mirror of
https://github.com/ArduPilot/ardupilot
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de0f3ddebe
this isn't used for anything but documenting the solution status field, which can be used in the Wiki and in various log analysis tools
108 lines
6.0 KiB
C
108 lines
6.0 KiB
C
/*
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AP_Nav_Common holds definitions shared by inertial and ekf nav filters
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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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#pragma once
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#include <stdint.h>
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#include <AP_Math/AP_Math.h>
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// enumeration corresponding to buts within nav_filter_status union.
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// Only used for documentation purposes.
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enum class NavFilterStatusBit {
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ATTITUDE = 1, // attitude estimate valid
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HORIZ_VEL = 2, // horizontal velocity estimate valid
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VERT_VEL = 4, // vertical velocity estimate valid
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HORIZ_POS_REL = 8, // relative horizontal position estimate valid
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HORIZ_POS_ABS = 16, // absolute horizontal position estimate valid
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VERT_POS = 32, // vertical position estimate valid
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TERRAIN_ALT = 64, // terrain height estimate valid
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CONST_POS_MODE = 128, // in constant position mode
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PRED_HORIZ_POS_REL = 256, // expected good relative horizontal position estimate - used before takeoff
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PRED_HORIZ_POS_ABS = 512, // expected good absolute horizontal position estimate - used before takeoff
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TAKEOFF_DETECTED = 1024, // optical flow takeoff has been detected
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TAKEOFF_EXPECTED = 2048, // compensating for baro errors during takeoff
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TOUCHDOWN_EXPECTED = 4096, // compensating for baro errors during touchdown
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USING_GPS = 8192, // using GPS position
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GPS_GLITCHING = 16384, // GPS glitching is affecting navigation accuracy
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GPS_QUALITY_GOOD = 32768, // can use GPS for navigation
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INITALIZED = 65536, // has ever been healthy
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REJECTING_AIRSPEED = 131072, // rejecting airspeed data
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DEAD_RECKONING = 262144, // dead reckoning (e.g. no position or velocity source)
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};
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union nav_filter_status {
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struct {
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bool attitude : 1; // 0 - true if attitude estimate is valid
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bool horiz_vel : 1; // 1 - true if horizontal velocity estimate is valid
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bool vert_vel : 1; // 2 - true if the vertical velocity estimate is valid
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bool horiz_pos_rel : 1; // 3 - true if the relative horizontal position estimate is valid
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bool horiz_pos_abs : 1; // 4 - true if the absolute horizontal position estimate is valid
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bool vert_pos : 1; // 5 - true if the vertical position estimate is valid
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bool terrain_alt : 1; // 6 - true if the terrain height estimate is valid
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bool const_pos_mode : 1; // 7 - true if we are in const position mode
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bool pred_horiz_pos_rel : 1; // 8 - true if filter expects it can produce a good relative horizontal position estimate - used before takeoff
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bool pred_horiz_pos_abs : 1; // 9 - true if filter expects it can produce a good absolute horizontal position estimate - used before takeoff
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bool takeoff_detected : 1; // 10 - true if optical flow takeoff has been detected
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bool takeoff : 1; // 11 - true if filter is compensating for baro errors during takeoff
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bool touchdown : 1; // 12 - true if filter is compensating for baro errors during touchdown
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bool using_gps : 1; // 13 - true if we are using GPS position
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bool gps_glitching : 1; // 14 - true if GPS glitching is affecting navigation accuracy
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bool gps_quality_good : 1; // 15 - true if we can use GPS for navigation
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bool initalized : 1; // 16 - true if the EKF has ever been healthy
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bool rejecting_airspeed : 1; // 17 - true if we are rejecting airspeed data
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bool dead_reckoning : 1; // 18 - true if we are dead reckoning (e.g. no position or velocity source)
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} flags;
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uint32_t value;
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};
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static_assert(sizeof(uint32_t) == sizeof(nav_filter_status), "nav_filter_status must be uint32_t");
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union nav_gps_status {
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struct {
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bool bad_sAcc : 1; // 0 - true if reported gps speed accuracy is insufficient to start using GPS
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bool bad_hAcc : 1; // 1 - true if reported gps horizontal position accuracy is insufficient to start using GPS
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bool bad_yaw : 1; // 2 - true if EKF yaw errors are too large to start using GPS
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bool bad_sats : 1; // 3 - true if the number of satellites is insufficient to start using GPS
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bool bad_VZ : 1; // 4 - true if the vertical velocity is inconsistent with the inertial/baro
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bool bad_horiz_drift : 1; // 5 - true if the GPS horizontal position is drifting (this check assumes vehicle is static)
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bool bad_hdop : 1; // 6 - true if the reported HDoP is insufficient to start using GPS
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bool bad_vert_vel : 1; // 7 - true if the GPS vertical speed is too large to start using GPS (this check assumes vehicle is static)
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bool bad_fix : 1; // 8 - true if the GPS is not providing a 3D fix
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bool bad_horiz_vel : 1; // 9 - true if the GPS horizontal speed is excessive (this check assumes the vehicle is static)
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bool bad_vAcc : 1; // 10 - true if reported gps vertical position accuracy is insufficient to start using GPS
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} flags;
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uint16_t value;
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};
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static_assert(sizeof(uint16_t) == sizeof(nav_gps_status), "nav_gps_status must be uint16_t");
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/*
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structure to hold EKF timing statistics
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*/
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struct ekf_timing {
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uint32_t count;
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float dtIMUavg_min;
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float dtIMUavg_max;
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float dtEKFavg_min;
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float dtEKFavg_max;
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float delAngDT_max;
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float delAngDT_min;
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float delVelDT_max;
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float delVelDT_min;
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};
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#define N_MODELS_EKFGSF 5U
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