diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index bc5f709e58..5ce6bdb0ac 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -559,61 +559,26 @@ FixedwingEstimator::check_filter_state() int check = _ekf->CheckAndBound(&ekf_report); - const char* ekfname = "att pos estimator: "; + const char* const feedback[] = { 0, + "NaN in states, resetting", + "stale IMU data, resetting", + "got initial position lock", + "excessive gyro offsets", + "GPS velocity divergence", + "excessive covariances", + "unknown condition"}; - switch (check) { - case 0: - /* all ok */ - break; - case 1: - { - const char* str = "NaN in states, resetting"; - warnx("%s", str); - mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str); - break; - } - case 2: - { - const char* str = "stale IMU data, resetting"; - warnx("%s", str); - mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str); - break; - } - case 3: - { - const char* str = "switching to dynamic state"; - warnx("%s", str); - mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str); - break; - } - case 4: - { - const char* str = "excessive gyro offsets"; - warnx("%s", str); - mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str); - break; - } - case 5: - { - const char* str = "GPS velocity divergence"; - warnx("%s", str); - mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str); - break; - } - case 6: - { - const char* str = "excessive covariances"; - warnx("%s", str); - mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str); - break; + // Print out error condition + if (check) { + unsigned warn_index = static_cast(check); + unsigned max_warn_index = (sizeof(feedback) / sizeof(feedback[0])); + + if (max_warn_index < warn_index) { + warn_index = max_warn_index; } - default: - { - const char* str = "unknown reset condition"; - warnx("%s", str); - mavlink_log_critical(_mavlink_fd, "%s%s", ekfname, str); - } + warnx("reset: %s", feedback[warn_index]); + mavlink_log_critical(_mavlink_fd, "[ekf] re-init: %s", feedback[warn_index]); } struct estimator_status_report rep; @@ -1140,20 +1105,6 @@ FixedwingEstimator::task_main() float initVelNED[3]; - // Guard before running any parts of the filter - // of NaN / invalid values - if (_ekf->statesInitialised) { - - // We're apparently initialized in this case now - - int check = check_filter_state(); - - if (check) { - // Let the system re-initialize itself - continue; - } - } - /* Initialize the filter first */ if (!_gps_initialized && _gps.fix_type > 2 && _gps.eph < _parameters.pos_stddev_threshold && _gps.epv < _parameters.pos_stddev_threshold) { @@ -1216,8 +1167,17 @@ FixedwingEstimator::task_main() _baro_gps_offset = 0.0f; _ekf->InitialiseFilter(initVelNED, 0.0, 0.0, 0.0f, 0.0f); + } else if (_ekf->statesInitialised) { + // We're apparently initialized in this case now + int check = check_filter_state(); + + if (check) { + // Let the system re-initialize itself + continue; + } + // Run the strapdown INS equations every IMU update _ekf->UpdateStrapdownEquationsNED(); #if 0 @@ -1285,7 +1245,7 @@ FixedwingEstimator::task_main() // run the fusion step _ekf->FuseVelposNED(); - } else if (!_gps_initialized && _ekf->statesInitialised) { + } else if (!_gps_initialized) { // Convert GPS measurements to Pos NE, hgt and Vel NED _ekf->velNED[0] = 0.0f; _ekf->velNED[1] = 0.0f; @@ -1307,7 +1267,7 @@ FixedwingEstimator::task_main() _ekf->fusePosData = false; } - if (newHgtData && _ekf->statesInitialised) { + if (newHgtData) { // Could use a blend of GPS and baro alt data if desired _ekf->hgtMea = 1.0f * (_ekf->baroHgt - _baro_ref); _ekf->fuseHgtData = true; @@ -1321,7 +1281,7 @@ FixedwingEstimator::task_main() } // Fuse Magnetometer Measurements - if (newDataMag && _ekf->statesInitialised) { + if (newDataMag) { _ekf->fuseMagData = true; _ekf->RecallStates(_ekf->statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms)); // Assume 50 msec avg delay for magnetometer data @@ -1335,7 +1295,7 @@ FixedwingEstimator::task_main() } // Fuse Airspeed Measurements - if (newAdsData && _ekf->statesInitialised && _ekf->VtasMeas > 8.0f) { + if (newAdsData && _ekf->VtasMeas > 7.0f) { _ekf->fuseVtasData = true; _ekf->RecallStates(_ekf->statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data _ekf->FuseAirspeed(); @@ -1403,7 +1363,7 @@ FixedwingEstimator::task_main() _velocity_xy_filtered = 0.95f*_velocity_xy_filtered + 0.05f*sqrtf(_local_pos.vx*_local_pos.vx + _local_pos.vy*_local_pos.vy); _velocity_z_filtered = 0.95f*_velocity_z_filtered + 0.05f*fabsf(_local_pos.vz); - _airspeed_filtered = 0.95f*_airspeed_filtered + + 0.05f*_airspeed.true_airspeed_m_s; + _airspeed_filtered = 0.95f*_airspeed_filtered + 0.05f*_airspeed.true_airspeed_m_s; /* crude land detector for fixedwing only, @@ -1494,27 +1454,28 @@ FixedwingEstimator::task_main() } + if (hrt_elapsed_time(&_wind.timestamp) > 99000) { + _wind.timestamp = _global_pos.timestamp; + _wind.windspeed_north = _ekf->states[14]; + _wind.windspeed_east = _ekf->states[15]; + _wind.covariance_north = _ekf->P[14][14]; + _wind.covariance_east = _ekf->P[15][15]; + + /* lazily publish the wind estimate only once available */ + if (_wind_pub > 0) { + /* publish the wind estimate */ + orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind); + + } else { + /* advertise and publish */ + _wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind); + } + } + } } - if (hrt_elapsed_time(&_wind.timestamp) > 99000) { - _wind.timestamp = _global_pos.timestamp; - _wind.windspeed_north = _ekf->states[14]; - _wind.windspeed_east = _ekf->states[15]; - _wind.covariance_north = _ekf->P[14][14]; - _wind.covariance_east = _ekf->P[15][15]; - - /* lazily publish the wind estimate only once available */ - if (_wind_pub > 0) { - /* publish the wind estimate */ - orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind); - - } else { - /* advertise and publish */ - _wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind); - } - } } }