forked from Archive/PX4-Autopilot
Exposed measurement noise covariance and process noise covariance as MAVLink parameters for attitude EKF
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921c391db4
commit
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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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@ -107,11 +103,14 @@ 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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}; /**< init: identity matrix */
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0, 1.f, 0,
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0, 0, 1.f
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}; /**< init: identity matrix */
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static bool thread_should_exit = false; /**< Deamon exit flag */
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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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@ -263,179 +266,172 @@ 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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orb_copy(ORB_ID(sensor_combined), sub_raw, &raw);
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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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/* Calculate data time difference in seconds */
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dt = (raw.timestamp - last_measurement) / 1000000.0f;
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last_measurement = raw.timestamp;
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uint8_t update_vect[3] = {0, 0, 0};
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/* Fill in gyro measurements */
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if (sensor_last_count[0] != raw.gyro_counter) {
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update_vect[0] = 1;
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sensor_last_count[0] = raw.gyro_counter;
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sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
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sensor_last_timestamp[0] = raw.timestamp;
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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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z_k[0] = raw.gyro_rad_s[0];
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z_k[1] = raw.gyro_rad_s[1];
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z_k[2] = raw.gyro_rad_s[2];
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/* only run filter if sensor values changed */
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if (fds[0].revents & POLLIN) {
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/* update accelerometer measurements */
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if (sensor_last_count[1] != raw.accelerometer_counter) {
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update_vect[1] = 1;
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sensor_last_count[1] = raw.accelerometer_counter;
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sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
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sensor_last_timestamp[1] = raw.timestamp;
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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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dt = (raw.timestamp - last_measurement) / 1000000.0f;
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last_measurement = raw.timestamp;
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uint8_t update_vect[3] = {0, 0, 0};
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/* Fill in gyro measurements */
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if (sensor_last_count[0] != raw.gyro_counter) {
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update_vect[0] = 1;
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sensor_last_count[0] = raw.gyro_counter;
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sensor_update_hz[0] = 1e6f / (raw.timestamp - sensor_last_timestamp[0]);
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sensor_last_timestamp[0] = raw.timestamp;
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}
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z_k[0] = raw.gyro_rad_s[0];
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z_k[1] = raw.gyro_rad_s[1];
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z_k[2] = raw.gyro_rad_s[2];
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/* update accelerometer measurements */
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if (sensor_last_count[1] != raw.accelerometer_counter) {
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update_vect[1] = 1;
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sensor_last_count[1] = raw.accelerometer_counter;
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sensor_update_hz[1] = 1e6f / (raw.timestamp - sensor_last_timestamp[1]);
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sensor_last_timestamp[1] = raw.timestamp;
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}
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z_k[3] = raw.accelerometer_m_s2[0];
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z_k[4] = raw.accelerometer_m_s2[1];
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z_k[5] = raw.accelerometer_m_s2[2];
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/* update magnetometer measurements */
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if (sensor_last_count[2] != raw.magnetometer_counter) {
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update_vect[2] = 1;
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sensor_last_count[2] = raw.magnetometer_counter;
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sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
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sensor_last_timestamp[2] = raw.timestamp;
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}
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z_k[6] = raw.magnetometer_ga[0];
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z_k[7] = raw.magnetometer_ga[1];
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z_k[8] = raw.magnetometer_ga[2];
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uint64_t now = hrt_absolute_time();
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unsigned int time_elapsed = now - last_run;
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last_run = now;
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if (time_elapsed > loop_interval_alarm) {
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//TODO: add warning, cpu overload here
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// if (overloadcounter == 20) {
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// printf("CPU OVERLOAD DETECTED IN ATTITUDE ESTIMATOR EKF (%lu > %lu)\n", time_elapsed, loop_interval_alarm);
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// overloadcounter = 0;
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// }
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overloadcounter++;
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}
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int32_t z_k_sizes = 9;
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// float u[4] = {0.0f, 0.0f, 0.0f, 0.0f};
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static bool const_initialized = false;
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/* initialize with good values once we have a reasonable dt estimate */
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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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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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x_aposteriori_k[2] = z_k[2];
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x_aposteriori_k[3] = 0.0f;
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x_aposteriori_k[4] = 0.0f;
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x_aposteriori_k[5] = 0.0f;
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x_aposteriori_k[6] = z_k[3];
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x_aposteriori_k[7] = z_k[4];
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x_aposteriori_k[8] = z_k[5];
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x_aposteriori_k[9] = z_k[6];
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x_aposteriori_k[10] = z_k[7];
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x_aposteriori_k[11] = z_k[8];
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const_initialized = true;
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}
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/* do not execute the filter if not initialized */
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if (!const_initialized) {
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continue;
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}
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dt = 0.004f;
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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, 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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memcpy(x_aposteriori_k, x_aposteriori, sizeof(x_aposteriori_k));
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uint64_t timing_diff = hrt_absolute_time() - timing_start;
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// /* print rotation matrix every 200th time */
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if (printcounter % 200 == 0) {
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// printf("x apo:\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n",
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// x_aposteriori[0], x_aposteriori[1], x_aposteriori[2],
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// x_aposteriori[3], x_aposteriori[4], x_aposteriori[5],
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// x_aposteriori[6], x_aposteriori[7], x_aposteriori[8]);
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// }
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printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt));
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printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f\n", (double)euler[0], (double)euler[1], (double)euler[2]);
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printf("update rates gyro: %8.4f\taccel: %8.4f\tmag:%8.4f\n", (double)sensor_update_hz[0], (double)sensor_update_hz[1], (double)sensor_update_hz[2]);
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// printf("\n%d\t%d\t%d\n%d\t%d\t%d\n%d\t%d\t%d\n", (int)(Rot_matrix[0] * 100), (int)(Rot_matrix[1] * 100), (int)(Rot_matrix[2] * 100),
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// (int)(Rot_matrix[3] * 100), (int)(Rot_matrix[4] * 100), (int)(Rot_matrix[5] * 100),
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// (int)(Rot_matrix[6] * 100), (int)(Rot_matrix[7] * 100), (int)(Rot_matrix[8] * 100));
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}
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// int i = printcounter % 9;
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// // for (int i = 0; i < 9; i++) {
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// char name[10];
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// sprintf(name, "xapo #%d", i);
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// memcpy(dbg.key, name, sizeof(dbg.key));
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// dbg.value = x_aposteriori[i];
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// orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
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printcounter++;
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if (last_data > 0 && raw.timestamp - last_data > 12000) printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data);
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last_data = raw.timestamp;
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/* send out */
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att.timestamp = raw.timestamp;
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att.roll = euler[0];
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att.pitch = euler[1];
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att.yaw = euler[2];
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att.rollspeed = x_aposteriori[0];
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att.pitchspeed = x_aposteriori[1];
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att.yawspeed = x_aposteriori[2];
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/* copy offsets */
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memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets));
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/* copy rotation matrix */
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memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix));
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att.R_valid = true;
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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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z_k[3] = raw.accelerometer_m_s2[0];
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z_k[4] = raw.accelerometer_m_s2[1];
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z_k[5] = raw.accelerometer_m_s2[2];
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/* update magnetometer measurements */
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if (sensor_last_count[2] != raw.magnetometer_counter) {
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update_vect[2] = 1;
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sensor_last_count[2] = raw.magnetometer_counter;
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sensor_update_hz[2] = 1e6f / (raw.timestamp - sensor_last_timestamp[2]);
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sensor_last_timestamp[2] = raw.timestamp;
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}
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z_k[6] = raw.magnetometer_ga[0];
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z_k[7] = raw.magnetometer_ga[1];
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z_k[8] = raw.magnetometer_ga[2];
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uint64_t now = hrt_absolute_time();
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unsigned int time_elapsed = now - last_run;
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last_run = now;
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if (time_elapsed > loop_interval_alarm) {
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//TODO: add warning, cpu overload here
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// if (overloadcounter == 20) {
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// printf("CPU OVERLOAD DETECTED IN ATTITUDE ESTIMATOR EKF (%lu > %lu)\n", time_elapsed, loop_interval_alarm);
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// overloadcounter = 0;
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// }
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overloadcounter++;
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}
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int32_t z_k_sizes = 9;
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// float u[4] = {0.0f, 0.0f, 0.0f, 0.0f};
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static bool const_initialized = false;
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/* initialize with good values once we have a reasonable dt estimate */
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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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x_aposteriori_k[0] = z_k[0];
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x_aposteriori_k[1] = z_k[1];
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x_aposteriori_k[2] = z_k[2];
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x_aposteriori_k[3] = 0.0f;
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x_aposteriori_k[4] = 0.0f;
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x_aposteriori_k[5] = 0.0f;
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x_aposteriori_k[6] = z_k[3];
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x_aposteriori_k[7] = z_k[4];
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x_aposteriori_k[8] = z_k[5];
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x_aposteriori_k[9] = z_k[6];
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x_aposteriori_k[10] = z_k[7];
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x_aposteriori_k[11] = z_k[8];
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const_initialized = true;
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}
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/* do not execute the filter if not initialized */
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if (!const_initialized) {
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continue;
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}
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dt = 0.004f;
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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);
|
||||
attitudeKalmanfilter(update_vect, dt, z_k, x_aposteriori_k, P_aposteriori_k, q, r,
|
||||
euler, Rot_matrix, x_aposteriori, P_aposteriori);
|
||||
/* swap values for next iteration */
|
||||
memcpy(P_aposteriori_k, P_aposteriori, sizeof(P_aposteriori_k));
|
||||
memcpy(x_aposteriori_k, x_aposteriori, sizeof(x_aposteriori_k));
|
||||
uint64_t timing_diff = hrt_absolute_time() - timing_start;
|
||||
|
||||
// /* print rotation matrix every 200th time */
|
||||
if (printcounter % 200 == 0) {
|
||||
// printf("x apo:\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n%8.4f\t%8.4f\t%8.4f\n",
|
||||
// x_aposteriori[0], x_aposteriori[1], x_aposteriori[2],
|
||||
// x_aposteriori[3], x_aposteriori[4], x_aposteriori[5],
|
||||
// x_aposteriori[6], x_aposteriori[7], x_aposteriori[8]);
|
||||
|
||||
|
||||
// }
|
||||
|
||||
printf("EKF attitude iteration: %d, runtime: %d us, dt: %d us (%d Hz)\n", loopcounter, (int)timing_diff, (int)(dt * 1000000.0f), (int)(1.0f / dt));
|
||||
printf("roll: %8.4f\tpitch: %8.4f\tyaw:%8.4f\n", (double)euler[0], (double)euler[1], (double)euler[2]);
|
||||
printf("update rates gyro: %8.4f\taccel: %8.4f\tmag:%8.4f\n", (double)sensor_update_hz[0], (double)sensor_update_hz[1], (double)sensor_update_hz[2]);
|
||||
// printf("\n%d\t%d\t%d\n%d\t%d\t%d\n%d\t%d\t%d\n", (int)(Rot_matrix[0] * 100), (int)(Rot_matrix[1] * 100), (int)(Rot_matrix[2] * 100),
|
||||
// (int)(Rot_matrix[3] * 100), (int)(Rot_matrix[4] * 100), (int)(Rot_matrix[5] * 100),
|
||||
// (int)(Rot_matrix[6] * 100), (int)(Rot_matrix[7] * 100), (int)(Rot_matrix[8] * 100));
|
||||
}
|
||||
|
||||
// int i = printcounter % 9;
|
||||
|
||||
// // for (int i = 0; i < 9; i++) {
|
||||
// char name[10];
|
||||
// sprintf(name, "xapo #%d", i);
|
||||
// memcpy(dbg.key, name, sizeof(dbg.key));
|
||||
// dbg.value = x_aposteriori[i];
|
||||
// orb_publish(ORB_ID(debug_key_value), pub_dbg, &dbg);
|
||||
|
||||
printcounter++;
|
||||
|
||||
if (last_data > 0 && raw.timestamp - last_data > 12000) printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data);
|
||||
|
||||
last_data = raw.timestamp;
|
||||
|
||||
/* send out */
|
||||
att.timestamp = raw.timestamp;
|
||||
att.roll = euler[0];
|
||||
att.pitch = euler[1];
|
||||
att.yaw = euler[2];
|
||||
|
||||
att.rollspeed = x_aposteriori[0];
|
||||
att.pitchspeed = x_aposteriori[1];
|
||||
att.yawspeed = x_aposteriori[2];
|
||||
|
||||
/* copy offsets */
|
||||
memcpy(&att.rate_offsets, &(x_aposteriori[3]), sizeof(att.rate_offsets));
|
||||
|
||||
/* copy rotation matrix */
|
||||
memcpy(&att.R, Rot_matrix, sizeof(Rot_matrix));
|
||||
att.R_valid = true;
|
||||
|
||||
// Broadcast
|
||||
orb_publish(ORB_ID(vehicle_attitude), pub_att, &att);
|
||||
}
|
||||
|
||||
loopcounter++;
|
||||
|
|
|
@ -0,0 +1,131 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* 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
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* @file attitude_estimator_ekf_params.c
|
||||
*
|
||||
* Parameters for EKF filter
|
||||
*/
|
||||
|
||||
#include "attitude_estimator_ekf_params.h"
|
||||
|
||||
/* Extended Kalman Filter covariances */
|
||||
|
||||
/* gyro process noise */
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_Q0, 1e1f);
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_Q1, 1e1f);
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_Q2, 1e1f);
|
||||
/* gyro offsets process noise */
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_Q3, 1e-4f);
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_Q4, 1e-4f);
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_Q5, 1e-4f);
|
||||
/* accelerometer process noise */
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_Q6, 1e-1f);
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_Q7, 1e-1f);
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_Q8, 1e-1f);
|
||||
/* magnetometer process noise */
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_Q9, 1e-1f);
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_Q10, 1e-1f);
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_Q11, 1e-1f);
|
||||
|
||||
/* gyro measurement noise */
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_R0, 1e-2f);
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_R1, 1e-2f);
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_R2, 1e-2f);
|
||||
/* accelerometer measurement noise */
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_R3, 1e-1f);
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_R4, 1e-1f);
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_R5, 1e-1f);
|
||||
/* magnetometer measurement noise */
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_R6, 1e-1f);
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_R7, 1e-1f);
|
||||
PARAM_DEFINE_FLOAT(EKF_ATT_R8, 1e-1f);
|
||||
|
||||
int parameters_init(struct attitude_estimator_ekf_param_handles *h)
|
||||
{
|
||||
/* PID parameters */
|
||||
h->q0 = param_find("EKF_ATT_Q0");
|
||||
h->q1 = param_find("EKF_ATT_Q1");
|
||||
h->q2 = param_find("EKF_ATT_Q2");
|
||||
h->q3 = param_find("EKF_ATT_Q3");
|
||||
h->q4 = param_find("EKF_ATT_Q4");
|
||||
h->q5 = param_find("EKF_ATT_Q5");
|
||||
h->q6 = param_find("EKF_ATT_Q6");
|
||||
h->q7 = param_find("EKF_ATT_Q7");
|
||||
h->q8 = param_find("EKF_ATT_Q8");
|
||||
h->q9 = param_find("EKF_ATT_Q9");
|
||||
h->q10 = param_find("EKF_ATT_Q10");
|
||||
h->q11 = param_find("EKF_ATT_Q11");
|
||||
|
||||
h->r0 = param_find("EKF_ATT_R0");
|
||||
h->r1 = param_find("EKF_ATT_R1");
|
||||
h->r2 = param_find("EKF_ATT_R2");
|
||||
h->r3 = param_find("EKF_ATT_R3");
|
||||
h->r4 = param_find("EKF_ATT_R4");
|
||||
h->r5 = param_find("EKF_ATT_R5");
|
||||
h->r6 = param_find("EKF_ATT_R6");
|
||||
h->r7 = param_find("EKF_ATT_R7");
|
||||
h->r8 = param_find("EKF_ATT_R8");
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p)
|
||||
{
|
||||
param_get(h->q0, &(p->q[0]));
|
||||
param_get(h->q1, &(p->q[1]));
|
||||
param_get(h->q2, &(p->q[2]));
|
||||
param_get(h->q3, &(p->q[3]));
|
||||
param_get(h->q4, &(p->q[4]));
|
||||
param_get(h->q5, &(p->q[5]));
|
||||
param_get(h->q6, &(p->q[6]));
|
||||
param_get(h->q7, &(p->q[7]));
|
||||
param_get(h->q8, &(p->q[8]));
|
||||
param_get(h->q9, &(p->q[9]));
|
||||
param_get(h->q10, &(p->q[10]));
|
||||
param_get(h->q11, &(p->q[11]));
|
||||
|
||||
param_get(h->r0, &(p->r[0]));
|
||||
param_get(h->r1, &(p->r[1]));
|
||||
param_get(h->r2, &(p->r[2]));
|
||||
param_get(h->r3, &(p->r[3]));
|
||||
param_get(h->r4, &(p->r[4]));
|
||||
param_get(h->r5, &(p->r[5]));
|
||||
param_get(h->r6, &(p->r[6]));
|
||||
param_get(h->r7, &(p->r[7]));
|
||||
param_get(h->r8, &(p->r[8]));
|
||||
|
||||
return OK;
|
||||
}
|
|
@ -0,0 +1,64 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: Tobias Naegeli <naegelit@student.ethz.ch>
|
||||
* Lorenz Meier <lm@inf.ethz.ch>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* 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
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/*
|
||||
* @file attitude_estimator_ekf_params.h
|
||||
*
|
||||
* Parameters for EKF filter
|
||||
*/
|
||||
|
||||
#include <systemlib/param/param.h>
|
||||
|
||||
struct attitude_estimator_ekf_params {
|
||||
float r[9];
|
||||
float q[12];
|
||||
};
|
||||
|
||||
struct attitude_estimator_ekf_param_handles {
|
||||
param_t r0, r1, r2, r3, r4, r5, r6, r7, r8;
|
||||
param_t q0, q1, q2, q3, q4, q5, q6, q7, q8, q9, q10, q11;
|
||||
};
|
||||
|
||||
/**
|
||||
* Initialize all parameter handles and values
|
||||
*
|
||||
*/
|
||||
int parameters_init(struct attitude_estimator_ekf_param_handles *h);
|
||||
|
||||
/**
|
||||
* Update all parameters
|
||||
*
|
||||
*/
|
||||
int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p);
|
Loading…
Reference in New Issue