ardupilot/libraries/AP_Scripting/examples/ahrs-source-gps-optflow.lua

212 lines
11 KiB
Lua

-- switches between AHRS/EKF sources based on the pilot's source selection switch or using an automatic source selection algorithm
-- this script is intended to help vehicles automatically switch between GPS and optical flow
--
-- configure a forward or downward facing lidar with a range of at least 5m
-- setup RCx_OPTION = 90 (EKF Pos Source) to select the source (low=GPS, middle=opticalflow, high=Not Used)
-- setup RCx_OPTION = 300 (Scripting1). When this switch is pulled high, the source will be automatically selected
-- SRC_ENABLE = 1 (enable scripting)
-- setup EK3_SRCn_ parameters so that GPS is the primary source, opticalflow is secondary.
-- EK3_SRC1_POSXY = 3 (GPS)
-- EK3_SRC1_VELXY = 3 (GPS)
-- EK3_SRC1_VELZ = 3 (GPS)
-- EK3_SRC1_POSZ = 1 (Baro)
-- EK3_SRC1_YAW = 1 (Compass)
-- EK3_SRC2_POSXY = 0 (None)
-- EK3_SRC2_VELXY = 5 (OpticalFlow)
-- EK3_SRC2_VELZ = 0 (None)
-- EK3_SRC2_POSZ = 1 (Baro)
-- EK3_SRC2_YAW = 1 (Compass)
-- EK3_SRC_OPTIONS = 0 (Do not fuse all velocities)
--
-- SCR_USER1 holds the threshold (in meters) for rangefinder altitude (around 15 is a good choice)
-- if rangefinder distance >= SCR_USER1, source1 (GPS) will be used
-- if rangefinder distance < SCR_USER1, source2 (optical flow) will be used if innovations are below SRC_USER3 value
-- SCR_USER2 holds the threshold for GPS speed accuracy (around 0.3 is a good choice)
-- SCR_USER3 holds the threshold for optical flow quality (about 50 is a good choice)
-- SCR_USER4 holds the threshold for optical flow innovations (about 0.15 is a good choice)
--
-- When the 2nd auxiliary switch (300/Scripting1) is pulled high automatic source selection uses these thresholds:
local rangefinder_rotation = 25 -- check downward (25) facing lidar
local source_prev = 0 -- previous source, defaults to primary source
local sw_source_prev = -1 -- previous source switch position
local sw_auto_pos_prev = -1 -- previous auto source switch position
local auto_switch = false -- true when auto switching between sources is active
local gps_usable_accuracy = 1.0 -- GPS is usable if speed accuracy is at or below this value
local vote_counter_max = 20 -- when a vote counter reaches this number (i.e. 2sec) source may be switched
local gps_vs_opticalflow_vote = 0 -- vote counter for GPS vs optical (-20 = GPS, +20 = optical flow)
local scr_user1_param = Parameter() -- user1 param (rangefinder altitude threshold)
local scr_user2_param = Parameter() -- user2 param (GPS speed accuracy threshold)
local scr_user3_param = Parameter() -- user3 param (optical flow quality threshold)
local scr_user4_param = Parameter() -- user4 param (optical flow innovation threshold)
-- initialise parameters
assert(scr_user1_param:init('SCR_USER1'), 'could not find SCR_USER1 parameter')
assert(scr_user2_param:init('SCR_USER2'), 'could not find SCR_USER2 parameter')
assert(scr_user3_param:init('SCR_USER3'), 'could not find SCR_USER3 parameter')
assert(scr_user4_param:init('SCR_USER4'), 'could not find SCR_USER4 parameter')
assert(optical_flow, 'could not access optical flow')
-- play tune on buzzer to alert user to change in active source set
function play_source_tune(source)
if (source) then
if (source == 0) then
notify:play_tune("L8C") -- one long lower tone
elseif (source == 1) then
notify:play_tune("L12DD") -- two fast medium tones
elseif (source == 2) then
notify:play_tune("L16FFF") -- three very fast, high tones
end
end
end
-- the main update function
function update()
-- check switches are configured
-- at least one switch must be set
-- source selection from RCx_FUNCTION = 90 (EKF Source Select)
-- auto source from RCx_FUNCTION = 300 (Scripting1)
local rc_function_source = rc:find_channel_for_option(90)
local rc_function_auto = rc:find_channel_for_option(300)
if not rc_function_source and not rc_function_auto then
gcs:send_text(0, "ahrs-source-gps-optflow.lua: RCx_FUNCTION=90 or 300 not set!")
return update, 1000
end
-- check rangefinder distance threshold has been set
local rangefinder_thresh_dist = scr_user1_param:get() -- SCR_USER1 holds rangefinder threshold
if (rangefinder_thresh_dist <= 0) then
gcs:send_text(0, "ahrs-source-gps-optflow.lua: set SCR_USER1 to rangefinder threshold")
return update, 1000
end
-- check GPS speed accuracy threshold has been set
local gps_speedaccuracy_thresh = scr_user2_param:get() -- SCR_USER2 holds GPS speed accuracy threshold
if (gps_speedaccuracy_thresh <= 0) then
gcs:send_text(0, "ahrs-source-gps-optflow.lua: set SCR_USER2 to GPS speed accuracy threshold")
return update, 1000
end
-- check optical flow quality threshold has been set
local opticalflow_quality_thresh = scr_user3_param:get() -- SCR_USER3 holds opticalflow quality
if (opticalflow_quality_thresh <= 0) then
gcs:send_text(0, "ahrs-source-gps-optflow.lua: set SCR_USER3 to OpticalFlow quality threshold")
return update, 1000
end
-- check optical flow innovation threshold has been set
local opticalflow_innov_thresh = scr_user4_param:get() -- SCR_USER4 holds opticalflow innovation
if (opticalflow_innov_thresh <= 0) then
gcs:send_text(0, "ahrs-source-gps-optflow.lua: set SCR_USER4 to OpticalFlow innovation threshold")
return update, 1000
end
-- check if GPS speed accuracy is over threshold
local gps_speed_accuracy = gps:speed_accuracy(gps:primary_sensor())
local gps_over_threshold = (gps_speed_accuracy == nil) or (gps:speed_accuracy(gps:primary_sensor()) > gps_speedaccuracy_thresh)
local gps_usable = (gps_speed_accuracy ~= nil) and (gps_speed_accuracy <= gps_usable_accuracy)
-- check optical flow quality
local opticalflow_quality_good = false
if (optical_flow) then
opticalflow_quality_good = (optical_flow:enabled() and optical_flow:healthy() and optical_flow:quality() >= opticalflow_quality_thresh)
end
-- get opticalflow innovations from ahrs (only x and y values are valid)
local opticalflow_over_threshold = true
local opticalflow_xy_innov = 0
local opticalflow_innov = Vector3f()
local opticalflow_var = Vector3f()
opticalflow_innov, opticalflow_var = ahrs:get_vel_innovations_and_variances_for_source(5)
if (opticalflow_innov) then
opticalflow_xy_innov = math.sqrt(opticalflow_innov:x() * opticalflow_innov:x() + opticalflow_innov:y() * opticalflow_innov:y())
opticalflow_over_threshold = (opticalflow_xy_innov == 0.0) or (opticalflow_xy_innov > opticalflow_innov_thresh)
end
-- get rangefinder distance
local rngfnd_distance_m = 0
if rangefinder:has_data_orient(rangefinder_rotation) then
rngfnd_distance_m = rangefinder:distance_cm_orient(rangefinder_rotation) * 0.01
end
local rngfnd_over_threshold = (rngfnd_distance_m == 0) or (rngfnd_distance_m > rangefinder_thresh_dist)
-- opticalflow is usable if quality and innovations are good and rangefinder is in range
local opticalflow_usable = opticalflow_quality_good and (not opticalflow_over_threshold) and (not rngfnd_over_threshold)
-- automatic selection logic --
-- GPS vs opticalflow vote. "-1" to move towards GPS, "+1" to move to Non-GPS
if (not gps_over_threshold) or (gps_usable and not opticalflow_usable) then
-- vote for GPS if GPS accuracy good OR GPS is usable and opticalflow is unusable
gps_vs_opticalflow_vote = math.max(gps_vs_opticalflow_vote - 1, -vote_counter_max)
elseif opticalflow_usable then
-- vote for opticalflow if usable
gps_vs_opticalflow_vote = math.min(gps_vs_opticalflow_vote + 1, vote_counter_max)
end
-- auto source vote collation
local auto_source = -1 -- auto source undecided if -1
if gps_vs_opticalflow_vote <= -vote_counter_max then
auto_source = 0 -- GPS
elseif gps_vs_opticalflow_vote >= vote_counter_max then
auto_source = 1 -- opticalflow
end
-- read source switch position from RCx_FUNCTION = 90 (EKF Source Select)
local sw_source_pos = rc_function_source:get_aux_switch_pos()
if sw_source_pos ~= sw_source_pos_prev then -- check for changes in source switch position
sw_source_pos_prev = sw_source_pos -- record new switch position so we can detect changes
auto_switch = false -- disable auto switching of source
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)
source_prev = sw_source_pos -- record what source should now be (changed by ArduPilot vehicle code)
gcs:send_text(0, "Pilot switched to Source " .. string.format("%d", source_prev+1))
else
gcs:send_text(0, "Pilot switched but already Source " .. string.format("%d", source_prev+1))
end
play_source_tune(source_prev) -- alert user of source whether changed or not
end
-- if auto switch exists then read auto source switch position from RCx_FUNCTION = 300 (Scripting1)
if rc_function_auto then
local sw_auto_pos = rc_function_auto:get_aux_switch_pos()
if sw_auto_pos ~= sw_auto_pos_prev then -- check for changes in source auto switch position
sw_auto_pos_prev = sw_auto_pos -- record new switch position so we can detect changes
if sw_auto_pos == 0 then -- pilot has pulled switch low
auto_switch = false -- disable auto switching of source
if sw_source_pos ~= source_prev then -- check if source will change
source_prev = sw_source_pos -- record pilot's selected source
ahrs:set_posvelyaw_source_set(source_prev) -- switch to pilot's selected source
gcs:send_text(0, "Auto source disabled, switched to Source " .. string.format("%d", source_prev+1))
else
gcs:send_text(0, "Auto source disabled, already Source " .. string.format("%d", source_prev+1))
end
elseif sw_auto_pos == 2 then -- pilot has pulled switch high
auto_switch = true -- enable auto switching of source
if auto_source < 0 then
gcs:send_text(0, "Auto source enabled, undecided, Source " .. string.format("%d", source_prev+1))
elseif auto_source ~= source_prev then -- check if source will change
source_prev = auto_source -- record pilot's selected source
ahrs:set_posvelyaw_source_set(source_prev) -- switch to pilot's selected source
gcs:send_text(0, "Auto source enabled, switched to Source " .. string.format("%d", source_prev+1))
else
gcs:send_text(0, "Auto source enabled, already Source " .. string.format("%d", source_prev+1))
end
end
play_source_tune(source_prev)
end
end
-- auto switching
if auto_switch and (auto_source >= 0) and (auto_source ~= source_prev) then
source_prev = auto_source -- record selected source
ahrs:set_posvelyaw_source_set(source_prev) -- switch to pilot's selected source
gcs:send_text(0, "Auto switched to Source " .. string.format("%d", source_prev+1))
play_source_tune(source_prev)
end
return update, 100
end
return update()