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AttPosEKF: Make local_pos output Z ref pos relative

This commit is contained in:
Johan Jansen 2015-03-13 15:27:02 +01:00
parent 435d82dee2
commit 4a8f799e9e
2 changed files with 64 additions and 59 deletions
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1
src/modules/ekf_att_pos_estimator/AttitudePositionEstimatorEKF.h
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@ -193,6 +193,7 @@ private:
bool _gpsIsGood; ///< True if the current GPS fix is good enough for us to use
uint64_t _previousGPSTimestamp; ///< Timestamp of last good GPS fix we have received
bool _baro_init;
float _baroAltRef;
bool _gps_initialized;
hrt_abstime _filter_start_time;
hrt_abstime _last_sensor_timestamp;

122
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
View File

@ -132,70 +132,71 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() :
_wind_pub(-1),
_att({}),
_gyro({}),
_accel({}),
_mag({}),
_airspeed({}),
_baro({}),
_vstatus({}),
_global_pos({}),
_local_pos({}),
_gps({}),
_wind({}),
_distance {},
_landDetector {},
_armed {},
_gyro({}),
_accel({}),
_mag({}),
_airspeed({}),
_baro({}),
_vstatus({}),
_global_pos({}),
_local_pos({}),
_gps({}),
_wind({}),
_distance {},
_landDetector {},
_armed {},
_gyro_offsets({}),
_accel_offsets({}),
_mag_offsets({}),
_gyro_offsets({}),
_accel_offsets({}),
_mag_offsets({}),
_sensor_combined {},
_sensor_combined {},
_pos_ref {},
_baro_ref_offset(0.0f),
_baro_gps_offset(0.0f),
_pos_ref{},
_baro_ref_offset(0.0f),
_baro_gps_offset(0.0f),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "ekf_att_pos_estimator")),
_loop_intvl(perf_alloc(PC_INTERVAL, "ekf_att_pos_est_interval")),
_perf_gyro(perf_alloc(PC_INTERVAL, "ekf_att_pos_gyro_upd")),
_perf_mag(perf_alloc(PC_INTERVAL, "ekf_att_pos_mag_upd")),
_perf_gps(perf_alloc(PC_INTERVAL, "ekf_att_pos_gps_upd")),
_perf_baro(perf_alloc(PC_INTERVAL, "ekf_att_pos_baro_upd")),
_perf_airspeed(perf_alloc(PC_INTERVAL, "ekf_att_pos_aspd_upd")),
_perf_reset(perf_alloc(PC_COUNT, "ekf_att_pos_reset")),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "ekf_att_pos_estimator")),
_loop_intvl(perf_alloc(PC_INTERVAL, "ekf_att_pos_est_interval")),
_perf_gyro(perf_alloc(PC_INTERVAL, "ekf_att_pos_gyro_upd")),
_perf_mag(perf_alloc(PC_INTERVAL, "ekf_att_pos_mag_upd")),
_perf_gps(perf_alloc(PC_INTERVAL, "ekf_att_pos_gps_upd")),
_perf_baro(perf_alloc(PC_INTERVAL, "ekf_att_pos_baro_upd")),
_perf_airspeed(perf_alloc(PC_INTERVAL, "ekf_att_pos_aspd_upd")),
_perf_reset(perf_alloc(PC_COUNT, "ekf_att_pos_reset")),
/* states */
_gps_alt_filt(0.0f),
_baro_alt_filt(0.0f),
_covariancePredictionDt(0.0f),
_gpsIsGood(false),
_previousGPSTimestamp(0),
_baro_init(false),
_gps_initialized(false),
_filter_start_time(0),
_last_sensor_timestamp(0),
_last_run(0),
_distance_last_valid(0),
_gyro_valid(false),
_accel_valid(false),
_mag_valid(false),
_gyro_main(0),
_accel_main(0),
_mag_main(0),
_ekf_logging(true),
_debug(0),
/* states */
_gps_alt_filt(0.0f),
_baro_alt_filt(0.0f),
_covariancePredictionDt(0.0f),
_gpsIsGood(false),
_previousGPSTimestamp(0),
_baro_init(false),
_baroAltRef(0.0f),
_gps_initialized(false),
_filter_start_time(0),
_last_sensor_timestamp(0),
_last_run(0),
_distance_last_valid(0),
_gyro_valid(false),
_accel_valid(false),
_mag_valid(false),
_gyro_main(0),
_accel_main(0),
_mag_main(0),
_ekf_logging(true),
_debug(0),
_newHgtData(false),
_newAdsData(false),
_newDataMag(false),
_newRangeData(false),
_newHgtData(false),
_newAdsData(false),
_newDataMag(false),
_newRangeData(false),
_mavlink_fd(-1),
_parameters {},
_parameter_handles {},
_ekf(nullptr)
_mavlink_fd(-1),
_parameters {},
_parameter_handles {},
_ekf(nullptr)
{
_last_run = hrt_absolute_time();
@ -810,7 +811,7 @@ void AttitudePositionEstimatorEKF::publishLocalPosition()
_local_pos.y = _ekf->states[8];
// XXX need to announce change of Z reference somehow elegantly
_local_pos.z = _ekf->states[9] - _baro_ref_offset;
_local_pos.z = _ekf->states[9] - _baro_ref_offset - _baroAltRef;
_local_pos.vx = _ekf->states[4];
_local_pos.vy = _ekf->states[5];
@ -1399,7 +1400,10 @@ void AttitudePositionEstimatorEKF::pollData()
}
baro_last = _baro.timestamp;
_baro_init = true;
if(!_baro_init) {
_baro_init = true;
_baroAltRef = _baro.altitude;
}
_ekf->updateDtHgtFilt(math::constrain(baro_elapsed, 0.001f, 0.1f));