From 7f7c36b5b1e4977bb00127bbce0392f6bbd15baf Mon Sep 17 00:00:00 2001 From: Johan Jansen Date: Tue, 10 Feb 2015 14:56:50 +0100 Subject: [PATCH] AttPosEKF: Publish altitude position estimates without GPS --- .../ekf_att_pos_estimator_main.cpp | 186 +++++++++--------- 1 file changed, 92 insertions(+), 94 deletions(-) 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 81b27ddbeb..e02adb3050 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 @@ -1514,107 +1514,105 @@ void AttitudePositionEstimatorEKF::task_main() _att_pub = orb_advertise(ORB_ID(vehicle_attitude), &_att); } - if (_gps_initialized) { - _local_pos.timestamp = _last_sensor_timestamp; - _local_pos.x = _ekf->states[7]; - _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; + //Publish position estimations + _local_pos.timestamp = _last_sensor_timestamp; + _local_pos.x = _ekf->states[7]; + _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.vx = _ekf->states[4]; - _local_pos.vy = _ekf->states[5]; - _local_pos.vz = _ekf->states[6]; + _local_pos.vx = _ekf->states[4]; + _local_pos.vy = _ekf->states[5]; + _local_pos.vz = _ekf->states[6]; - _local_pos.xy_valid = _gps_initialized; - _local_pos.z_valid = true; - _local_pos.v_xy_valid = _gps_initialized; - _local_pos.v_z_valid = true; - _local_pos.xy_global = true; + _local_pos.xy_valid = _gps_initialized; + _local_pos.z_valid = true; + _local_pos.v_xy_valid = _gps_initialized; + _local_pos.v_z_valid = true; + _local_pos.xy_global = _gps_initialized; - _local_pos.z_global = false; - _local_pos.yaw = _att.yaw; + _local_pos.z_global = false; + _local_pos.yaw = _att.yaw; - /* lazily publish the local position only once available */ - if (_local_pos_pub > 0) { - /* publish the attitude setpoint */ - orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &_local_pos); - - } else { - /* advertise and publish */ - _local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &_local_pos); - } - - _global_pos.timestamp = _local_pos.timestamp; - - if (_local_pos.xy_global) { - double est_lat, est_lon; - map_projection_reproject(&_pos_ref, _local_pos.x, _local_pos.y, &est_lat, &est_lon); - _global_pos.lat = est_lat; - _global_pos.lon = est_lon; - _global_pos.time_utc_usec = _gps.time_utc_usec; - _global_pos.eph = _gps.eph; - _global_pos.epv = _gps.epv; - } - - if (_local_pos.v_xy_valid) { - _global_pos.vel_n = _local_pos.vx; - _global_pos.vel_e = _local_pos.vy; - } else { - _global_pos.vel_n = 0.0f; - _global_pos.vel_e = 0.0f; - } - - /* local pos alt is negative, change sign and add alt offsets */ - _global_pos.alt = _baro_ref + (-_local_pos.z) - _baro_gps_offset; - - if (_local_pos.v_z_valid) { - _global_pos.vel_d = _local_pos.vz; - } - - /* terrain altitude */ - _global_pos.terrain_alt = _ekf->hgtRef - _ekf->flowStates[1]; - _global_pos.terrain_alt_valid = (_distance_last_valid > 0) && - (hrt_elapsed_time(&_distance_last_valid) < 20 * 1000 * 1000); - - _global_pos.yaw = _local_pos.yaw; - - _global_pos.eph = _gps.eph; - _global_pos.epv = _gps.epv; - - _global_pos.timestamp = _local_pos.timestamp; - - /* lazily publish the global position only once available */ - if (_global_pos_pub > 0) { - /* publish the global position */ - orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &_global_pos); - - } else { - /* advertise and publish */ - _global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &_global_pos); - } - - if (hrt_elapsed_time(&_wind.timestamp) > 99000) { - _wind.timestamp = _global_pos.timestamp; - _wind.windspeed_north = _ekf->states[14]; - _wind.windspeed_east = _ekf->states[15]; - // XXX we need to do something smart about the covariance here - // but we default to the estimate covariance for now - _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); - } - } + /* lazily publish the local position only once available */ + if (_local_pos_pub > 0) { + /* publish the attitude setpoint */ + orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &_local_pos); + } else { + /* advertise and publish */ + _local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &_local_pos); } + _global_pos.timestamp = _local_pos.timestamp; + + if (_local_pos.xy_global) { + double est_lat, est_lon; + map_projection_reproject(&_pos_ref, _local_pos.x, _local_pos.y, &est_lat, &est_lon); + _global_pos.lat = est_lat; + _global_pos.lon = est_lon; + _global_pos.time_utc_usec = _gps.time_utc_usec; + _global_pos.eph = _gps.eph; + _global_pos.epv = _gps.epv; + } + + if (_local_pos.v_xy_valid) { + _global_pos.vel_n = _local_pos.vx; + _global_pos.vel_e = _local_pos.vy; + } else { + _global_pos.vel_n = 0.0f; + _global_pos.vel_e = 0.0f; + } + + /* local pos alt is negative, change sign and add alt offsets */ + _global_pos.alt = _baro_ref + (-_local_pos.z) - _baro_gps_offset; + + if (_local_pos.v_z_valid) { + _global_pos.vel_d = _local_pos.vz; + } + + /* terrain altitude */ + _global_pos.terrain_alt = _ekf->hgtRef - _ekf->flowStates[1]; + _global_pos.terrain_alt_valid = (_distance_last_valid > 0) && + (hrt_elapsed_time(&_distance_last_valid) < 20 * 1000 * 1000); + + _global_pos.yaw = _local_pos.yaw; + + _global_pos.eph = _gps.eph; + _global_pos.epv = _gps.epv; + + _global_pos.timestamp = _local_pos.timestamp; + + /* lazily publish the global position only once available */ + if (_global_pos_pub > 0) { + /* publish the global position */ + orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &_global_pos); + + } else { + /* advertise and publish */ + _global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &_global_pos); + } + + if (hrt_elapsed_time(&_wind.timestamp) > 99000) { + _wind.timestamp = _global_pos.timestamp; + _wind.windspeed_north = _ekf->states[14]; + _wind.windspeed_east = _ekf->states[15]; + // XXX we need to do something smart about the covariance here + // but we default to the estimate covariance for now + _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); + } + } } }