diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp index 18fb6dcbc9..ecca04dd7f 100644 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp @@ -41,6 +41,7 @@ #include "KalmanNav.hpp" #include +#include // constants // Titterton pg. 52 @@ -67,15 +68,13 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) : // attitude representations C_nb(), q(), - _accel_sub(-1), - _gyro_sub(-1), - _mag_sub(-1), // subscriptions _sensors(&getSubscriptions(), ORB_ID(sensor_combined), 5), // limit to 200 Hz _gps(&getSubscriptions(), ORB_ID(vehicle_gps_position), 100), // limit to 10 Hz _param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz // publications _pos(&getPublications(), ORB_ID(vehicle_global_position)), + _localPos(&getPublications(), ORB_ID(vehicle_local_position)), _att(&getPublications(), ORB_ID(vehicle_attitude)), // timestamps _pubTimeStamp(hrt_absolute_time()), @@ -92,6 +91,7 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) : phi(0), theta(0), psi(0), vN(0), vE(0), vD(0), lat(0), lon(0), alt(0), + lat0(0), lon0(0), alt0(0), // parameters for ground station _vGyro(this, "V_GYRO"), _vAccel(this, "V_ACCEL"), @@ -127,19 +127,15 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) : lon = 0.0f; alt = 0.0f; - // gyro, accel and mag subscriptions - _gyro_sub = orb_subscribe(ORB_ID(sensor_gyro)); - _accel_sub = orb_subscribe(ORB_ID(sensor_accel)); - _mag_sub = orb_subscribe(ORB_ID(sensor_mag)); - - struct accel_report accel; - orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel); - - struct mag_report mag; - orb_copy(ORB_ID(sensor_mag), _mag_sub, &mag); - // initialize rotation quaternion with a single raw sensor measurement - q = init(accel.x, accel.y, accel.z, mag.x, mag.y, mag.z); + _sensors.update(); + q = init( + _sensors.accelerometer_m_s2[0], + _sensors.accelerometer_m_s2[1], + _sensors.accelerometer_m_s2[2], + _sensors.magnetometer_ga[0], + _sensors.magnetometer_ga[1], + _sensors.magnetometer_ga[2]); // initialize dcm C_nb = Dcm(q); @@ -252,11 +248,21 @@ void KalmanNav::update() setLatDegE7(_gps.lat); setLonDegE7(_gps.lon); setAltE3(_gps.alt); + // set reference position for + // local position + lat0 = lat; + lon0 = lon; + alt0 = alt; + // XXX map_projection has internal global + // states that multiple things could change, + // should make map_projection take reference + // lat/lon and not have init + map_projection_init(lat0, lon0); _positionInitialized = true; warnx("initialized EKF state with GPS\n"); warnx("vN: %8.4f, vE: %8.4f, vD: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f\n", double(vN), double(vE), double(vD), - lat, lon, alt); + lat, lon, double(alt)); } // prediction step @@ -311,7 +317,7 @@ void KalmanNav::updatePublications() { using namespace math; - // position publication + // global position publication _pos.timestamp = _pubTimeStamp; _pos.time_gps_usec = _gps.timestamp_position; _pos.valid = true; @@ -324,6 +330,31 @@ void KalmanNav::updatePublications() _pos.vz = vD; _pos.yaw = psi; + // local position publication + float x; + float y; + bool landed = alt < (alt0 + 0.1); // XXX improve? + map_projection_project(lat, lon, &x, &y); + _localPos.timestamp = _pubTimeStamp; + _localPos.xy_valid = true; + _localPos.z_valid = true; + _localPos.v_xy_valid = true; + _localPos.v_z_valid = true; + _localPos.x = x; + _localPos.y = y; + _localPos.z = alt0 - alt; + _localPos.vx = vN; + _localPos.vy = vE; + _localPos.vz = vD; + _localPos.yaw = psi; + _localPos.xy_global = true; + _localPos.z_global = true; + _localPos.ref_timestamp = _pubTimeStamp; + _localPos.ref_lat = getLatDegE7(); + _localPos.ref_lon = getLonDegE7(); + _localPos.ref_alt = 0; + _localPos.landed = landed; + // attitude publication _att.timestamp = _pubTimeStamp; _att.roll = phi; @@ -347,8 +378,10 @@ void KalmanNav::updatePublications() // selectively update publications, // do NOT call superblock do-all method - if (_positionInitialized) + if (_positionInitialized) { _pos.update(); + _localPos.update(); + } if (_attitudeInitialized) _att.update(); diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp index 799fc2fb9e..a69bde1a65 100644 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp @@ -52,6 +52,7 @@ #include #include +#include #include #include #include @@ -142,12 +143,8 @@ protected: control::UOrbSubscription _param_update; /**< parameter update sub. */ // publications control::UOrbPublication _pos; /**< position pub. */ + control::UOrbPublication _localPos; /**< local position pub. */ control::UOrbPublication _att; /**< attitude pub. */ - - int _accel_sub; /**< Accelerometer subscription */ - int _gyro_sub; /**< Gyroscope subscription */ - int _mag_sub; /**< Magnetometer subscription */ - // time stamps uint64_t _pubTimeStamp; /**< output data publication time stamp */ uint64_t _predictTimeStamp; /**< prediction time stamp */ @@ -164,8 +161,10 @@ protected: float phi, theta, psi; /**< 3-2-1 euler angles */ float vN, vE, vD; /**< navigation velocity, m/s */ double lat, lon; /**< lat, lon radians */ - float alt; /**< altitude, meters */ // parameters + float alt; /**< altitude, meters */ + double lat0, lon0; /**< reference latitude and longitude */ + float alt0; /**< refeerence altitude (ground height) */ control::BlockParamFloat _vGyro; /**< gyro process noise */ control::BlockParamFloat _vAccel; /**< accelerometer process noise */ control::BlockParamFloat _rMag; /**< magnetometer measurement noise */