forked from Archive/PX4-Autopilot
ekf2: add new estimator_gps_status.msg
- includes the estimator status check fail bits broken out as descriptive booleans - absorbs ekf_gps_drift.msg
This commit is contained in:
Daniel Agar
parent
f8d7574d3c
commit
591b7b6934
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@ -861,7 +861,7 @@ void printTopics() {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
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@ -64,7 +64,7 @@ set(msg_files
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differential_pressure.msg
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distance_sensor.msg
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ekf2_timestamps.msg
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ekf_gps_drift.msg
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estimator_gps_status.msg
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esc_report.msg
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esc_status.msg
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estimator_baro_bias.msg
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@ -1,6 +0,0 @@
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uint64 timestamp # time since system start (microseconds)
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float32 hpos_drift_rate # Horizontal position rate magnitude checked using EKF2_REQ_HDRIFT (m/s)
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float32 vpos_drift_rate # Vertical position rate magnitude checked using EKF2_REQ_VDRIFT (m/s)
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float32 hspd # Filtered horizontal velocity magnitude checked using EKF2_REQ_HDRIFT (m/s)
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bool blocked # true when drift calculation is blocked due to IMU movement check
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@ -0,0 +1,19 @@
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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bool checks_passed
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bool check_fail_gps_fix # 0 : insufficient fix type (no 3D solution)
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bool check_fail_min_sat_count # 1 : minimum required sat count fail
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bool check_fail_max_pdop # 2 : maximum allowed PDOP fail
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bool check_fail_max_horz_err # 3 : maximum allowed horizontal position error fail
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bool check_fail_max_vert_err # 4 : maximum allowed vertical position error fail
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bool check_fail_max_spd_err # 5 : maximum allowed speed error fail
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bool check_fail_max_horz_drift # 6 : maximum allowed horizontal position drift fail - requires stationary vehicle
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bool check_fail_max_vert_drift # 7 : maximum allowed vertical position drift fail - requires stationary vehicle
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bool check_fail_max_horz_spd_err # 8 : maximum allowed horizontal speed fail - requires stationary vehicle
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bool check_fail_max_vert_spd_err # 9 : maximum allowed vertical velocity discrepancy fail
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float32 position_drift_rate_horizontal_m_s # Horizontal position rate magnitude (m/s)
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float32 position_drift_rate_vertical_m_s # Vertical position rate magnitude (m/s)
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float32 filtered_horizontal_speed_m_s # Filtered horizontal velocity magnitude (m/s)
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@ -246,9 +246,6 @@ public:
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bool accel_bias_inhibited() const { return _accel_bias_inhibit[0] || _accel_bias_inhibit[1] || _accel_bias_inhibit[2]; }
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// get GPS check status
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void get_gps_check_status(uint16_t *val) const { *val = _gps_check_fail_status.value; }
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const auto &state_reset_status() const { return _state_reset_status; }
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// return the amount the local vertical position changed in the last reset and the number of reset events
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@ -311,6 +308,11 @@ public:
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// set minimum continuous period without GPS fail required to mark a healthy GPS status
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void set_min_required_gps_health_time(uint32_t time_us) { _min_gps_health_time_us = time_us; }
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const gps_check_fail_status_u &gps_check_fail_status() const { return _gps_check_fail_status; }
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const decltype(gps_check_fail_status_u::flags) &gps_check_fail_status_flags() const { return _gps_check_fail_status.flags; }
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bool gps_checks_passed() const { return _gps_checks_passed; };
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// get solution data from the EKF-GSF emergency yaw estimator
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// returns false when data is not available
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bool getDataEKFGSF(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF],
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@ -750,27 +750,6 @@ void Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, cons
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}
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}
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/*
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First argument returns GPS drift metrics in the following array locations
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0 : Horizontal position drift rate (m/s)
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1 : Vertical position drift rate (m/s)
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2 : Filtered horizontal velocity (m/s)
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Second argument returns true when IMU movement is blocking the drift calculation
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Function returns true if the metrics have been updated and not returned previously by this function
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*/
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bool Ekf::get_gps_drift_metrics(float drift[3], bool *blocked)
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{
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memcpy(drift, _gps_drift_metrics, 3 * sizeof(float));
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*blocked = !_control_status.flags.vehicle_at_rest;
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if (_gps_drift_updated) {
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_gps_drift_updated = false;
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return true;
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}
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return false;
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}
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// get the 1-sigma horizontal and vertical position uncertainty of the ekf WGS-84 position
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void Ekf::get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv) const
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{
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@ -1823,4 +1802,8 @@ void Ekf::resetGpsDriftCheckFilters()
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{
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_gps_velNE_filt.setZero();
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_gps_pos_deriv_filt.setZero();
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_gps_horizontal_position_drift_rate_m_s = NAN;
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_gps_vertical_position_drift_rate_m_s = NAN;
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_gps_filtered_horizontal_velocity_m_s = NAN;
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}
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@ -245,17 +245,20 @@ public:
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// Getter for the average EKF update period in s
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float get_dt_ekf_avg() const { return _dt_ekf_avg; }
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// Getter for the imu sample on the delayed time horizon
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// Getters for samples on the delayed time horizon
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const imuSample &get_imu_sample_delayed() const { return _imu_sample_delayed; }
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// Getter for the baro sample on the delayed time horizon
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const baroSample &get_baro_sample_delayed() const { return _baro_sample_delayed; }
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const gpsSample &get_gps_sample_delayed() const { return _gps_sample_delayed; }
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const bool &global_origin_valid() const { return _NED_origin_initialised; }
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const MapProjection &global_origin() const { return _pos_ref; }
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void print_status();
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float gps_horizontal_position_drift_rate_m_s() const { return _gps_horizontal_position_drift_rate_m_s; }
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float gps_vertical_position_drift_rate_m_s() const { return _gps_vertical_position_drift_rate_m_s; }
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float gps_filtered_horizontal_velocity_m_s() const { return _gps_filtered_horizontal_velocity_m_s; }
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protected:
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EstimatorInterface() = default;
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@ -346,14 +349,12 @@ protected:
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bool _deadreckon_time_exceeded{true}; // true if the horizontal nav solution has been deadreckoning for too long and is invalid
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bool _is_wind_dead_reckoning{false}; // true if we are navigationg reliant on wind relative measurements
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float _gps_drift_metrics[3] {}; // Array containing GPS drift metrics
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// [0] Horizontal position drift rate (m/s)
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// [1] Vertical position drift rate (m/s)
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// [2] Filtered horizontal velocity (m/s)
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float _gps_horizontal_position_drift_rate_m_s{0}; // Horizontal position drift rate (m/s)
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float _gps_vertical_position_drift_rate_m_s{0}; // Vertical position drift rate (m/s)
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float _gps_filtered_horizontal_velocity_m_s{0}; // Filtered horizontal velocity (m/s)
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uint64_t _time_last_on_ground_us{0}; ///< last time we were on the ground (uSec)
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uint64_t _time_last_in_air{0}; ///< last time we were in air (uSec)
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bool _gps_drift_updated{false}; // true when _gps_drift_metrics has been updated and is ready for retrieval
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// data buffer instances
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RingBuffer<imuSample> _imu_buffer{12}; // buffer length 12 with default parameters
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@ -201,22 +201,20 @@ bool Ekf::gps_is_good(const gps_message &gps)
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_gps_pos_deriv_filt = pos_derived * filter_coef + _gps_pos_deriv_filt * (1.0f - filter_coef);
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// Calculate the horizontal drift speed and fail if too high
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_gps_drift_metrics[0] = Vector2f(_gps_pos_deriv_filt.xy()).norm();
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_gps_check_fail_status.flags.hdrift = (_gps_drift_metrics[0] > _params.req_hdrift);
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_gps_horizontal_position_drift_rate_m_s = Vector2f(_gps_pos_deriv_filt.xy()).norm();
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_gps_check_fail_status.flags.hdrift = (_gps_horizontal_position_drift_rate_m_s > _params.req_hdrift);
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// Fail if the vertical drift speed is too high
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_gps_drift_metrics[1] = fabsf(_gps_pos_deriv_filt(2));
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_gps_check_fail_status.flags.vdrift = (_gps_drift_metrics[1] > _params.req_vdrift);
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_gps_vertical_position_drift_rate_m_s = fabsf(_gps_pos_deriv_filt(2));
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_gps_check_fail_status.flags.vdrift = (_gps_vertical_position_drift_rate_m_s > _params.req_vdrift);
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// Check the magnitude of the filtered horizontal GPS velocity
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const Vector2f gps_velNE = matrix::constrain(Vector2f(gps.vel_ned.xy()),
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-10.0f * _params.req_hdrift,
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10.0f * _params.req_hdrift);
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_gps_velNE_filt = gps_velNE * filter_coef + _gps_velNE_filt * (1.0f - filter_coef);
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_gps_drift_metrics[2] = _gps_velNE_filt.norm();
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_gps_check_fail_status.flags.hspeed = (_gps_drift_metrics[2] > _params.req_hdrift);
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_gps_drift_updated = true;
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_gps_filtered_horizontal_velocity_m_s = _gps_velNE_filt.norm();
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_gps_check_fail_status.flags.hspeed = (_gps_filtered_horizontal_velocity_m_s > _params.req_hdrift);
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} else if (_control_status.flags.in_air) {
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// These checks are always declared as passed when flying
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@ -224,14 +222,11 @@ bool Ekf::gps_is_good(const gps_message &gps)
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_gps_check_fail_status.flags.hdrift = false;
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_gps_check_fail_status.flags.vdrift = false;
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_gps_check_fail_status.flags.hspeed = false;
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_gps_drift_updated = false;
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resetGpsDriftCheckFilters();
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} else {
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// This is the case where the vehicle is on ground and IMU movement is blocking the drift calculation
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_gps_drift_updated = true;
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resetGpsDriftCheckFilters();
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}
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@ -191,17 +191,17 @@ bool EKF2::multi_init(int imu, int mag)
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_wind_pub.advertise();
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_ekf2_timestamps_pub.advertise();
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_ekf_gps_drift_pub.advertise();
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_estimator_baro_bias_pub.advertise();
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_estimator_event_flags_pub.advertise();
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_estimator_gps_status_pub.advertise();
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_estimator_innovation_test_ratios_pub.advertise();
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_estimator_innovation_variances_pub.advertise();
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_estimator_innovations_pub.advertise();
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_estimator_optical_flow_vel_pub.advertise();
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_estimator_sensor_bias_pub.advertise();
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_estimator_states_pub.advertise();
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_estimator_status_pub.advertise();
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_estimator_status_flags_pub.advertise();
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_estimator_status_pub.advertise();
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_estimator_visual_odometry_aligned_pub.advertised();
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_yaw_est_pub.advertise();
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@ -573,8 +573,8 @@ void EKF2::Run()
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// publish status/logging messages
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PublishBaroBias(now);
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PublishEkfDriftMetrics(now);
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PublishEventFlags(now);
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PublishGpsStatus(now);
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PublishInnovations(now);
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PublishInnovationTestRatios(now);
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PublishInnovationVariances(now);
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@ -647,24 +647,6 @@ void EKF2::PublishBaroBias(const hrt_abstime ×tamp)
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}
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}
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void EKF2::PublishEkfDriftMetrics(const hrt_abstime ×tamp)
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{
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// publish GPS drift data only when updated to minimise overhead
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float gps_drift[3];
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bool blocked;
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if (_ekf.get_gps_drift_metrics(gps_drift, &blocked)) {
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ekf_gps_drift_s drift_data;
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drift_data.hpos_drift_rate = gps_drift[0];
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drift_data.vpos_drift_rate = gps_drift[1];
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drift_data.hspd = gps_drift[2];
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drift_data.blocked = blocked;
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drift_data.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
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_ekf_gps_drift_pub.publish(drift_data);
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}
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}
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void EKF2::PublishEventFlags(const hrt_abstime ×tamp)
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{
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// information events
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@ -768,6 +750,41 @@ void EKF2::PublishGlobalPosition(const hrt_abstime ×tamp)
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}
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}
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void EKF2::PublishGpsStatus(const hrt_abstime ×tamp)
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{
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const hrt_abstime timestamp_sample = _ekf.get_gps_sample_delayed().time_us;
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if (timestamp_sample == _last_gps_status_published) {
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return;
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}
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estimator_gps_status_s estimator_gps_status{};
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estimator_gps_status.timestamp_sample = timestamp_sample;
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estimator_gps_status.position_drift_rate_horizontal_m_s = _ekf.gps_horizontal_position_drift_rate_m_s();
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estimator_gps_status.position_drift_rate_vertical_m_s = _ekf.gps_vertical_position_drift_rate_m_s();
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estimator_gps_status.filtered_horizontal_speed_m_s = _ekf.gps_filtered_horizontal_velocity_m_s();
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estimator_gps_status.checks_passed = _ekf.gps_checks_passed();
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estimator_gps_status.check_fail_gps_fix = _ekf.gps_check_fail_status_flags().fix;
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estimator_gps_status.check_fail_min_sat_count = _ekf.gps_check_fail_status_flags().nsats;
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estimator_gps_status.check_fail_max_pdop = _ekf.gps_check_fail_status_flags().pdop;
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estimator_gps_status.check_fail_max_horz_err = _ekf.gps_check_fail_status_flags().hacc;
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estimator_gps_status.check_fail_max_vert_err = _ekf.gps_check_fail_status_flags().vacc;
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estimator_gps_status.check_fail_max_spd_err = _ekf.gps_check_fail_status_flags().sacc;
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estimator_gps_status.check_fail_max_horz_drift = _ekf.gps_check_fail_status_flags().hdrift;
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estimator_gps_status.check_fail_max_vert_drift = _ekf.gps_check_fail_status_flags().vdrift;
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estimator_gps_status.check_fail_max_horz_spd_err = _ekf.gps_check_fail_status_flags().hspeed;
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estimator_gps_status.check_fail_max_vert_spd_err = _ekf.gps_check_fail_status_flags().vspeed;
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estimator_gps_status.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
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_estimator_gps_status_pub.publish(estimator_gps_status);
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_last_gps_status_published = timestamp_sample;
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}
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void EKF2::PublishInnovations(const hrt_abstime ×tamp)
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{
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// publish estimator innovation data
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@ -1152,11 +1169,9 @@ void EKF2::PublishStatus(const hrt_abstime ×tamp)
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_ekf.getOutputTrackingError().copyTo(status.output_tracking_error);
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_ekf.get_gps_check_status(&status.gps_check_fail_flags);
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// only report enabled GPS check failures (the param indexes are shifted by 1 bit, because they don't include
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// the GPS Fix bit, which is always checked)
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status.gps_check_fail_flags &= ((uint16_t)_params->gps_check_mask << 1) | 1;
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status.gps_check_fail_flags = _ekf.gps_check_fail_status().value & (((uint16_t)_params->gps_check_mask << 1) | 1);
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status.control_mode_flags = _ekf.control_status().value;
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status.filter_fault_flags = _ekf.fault_status().value;
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@ -67,9 +67,9 @@
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#include <uORB/topics/airspeed_validated.h>
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#include <uORB/topics/distance_sensor.h>
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#include <uORB/topics/ekf2_timestamps.h>
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#include <uORB/topics/ekf_gps_drift.h>
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#include <uORB/topics/estimator_baro_bias.h>
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#include <uORB/topics/estimator_event_flags.h>
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#include <uORB/topics/estimator_gps_status.h>
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#include <uORB/topics/estimator_innovations.h>
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#include <uORB/topics/estimator_optical_flow_vel.h>
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#include <uORB/topics/estimator_sensor_bias.h>
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@ -137,9 +137,9 @@ private:
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void PublishAttitude(const hrt_abstime ×tamp);
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void PublishBaroBias(const hrt_abstime ×tamp);
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void PublishEkfDriftMetrics(const hrt_abstime ×tamp);
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void PublishEventFlags(const hrt_abstime ×tamp);
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void PublishGlobalPosition(const hrt_abstime ×tamp);
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void PublishGpsStatus(const hrt_abstime ×tamp);
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void PublishInnovations(const hrt_abstime ×tamp);
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void PublishInnovationTestRatios(const hrt_abstime ×tamp);
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void PublishInnovationVariances(const hrt_abstime ×tamp);
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@ -238,6 +238,7 @@ private:
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Vector3f _last_mag_calibration_published{};
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hrt_abstime _last_sensor_bias_published{0};
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hrt_abstime _last_gps_status_published{0};
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float _last_baro_bias_published{};
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@ -285,17 +286,17 @@ private:
|
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uint32_t _filter_information_event_changes{0};
|
||||
|
||||
uORB::PublicationMulti<ekf2_timestamps_s> _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
|
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uORB::PublicationMulti<ekf_gps_drift_s> _ekf_gps_drift_pub{ORB_ID(ekf_gps_drift)};
|
||||
uORB::PublicationMulti<estimator_baro_bias_s> _estimator_baro_bias_pub{ORB_ID(estimator_baro_bias)};
|
||||
uORB::PublicationMulti<estimator_event_flags_s> _estimator_event_flags_pub{ORB_ID(estimator_event_flags)};
|
||||
uORB::PublicationMulti<estimator_gps_status_s> _estimator_gps_status_pub{ORB_ID(estimator_gps_status)};
|
||||
uORB::PublicationMulti<estimator_innovations_s> _estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)};
|
||||
uORB::PublicationMulti<estimator_innovations_s> _estimator_innovation_variances_pub{ORB_ID(estimator_innovation_variances)};
|
||||
uORB::PublicationMulti<estimator_innovations_s> _estimator_innovations_pub{ORB_ID(estimator_innovations)};
|
||||
uORB::PublicationMulti<estimator_optical_flow_vel_s> _estimator_optical_flow_vel_pub{ORB_ID(estimator_optical_flow_vel)};
|
||||
uORB::PublicationMulti<estimator_sensor_bias_s> _estimator_sensor_bias_pub{ORB_ID(estimator_sensor_bias)};
|
||||
uORB::PublicationMulti<estimator_states_s> _estimator_states_pub{ORB_ID(estimator_states)};
|
||||
uORB::PublicationMulti<estimator_status_s> _estimator_status_pub{ORB_ID(estimator_status)};
|
||||
uORB::PublicationMulti<estimator_status_flags_s> _estimator_status_flags_pub{ORB_ID(estimator_status_flags)};
|
||||
uORB::PublicationMulti<estimator_event_flags_s> _estimator_event_flags_pub{ORB_ID(estimator_event_flags)};
|
||||
uORB::PublicationMulti<estimator_status_s> _estimator_status_pub{ORB_ID(estimator_status)};
|
||||
uORB::PublicationMulti<vehicle_odometry_s> _estimator_visual_odometry_aligned_pub{ORB_ID(estimator_visual_odometry_aligned)};
|
||||
uORB::PublicationMulti<yaw_estimator_status_s> _yaw_est_pub{ORB_ID(yaw_estimator_status)};
|
||||
|
||||
|
|
|
|||
|
|
@ -138,9 +138,9 @@ void LoggedTopics::add_default_topics()
|
|||
#endif
|
||||
|
||||
// always add the first instance
|
||||
add_topic("ekf_gps_drift", 1000);
|
||||
add_topic("estimator_baro_bias", 500);
|
||||
add_topic("estimator_event_flags", 0);
|
||||
add_topic("estimator_gps_status", 1000);
|
||||
add_topic("estimator_innovation_test_ratios", 500);
|
||||
add_topic("estimator_innovation_variances", 500);
|
||||
add_topic("estimator_innovations", 500);
|
||||
|
|
@ -152,9 +152,9 @@ void LoggedTopics::add_default_topics()
|
|||
add_topic("estimator_visual_odometry_aligned", 200);
|
||||
add_topic("yaw_estimator_status", 1000);
|
||||
|
||||
add_optional_topic_multi("ekf_gps_drift", 1000, MAX_ESTIMATOR_INSTANCES);
|
||||
add_optional_topic_multi("estimator_baro_bias", 500, MAX_ESTIMATOR_INSTANCES);
|
||||
add_optional_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES);
|
||||
add_optional_topic_multi("estimator_gps_status", 1000, MAX_ESTIMATOR_INSTANCES);
|
||||
add_optional_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES);
|
||||
add_optional_topic_multi("estimator_innovation_variances", 500, MAX_ESTIMATOR_INSTANCES);
|
||||
add_optional_topic_multi("estimator_innovations", 500, MAX_ESTIMATOR_INSTANCES);
|
||||
|
|
@ -194,9 +194,9 @@ void LoggedTopics::add_default_topics()
|
|||
add_topic("vehicle_local_position_groundtruth", 100);
|
||||
|
||||
// EKF replay
|
||||
add_topic("ekf_gps_drift");
|
||||
add_topic("estimator_baro_bias");
|
||||
add_topic("estimator_event_flags");
|
||||
add_topic("estimator_gps_status");
|
||||
add_topic("estimator_innovation_test_ratios");
|
||||
add_topic("estimator_innovation_variances");
|
||||
add_topic("estimator_innovations");
|
||||
|
|
|
|||
Loading…
Reference in New Issue