gps_speedaccuracy_thresh = param:get('SCR_USER2') -- SCR_USER2 holds GPS speed accuracy threshold
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if (gps_speedaccuracy_thresh == nil) or (gps_speedaccuracy_thresh <= 0) then
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gcs:send_text(0, "ahrs-source.lua: set SCR_USER2 to GPS speed accuracy threshold")
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return update, 1000
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end
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-- check external nav innovation threshold has been set
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local extnav_innov_thresh = param:get('SCR_USER3') -- SCR_USER3 holds Non-GPS vertical velocity innovation
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if (extnav_innov_thresh == nil) or (extnav_innov_thresh <= 0) then
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gcs:send_text(0, "ahrs-source.lua: set SCR_USER3 to ExtNav innovation threshold")
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return update, 1000
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end
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-- check if GPS speed accuracy is over threshold
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local gps_speed_accuracy = gps:speed_accuracy(gps:primary_sensor())
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local gps_over_threshold = (gps_speed_accuracy == nil) or (gps:speed_accuracy(gps:primary_sensor()) > gps_speedaccuracy_thresh)
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local gps_usable = (gps_speed_accuracy ~= nil) and (gps_speed_accuracy <= gps_usable_accuracy)
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-- get external nav innovations from ahrs
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local extnav_innov = Vector3f()
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local extnav_var = Vector3f()
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extnav_innov, extnav_var = ahrs:get_vel_innovations_and_variances_for_source(6)
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local extnav_over_threshold = (extnav_innov == nil) or (extnav_innov:z() == 0.0) or (math.abs(extnav_innov:z()) > extnav_innov_thresh)
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-- get rangefinder distance
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local rngfnd_distance_m = 0
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if rangefinder:has_data_orient(rangefinder_rotation) then
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rngfnd_distance_m = rangefinder:distance_cm_orient(rangefinder_rotation) * 0.01
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end
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local rngfnd_over_threshold = (rngfnd_distance_m == 0) or (rngfnd_distance_m > rangefinder_thresh_dist)
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-- NonGPS is usable if extnav innovations are good or rangefinder distance is short (for optical flow)
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local nongps_usable = (not extnav_over_threshold) or (not rngfnd_over_threshold)
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-- automatic selection logic --
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-- GPS vs NonGPS vote. "-1" to move towards GPS, "+1" to move to Non-GPS
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if (not gps_over_threshold) or (gps_usable and not nongps_usable) then
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-- vote for GPS if GPS accuracy good OR usable GPS and NonGPS unusable
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gps_vs_nongps_vote = math.max(gps_vs_nongps_vote - 1, -vote_counter_max)
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elseif nongps_usable then
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-- vote for NonGPS if extnav or opticalflow is usable
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gps_vs_nongps_vote = math.min(gps_vs_nongps_vote + 1, vote_counter_max)
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end
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-- extnav vs optical flow vote. "-1" to move towards extnav, "+1" to move to opticalflow
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if (not extnav_over_threshold) then
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-- vote for extnav is innovations under threshold
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extnav_vs_opticalflow_vote = math.max(extnav_vs_opticalflow_vote - 1, -vote_counter_max)
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elseif (not rngfnd_over_threshold) then
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-- vote for optical flow if rangefinder is not over threshold
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extnav_vs_opticalflow_vote = math.min(extnav_vs_opticalflow_vote + 1, vote_counter_max)
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end
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-- auto source vote collation
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local auto_source = -1 -- auto source undecided if -1
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if gps_vs_nongps_vote <= -vote_counter_max then
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auto_source = 0 -- GPS
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elseif gps_vs_nongps_vote >= vote_counter_max then
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if extnav_vs_opticalflow_vote <= -vote_counter_max then
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auto_source = 1 -- extnav
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elseif extnav_vs_opticalflow_vote >= vote_counter_max then
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auto_source = 2 -- opticalflow
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end
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end
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-- read source switch position from RCx_FUNCTION = 90 (EKF Source Select)
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local sw_source_pos = rc_function_source:get_aux_switch_pos()
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if sw_source_pos ~= sw_source_pos_prev then -- check for changes in source switch position
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sw_source_pos_prev = sw_source_pos -- record new switch position so we can detect changes
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auto_switch = false -- disable auto switching of source
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if source_prev ~= sw_source_pos then -- check if switch position does not match source (there is a one-to-one mapping of switch to source)
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source_prev = sw_source_pos -- record what source should now be (changed by ArduPilot vehicle code)
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gcs:send_text(0, "Pilot switched to Source " .. string.format("%d", source_prev+1))
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else
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gcs:send_text(0, "Pilot switched but already Source " .. string.format("%d", source_prev+1))
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end
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play_source_tune(source_prev) -- alert user of source whether changed or not
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end
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-- read auto source switch position from RCx_FUNCTION = 300 (Scripting1)
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if rc_function_auto then
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local sw_auto_pos = rc_function_auto:get_aux_switch_pos()
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if sw_auto_pos ~= sw_auto_pos_prev then -- check for changes in source auto switch position
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sw_auto_pos_prev = sw_auto_pos -- record new switch position so we can detect changes
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if sw_auto_pos == 0 then -- pilot has pulled switch low
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auto_switch = false -- disable auto switching of source
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if sw_source_pos ~= source_prev then -- check if source will change
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source_prev = sw_source_pos -- record pilot's selected source
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ahrs:set_posvelyaw_source_set(source_prev) -- switch to pilot's selected source
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gcs:send_text(0, "Auto source disabled, switched to Source " .. string.format("%d", source_prev+1))
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else
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gcs:send_text(0, "Auto source disabled, already Source " .. string.format("%d", source_prev+1))
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end
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elseif sw_auto_pos == 2 then -- pilot has pulled switch high
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auto_switch = true -- enable auto switching of source
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if auto_source < 0 then
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gcs:send_text(0, "Auto source enabled, undecided, Source " .. string.format("%d", source_prev+1))
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elseif auto_source ~= source_prev then -- check if source will change
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source_prev = auto_source -- record pilot's selected source
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ahrs:set_posvelyaw_source_set(source_prev) -- switch to pilot's selected source
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gcs:send_text(0, "Auto source enabled, switched to Source " .. string.format("%d", source_prev+1))
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else
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gcs:send_text(0, "Auto source enabled, already Source " .. string.format("%d", source_prev+1))
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end
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end
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play_source_tune(source_prev)
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end
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end
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-- auto switching
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if auto_switch and (auto_source >= 0) and (auto_source ~= source_prev) then
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source_prev = auto_source -- record selected source
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ahrs:set_posvelyaw_source_set(source_prev) -- switch to pilot's selected source
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gcs:send_text(0, "Auto switched to Source " .. string.format("%d", source_prev+1))
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play_source_tune(source_prev)
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end
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return update, 100
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end
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return update()
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