forked from Archive/PX4-Autopilot
Exposed measurement noise covariance and process noise covariance as MAVLink parameters for attitude EKF
This commit is contained in:
Lorenz Meier
parent
921c391db4
commit
053ce0e2f8
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@ -36,6 +36,7 @@ PRIORITY = SCHED_PRIORITY_DEFAULT
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STACKSIZE = 2048
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CSRCS = attitude_estimator_ekf_main.c \
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attitude_estimator_ekf_params.c \
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codegen/eye.c \
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codegen/attitudeKalmanfilter.c \
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codegen/mrdivide.c \
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@ -58,25 +58,20 @@
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#include <uORB/topics/debug_key_value.h>
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/parameter_update.h>
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#include <arch/board/up_hrt.h>
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#include <systemlib/systemlib.h>
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#include "codegen/attitudeKalmanfilter_initialize.h"
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#include "codegen/attitudeKalmanfilter.h"
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#include "attitude_estimator_ekf_params.h"
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__EXPORT int attitude_estimator_ekf_main(int argc, char *argv[]);
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// #define N_STATES 6
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// #define PROJECTION_INITIALIZE_COUNTER_LIMIT 5000
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// #define REPROJECTION_COUNTER_LIMIT 125
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static unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
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static float dt = 1.0f;
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/* 0, 0, -9.81, 1, 1, 1, wo (gyro offset), w */
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/* state vector x has the following entries [ax,ay,az||mx,my,mz||wox,woy,woz||wx,wy,wz]' */
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static float z_k[9]; /**< Measurement vector */
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static float x_aposteriori_k[12]; /**< */
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@ -94,6 +89,7 @@ static float P_aposteriori_k[144] = {100.f, 0, 0, 0, 0, 0, 0, 0, 0
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0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 100.0f, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 0, 100.0f,
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};
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static float P_aposteriori[144] = {100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 100.f, 0, 0, 0, 0, 0, 0, 0, 0, 0,
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@ -107,7 +103,10 @@ static float P_aposteriori[144] = {100.f, 0, 0, 0, 0, 0, 0, 0, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 100.0f, 0,
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0, 0, 0, 0, 0, 0, 0, 0, 0.0f, 0, 0, 100.0f,
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}; /**< init: diagonal matrix with big values */
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// static float knownConst[15] = {1, 1, 1, 1, 1, 0.04, 4, 0.1, 70, 70, -2000, 9.81, 1, 4, 1}; /**< knownConst has the following entries [PrvaA,PrvarM,PrvarWO,PrvarW||MsvarA,MsvarM,MsvarW] */
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/* output euler angles */
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static float euler[3] = {0.0f, 0.0f, 0.0f};
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static float Rot_matrix[9] = {1.f, 0, 0,
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0, 1.f, 0,
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0, 0, 1.f
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@ -223,6 +222,9 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
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/* rate-limit raw data updates to 200Hz */
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orb_set_interval(sub_raw, 4);
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/* subscribe to param changes */
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int sub_params = orb_subscribe(ORB_ID(parameter_update));
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/* advertise attitude */
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orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att);
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@ -241,18 +243,19 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
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uint64_t sensor_last_timestamp[3] = {0, 0, 0};
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float sensor_update_hz[3] = {0.0f, 0.0f, 0.0f};
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/* process noise covariance */
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float q[12];
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/* measurement noise covariance */
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float r[9];
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/* output euler angles */
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float euler[3] = {0.0f, 0.0f, 0.0f};
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struct attitude_estimator_ekf_params ekf_params;
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struct attitude_estimator_ekf_param_handles ekf_param_handles;
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/* initialize parameter handles */
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parameters_init(&ekf_param_handles);
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/* Main loop*/
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while (!thread_should_exit) {
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struct pollfd fds[1] = {
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struct pollfd fds[2] = {
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{ .fd = sub_raw, .events = POLLIN },
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{ .fd = sub_params, .events = POLLIN }
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};
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int ret = poll(fds, 1, 1000);
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@ -263,6 +266,20 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
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printf("[attitude estimator ekf] WARNING: Not getting sensor data - sensor app running?\n");
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} else {
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/* only update parameters if they changed */
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if (fds[1].revents & POLLIN) {
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/* read from param to clear updated flag */
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struct parameter_update_s update;
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orb_copy(ORB_ID(parameter_update), sub_params, &update);
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/* update parameters */
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parameters_update(&ekf_param_handles, &ekf_params);
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}
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/* only run filter if sensor values changed */
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if (fds[0].revents & POLLIN) {
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/* get latest measurements */
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orb_copy(ORB_ID(sensor_combined), sub_raw, &raw);
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/* Calculate data time difference in seconds */
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@ -327,29 +344,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
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if (!const_initialized /*&& dt < 0.05 && dt > 0.005*/)
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{
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dt = 0.005f;
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q[0] = 1e1f;
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q[1] = 1e1f;
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q[2] = 1e1f;
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/* process noise gyro offset covariance */
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q[3] = 1e-4f;
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q[4] = 1e-4f;
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q[5] = 1e-4f;
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q[6] = 1e-1f;
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q[7] = 1e-1f;
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q[8] = 1e-1f;
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q[9] = 1e-1f;
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q[10] = 1e-1f;
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q[11] = 1e-1f;
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r[0]= 1e-2f;
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r[1]= 1e-2f;
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r[2]= 1e-2f;
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r[3]= 1e-1f;
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r[4]= 1e-1f;
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r[5]= 1e-1f;
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r[6]= 1e-1f;
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r[7]= 1e-1f;
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r[8]= 1e-1f;
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parameters_update(&ekf_param_handles, &ekf_params);
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x_aposteriori_k[0] = z_k[0];
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x_aposteriori_k[1] = z_k[1];
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@ -377,7 +372,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
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uint64_t timing_start = hrt_absolute_time();
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// attitudeKalmanfilter(dt, update_vect, z_k, &z_k_sizes, u, x_aposteriori_k, P_aposteriori_k, knownConst, euler,
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// Rot_matrix, x_aposteriori, P_aposteriori);
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attitudeKalmanfilter(update_vect, dt, z_k, x_aposteriori_k, P_aposteriori_k, q, r,
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attitudeKalmanfilter(update_vect, dt, z_k, x_aposteriori_k, P_aposteriori_k, ekf_params.q, ekf_params.r,
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euler, Rot_matrix, x_aposteriori, P_aposteriori);
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/* swap values for next iteration */
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memcpy(P_aposteriori_k, P_aposteriori, sizeof(P_aposteriori_k));
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@ -437,6 +432,7 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
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// Broadcast
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orb_publish(ORB_ID(vehicle_attitude), pub_att, &att);
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}
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}
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loopcounter++;
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}
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@ -0,0 +1,131 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: Tobias Naegeli <naegelit@student.ethz.ch>
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* Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* @file attitude_estimator_ekf_params.c
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*
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* Parameters for EKF filter
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*/
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#include "attitude_estimator_ekf_params.h"
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/* Extended Kalman Filter covariances */
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/* gyro process noise */
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PARAM_DEFINE_FLOAT(EKF_ATT_Q0, 1e1f);
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PARAM_DEFINE_FLOAT(EKF_ATT_Q1, 1e1f);
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PARAM_DEFINE_FLOAT(EKF_ATT_Q2, 1e1f);
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/* gyro offsets process noise */
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PARAM_DEFINE_FLOAT(EKF_ATT_Q3, 1e-4f);
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PARAM_DEFINE_FLOAT(EKF_ATT_Q4, 1e-4f);
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PARAM_DEFINE_FLOAT(EKF_ATT_Q5, 1e-4f);
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/* accelerometer process noise */
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PARAM_DEFINE_FLOAT(EKF_ATT_Q6, 1e-1f);
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PARAM_DEFINE_FLOAT(EKF_ATT_Q7, 1e-1f);
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PARAM_DEFINE_FLOAT(EKF_ATT_Q8, 1e-1f);
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/* magnetometer process noise */
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PARAM_DEFINE_FLOAT(EKF_ATT_Q9, 1e-1f);
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PARAM_DEFINE_FLOAT(EKF_ATT_Q10, 1e-1f);
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PARAM_DEFINE_FLOAT(EKF_ATT_Q11, 1e-1f);
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/* gyro measurement noise */
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PARAM_DEFINE_FLOAT(EKF_ATT_R0, 1e-2f);
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PARAM_DEFINE_FLOAT(EKF_ATT_R1, 1e-2f);
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PARAM_DEFINE_FLOAT(EKF_ATT_R2, 1e-2f);
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/* accelerometer measurement noise */
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PARAM_DEFINE_FLOAT(EKF_ATT_R3, 1e-1f);
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PARAM_DEFINE_FLOAT(EKF_ATT_R4, 1e-1f);
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PARAM_DEFINE_FLOAT(EKF_ATT_R5, 1e-1f);
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/* magnetometer measurement noise */
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PARAM_DEFINE_FLOAT(EKF_ATT_R6, 1e-1f);
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PARAM_DEFINE_FLOAT(EKF_ATT_R7, 1e-1f);
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PARAM_DEFINE_FLOAT(EKF_ATT_R8, 1e-1f);
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int parameters_init(struct attitude_estimator_ekf_param_handles *h)
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{
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/* PID parameters */
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h->q0 = param_find("EKF_ATT_Q0");
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h->q1 = param_find("EKF_ATT_Q1");
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h->q2 = param_find("EKF_ATT_Q2");
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h->q3 = param_find("EKF_ATT_Q3");
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h->q4 = param_find("EKF_ATT_Q4");
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h->q5 = param_find("EKF_ATT_Q5");
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h->q6 = param_find("EKF_ATT_Q6");
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h->q7 = param_find("EKF_ATT_Q7");
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h->q8 = param_find("EKF_ATT_Q8");
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h->q9 = param_find("EKF_ATT_Q9");
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h->q10 = param_find("EKF_ATT_Q10");
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h->q11 = param_find("EKF_ATT_Q11");
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h->r0 = param_find("EKF_ATT_R0");
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h->r1 = param_find("EKF_ATT_R1");
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h->r2 = param_find("EKF_ATT_R2");
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h->r3 = param_find("EKF_ATT_R3");
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h->r4 = param_find("EKF_ATT_R4");
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h->r5 = param_find("EKF_ATT_R5");
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h->r6 = param_find("EKF_ATT_R6");
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h->r7 = param_find("EKF_ATT_R7");
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h->r8 = param_find("EKF_ATT_R8");
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return OK;
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}
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int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p)
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{
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param_get(h->q0, &(p->q[0]));
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param_get(h->q1, &(p->q[1]));
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param_get(h->q2, &(p->q[2]));
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param_get(h->q3, &(p->q[3]));
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param_get(h->q4, &(p->q[4]));
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param_get(h->q5, &(p->q[5]));
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param_get(h->q6, &(p->q[6]));
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param_get(h->q7, &(p->q[7]));
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param_get(h->q8, &(p->q[8]));
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param_get(h->q9, &(p->q[9]));
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param_get(h->q10, &(p->q[10]));
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param_get(h->q11, &(p->q[11]));
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param_get(h->r0, &(p->r[0]));
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param_get(h->r1, &(p->r[1]));
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param_get(h->r2, &(p->r[2]));
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param_get(h->r3, &(p->r[3]));
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param_get(h->r4, &(p->r[4]));
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param_get(h->r5, &(p->r[5]));
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param_get(h->r6, &(p->r[6]));
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param_get(h->r7, &(p->r[7]));
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param_get(h->r8, &(p->r[8]));
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return OK;
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}
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@ -0,0 +1,64 @@
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/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: Tobias Naegeli <naegelit@student.ethz.ch>
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* Lorenz Meier <lm@inf.ethz.ch>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
|
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
|
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* 3. Neither the name PX4 nor the names of its contributors may be
|
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* used to endorse or promote products derived from this software
|
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* without specific prior written permission.
|
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*
|
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* @file attitude_estimator_ekf_params.h
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*
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* Parameters for EKF filter
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*/
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#include <systemlib/param/param.h>
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struct attitude_estimator_ekf_params {
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float r[9];
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float q[12];
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};
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struct attitude_estimator_ekf_param_handles {
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param_t r0, r1, r2, r3, r4, r5, r6, r7, r8;
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param_t q0, q1, q2, q3, q4, q5, q6, q7, q8, q9, q10, q11;
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};
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/**
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* Initialize all parameter handles and values
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*
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*/
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int parameters_init(struct attitude_estimator_ekf_param_handles *h);
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/**
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* Update all parameters
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*
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*/
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int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p);
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