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Extend auxVel interface to support 3d velocity

This commit is contained in:
kamilritz 2019-12-09 14:27:51 +01:00 committed by Mathieu Bresciani
parent 07e8e88e88
commit 84dcb32bd8
4 changed files with 12 additions and 10 deletions
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4
EKF/common.h
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@ -167,8 +167,8 @@ struct dragSample {
};
struct auxVelSample {
Vector2f velNE; ///< measured NE velocity relative to the local origin (m/sec)
Vector2f velVarNE; ///< estimated error variance of the NE velocity (m/sec)**2
Vector3f vel; ///< measured NE velocity relative to the local origin (m/sec)
Vector3f velVar; ///< estimated error variance of the NE velocity (m/sec)**2
uint64_t time_us; ///< timestamp of the measurement (uSec)
};

10
EKF/control.cpp
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@ -1398,14 +1398,16 @@ void Ekf::controlAuxVelFusion()
Vector2f aux_vel_innov_gate;
Vector3f aux_vel_obs_var;
_aux_vel_innov(0) = _state.vel(0) - _auxvel_sample_delayed.velNE(0);
_aux_vel_innov(1) = _state.vel(1) - _auxvel_sample_delayed.velNE(1);
_aux_vel_innov = _state.vel - _auxvel_sample_delayed.vel;
aux_vel_obs_var = _auxvel_sample_delayed.velVar;
aux_vel_innov_gate(0) = _params.auxvel_gate;
aux_vel_obs_var(0) = _auxvel_sample_delayed.velVarNE(0);
aux_vel_obs_var(1) = _auxvel_sample_delayed.velVarNE(1);
fuseHorizontalVelocity(_aux_vel_innov, aux_vel_innov_gate, aux_vel_obs_var,
_aux_vel_innov_var, _aux_vel_test_ratio);
// Can be enabled after bit for this is added to EKF_AID_MASK
// fuseVerticalVelocity(_aux_vel_innov, aux_vel_innov_gate, aux_vel_obs_var,
// _aux_vel_innov_var, _aux_vel_test_ratio);
}
}

6
EKF/estimator_interface.cpp
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@ -447,7 +447,7 @@ void EstimatorInterface::setExtVisionData(uint64_t time_usec, ext_vision_message
}
}
void EstimatorInterface::setAuxVelData(uint64_t time_usec, float (&data)[2], float (&variance)[2])
void EstimatorInterface::setAuxVelData(uint64_t time_usec, const Vector3f &velocity, const Vector3f &variance)
{
if (!_initialised || _auxvel_buffer_fail) {
return;
@ -473,8 +473,8 @@ void EstimatorInterface::setAuxVelData(uint64_t time_usec, float (&data)[2], flo
auxvel_sample_new.time_us -= FILTER_UPDATE_PERIOD_MS * 1000 / 2;
_time_last_auxvel = time_usec;
auxvel_sample_new.velNE = Vector2f(data);
auxvel_sample_new.velVarNE = Vector2f(variance);
auxvel_sample_new.vel = velocity;
auxvel_sample_new.velVar = variance;
_auxvel_buffer.push(auxvel_sample_new);
}

2
EKF/estimator_interface.h
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@ -203,7 +203,7 @@ public:
void setExtVisionData(uint64_t time_usec, ext_vision_message *evdata);
// set auxiliary velocity data
void setAuxVelData(uint64_t time_usec, float (&data)[2], float (&variance)[2]);
void setAuxVelData(uint64_t time_usec, const Vector3f &vel, const Vector3f &variance);
// return a address to the parameters struct
// in order to give access to the application