forked from Archive/PX4-Autopilot
AttPosEKF: Publish altitude position estimates without GPS
This commit is contained in:
Johan Jansen
parent
3d1e373e36
commit
7f7c36b5b1
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@ -1514,107 +1514,105 @@ void AttitudePositionEstimatorEKF::task_main()
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_att_pub = orb_advertise(ORB_ID(vehicle_attitude), &_att);
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}
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if (_gps_initialized) {
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_local_pos.timestamp = _last_sensor_timestamp;
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_local_pos.x = _ekf->states[7];
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_local_pos.y = _ekf->states[8];
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// XXX need to announce change of Z reference somehow elegantly
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_local_pos.z = _ekf->states[9] - _baro_ref_offset;
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//Publish position estimations
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_local_pos.timestamp = _last_sensor_timestamp;
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_local_pos.x = _ekf->states[7];
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_local_pos.y = _ekf->states[8];
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// XXX need to announce change of Z reference somehow elegantly
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_local_pos.z = _ekf->states[9] - _baro_ref_offset;
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_local_pos.vx = _ekf->states[4];
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_local_pos.vy = _ekf->states[5];
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_local_pos.vz = _ekf->states[6];
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_local_pos.vx = _ekf->states[4];
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_local_pos.vy = _ekf->states[5];
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_local_pos.vz = _ekf->states[6];
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_local_pos.xy_valid = _gps_initialized;
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_local_pos.z_valid = true;
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_local_pos.v_xy_valid = _gps_initialized;
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_local_pos.v_z_valid = true;
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_local_pos.xy_global = true;
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_local_pos.xy_valid = _gps_initialized;
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_local_pos.z_valid = true;
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_local_pos.v_xy_valid = _gps_initialized;
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_local_pos.v_z_valid = true;
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_local_pos.xy_global = _gps_initialized;
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_local_pos.z_global = false;
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_local_pos.yaw = _att.yaw;
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_local_pos.z_global = false;
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_local_pos.yaw = _att.yaw;
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/* lazily publish the local position only once available */
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if (_local_pos_pub > 0) {
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/* publish the attitude setpoint */
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orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &_local_pos);
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} else {
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/* advertise and publish */
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_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &_local_pos);
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}
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_global_pos.timestamp = _local_pos.timestamp;
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if (_local_pos.xy_global) {
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double est_lat, est_lon;
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map_projection_reproject(&_pos_ref, _local_pos.x, _local_pos.y, &est_lat, &est_lon);
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_global_pos.lat = est_lat;
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_global_pos.lon = est_lon;
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_global_pos.time_utc_usec = _gps.time_utc_usec;
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_global_pos.eph = _gps.eph;
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_global_pos.epv = _gps.epv;
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}
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if (_local_pos.v_xy_valid) {
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_global_pos.vel_n = _local_pos.vx;
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_global_pos.vel_e = _local_pos.vy;
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} else {
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_global_pos.vel_n = 0.0f;
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_global_pos.vel_e = 0.0f;
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}
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/* local pos alt is negative, change sign and add alt offsets */
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_global_pos.alt = _baro_ref + (-_local_pos.z) - _baro_gps_offset;
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if (_local_pos.v_z_valid) {
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_global_pos.vel_d = _local_pos.vz;
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}
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/* terrain altitude */
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_global_pos.terrain_alt = _ekf->hgtRef - _ekf->flowStates[1];
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_global_pos.terrain_alt_valid = (_distance_last_valid > 0) &&
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(hrt_elapsed_time(&_distance_last_valid) < 20 * 1000 * 1000);
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_global_pos.yaw = _local_pos.yaw;
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_global_pos.eph = _gps.eph;
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_global_pos.epv = _gps.epv;
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_global_pos.timestamp = _local_pos.timestamp;
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/* lazily publish the global position only once available */
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if (_global_pos_pub > 0) {
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/* publish the global position */
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orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &_global_pos);
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} else {
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/* advertise and publish */
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_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &_global_pos);
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}
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if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
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_wind.timestamp = _global_pos.timestamp;
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_wind.windspeed_north = _ekf->states[14];
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_wind.windspeed_east = _ekf->states[15];
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// XXX we need to do something smart about the covariance here
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// but we default to the estimate covariance for now
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_wind.covariance_north = _ekf->P[14][14];
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_wind.covariance_east = _ekf->P[15][15];
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/* lazily publish the wind estimate only once available */
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if (_wind_pub > 0) {
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/* publish the wind estimate */
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orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind);
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} else {
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/* advertise and publish */
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_wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind);
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}
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}
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/* lazily publish the local position only once available */
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if (_local_pos_pub > 0) {
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/* publish the attitude setpoint */
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orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &_local_pos);
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} else {
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/* advertise and publish */
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_local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &_local_pos);
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}
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_global_pos.timestamp = _local_pos.timestamp;
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if (_local_pos.xy_global) {
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double est_lat, est_lon;
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map_projection_reproject(&_pos_ref, _local_pos.x, _local_pos.y, &est_lat, &est_lon);
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_global_pos.lat = est_lat;
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_global_pos.lon = est_lon;
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_global_pos.time_utc_usec = _gps.time_utc_usec;
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_global_pos.eph = _gps.eph;
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_global_pos.epv = _gps.epv;
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}
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if (_local_pos.v_xy_valid) {
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_global_pos.vel_n = _local_pos.vx;
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_global_pos.vel_e = _local_pos.vy;
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} else {
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_global_pos.vel_n = 0.0f;
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_global_pos.vel_e = 0.0f;
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}
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/* local pos alt is negative, change sign and add alt offsets */
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_global_pos.alt = _baro_ref + (-_local_pos.z) - _baro_gps_offset;
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if (_local_pos.v_z_valid) {
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_global_pos.vel_d = _local_pos.vz;
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}
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/* terrain altitude */
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_global_pos.terrain_alt = _ekf->hgtRef - _ekf->flowStates[1];
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_global_pos.terrain_alt_valid = (_distance_last_valid > 0) &&
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(hrt_elapsed_time(&_distance_last_valid) < 20 * 1000 * 1000);
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_global_pos.yaw = _local_pos.yaw;
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_global_pos.eph = _gps.eph;
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_global_pos.epv = _gps.epv;
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_global_pos.timestamp = _local_pos.timestamp;
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/* lazily publish the global position only once available */
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if (_global_pos_pub > 0) {
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/* publish the global position */
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orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &_global_pos);
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} else {
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/* advertise and publish */
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_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &_global_pos);
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}
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if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
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_wind.timestamp = _global_pos.timestamp;
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_wind.windspeed_north = _ekf->states[14];
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_wind.windspeed_east = _ekf->states[15];
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// XXX we need to do something smart about the covariance here
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// but we default to the estimate covariance for now
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_wind.covariance_north = _ekf->P[14][14];
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_wind.covariance_east = _ekf->P[15][15];
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/* lazily publish the wind estimate only once available */
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if (_wind_pub > 0) {
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/* publish the wind estimate */
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orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind);
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} else {
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/* advertise and publish */
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_wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind);
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}
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}
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}
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}
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