forked from Archive/PX4-Autopilot
EKF add new simple setIMUData() interface (#512)
This commit is contained in:
parent
e6cd6eff87
commit
8bbaf898a5
|
@ -46,61 +46,53 @@
|
|||
#include <mathlib/mathlib.h>
|
||||
|
||||
// Accumulate imu data and store to buffer at desired rate
|
||||
void EstimatorInterface::setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, uint64_t delta_vel_dt,
|
||||
float (&delta_ang)[3], float (&delta_vel)[3])
|
||||
void EstimatorInterface::setIMUData(const imuSample &imu_sample)
|
||||
{
|
||||
if (!_initialised) {
|
||||
init(time_usec);
|
||||
init(imu_sample.time_us);
|
||||
_initialised = true;
|
||||
}
|
||||
|
||||
const float dt = math::constrain((time_usec - _time_last_imu) / 1e6f, 1.0e-4f, 0.02f);
|
||||
const float dt = math::constrain((imu_sample.time_us - _time_last_imu) / 1e6f, 1.0e-4f, 0.02f);
|
||||
|
||||
_time_last_imu = time_usec;
|
||||
_time_last_imu = imu_sample.time_us;
|
||||
|
||||
if (_time_last_imu > 0) {
|
||||
_dt_imu_avg = 0.8f * _dt_imu_avg + 0.2f * dt;
|
||||
}
|
||||
|
||||
imuSample imu_sample_new;
|
||||
imu_sample_new.delta_ang = Vector3f(delta_ang);
|
||||
imu_sample_new.delta_vel = Vector3f(delta_vel);
|
||||
imu_sample_new.delta_ang_dt = delta_ang_dt * 1e-6f;
|
||||
imu_sample_new.delta_vel_dt = delta_vel_dt * 1e-6f;
|
||||
imu_sample_new.time_us = time_usec;
|
||||
|
||||
// calculate a metric which indicates the amount of coning vibration
|
||||
Vector3f temp = cross_product(imu_sample_new.delta_ang, _delta_ang_prev);
|
||||
Vector3f temp = cross_product(imu_sample.delta_ang, _delta_ang_prev);
|
||||
_vibe_metrics[0] = 0.99f * _vibe_metrics[0] + 0.01f * temp.norm();
|
||||
|
||||
// calculate a metric which indiates the amount of high frequency gyro vibration
|
||||
temp = imu_sample_new.delta_ang - _delta_ang_prev;
|
||||
_delta_ang_prev = imu_sample_new.delta_ang;
|
||||
temp = imu_sample.delta_ang - _delta_ang_prev;
|
||||
_delta_ang_prev = imu_sample.delta_ang;
|
||||
_vibe_metrics[1] = 0.99f * _vibe_metrics[1] + 0.01f * temp.norm();
|
||||
|
||||
// calculate a metric which indicates the amount of high fequency accelerometer vibration
|
||||
temp = imu_sample_new.delta_vel - _delta_vel_prev;
|
||||
_delta_vel_prev = imu_sample_new.delta_vel;
|
||||
temp = imu_sample.delta_vel - _delta_vel_prev;
|
||||
_delta_vel_prev = imu_sample.delta_vel;
|
||||
_vibe_metrics[2] = 0.99f * _vibe_metrics[2] + 0.01f * temp.norm();
|
||||
|
||||
// detect if the vehicle is not moving when on ground
|
||||
if (!_control_status.flags.in_air) {
|
||||
if ((_vibe_metrics[1] * 4.0E4f > _params.is_moving_scaler)
|
||||
|| (_vibe_metrics[2] * 2.1E2f > _params.is_moving_scaler)
|
||||
|| ((imu_sample_new.delta_ang.norm() / dt) > 0.05f * _params.is_moving_scaler)) {
|
||||
|| ((imu_sample.delta_ang.norm() / dt) > 0.05f * _params.is_moving_scaler)) {
|
||||
|
||||
_time_last_move_detect_us = imu_sample_new.time_us;
|
||||
_time_last_move_detect_us = imu_sample.time_us;
|
||||
}
|
||||
|
||||
_vehicle_at_rest = ((imu_sample_new.time_us - _time_last_move_detect_us) > (uint64_t)1E6);
|
||||
_vehicle_at_rest = ((imu_sample.time_us - _time_last_move_detect_us) > (uint64_t)1E6);
|
||||
|
||||
} else {
|
||||
_time_last_move_detect_us = imu_sample_new.time_us;
|
||||
_time_last_move_detect_us = imu_sample.time_us;
|
||||
_vehicle_at_rest = false;
|
||||
}
|
||||
|
||||
// accumulate and down-sample imu data and push to the buffer when new downsampled data becomes available
|
||||
if (collect_imu(imu_sample_new)) {
|
||||
if (collect_imu(imu_sample)) {
|
||||
|
||||
// down-sample the drag specific force data by accumulating and calculating the mean when
|
||||
// sufficient samples have been collected
|
||||
|
@ -119,10 +111,10 @@ void EstimatorInterface::setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, u
|
|||
|
||||
_drag_sample_count ++;
|
||||
// note acceleration is accumulated as a delta velocity
|
||||
_drag_down_sampled.accelXY(0) += imu_sample_new.delta_vel(0);
|
||||
_drag_down_sampled.accelXY(1) += imu_sample_new.delta_vel(1);
|
||||
_drag_down_sampled.time_us += imu_sample_new.time_us;
|
||||
_drag_sample_time_dt += imu_sample_new.delta_vel_dt;
|
||||
_drag_down_sampled.accelXY(0) += imu_sample.delta_vel(0);
|
||||
_drag_down_sampled.accelXY(1) += imu_sample.delta_vel(1);
|
||||
_drag_down_sampled.time_us += imu_sample.time_us;
|
||||
_drag_sample_time_dt += imu_sample.delta_vel_dt;
|
||||
|
||||
// calculate the downsample ratio for drag specific force data
|
||||
uint8_t min_sample_ratio = (uint8_t) ceilf((float)_imu_buffer_length / _obs_buffer_length);
|
||||
|
@ -151,6 +143,21 @@ void EstimatorInterface::setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, u
|
|||
}
|
||||
}
|
||||
|
||||
void EstimatorInterface::setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, uint64_t delta_vel_dt,
|
||||
float (&delta_ang)[3], float (&delta_vel)[3])
|
||||
{
|
||||
imuSample imu_sample_new;
|
||||
imu_sample_new.delta_ang = Vector3f(delta_ang);
|
||||
imu_sample_new.delta_vel = Vector3f(delta_vel);
|
||||
|
||||
// convert time from us to secs
|
||||
imu_sample_new.delta_ang_dt = delta_ang_dt / 1e6f;
|
||||
imu_sample_new.delta_vel_dt = delta_vel_dt / 1e6f;
|
||||
imu_sample_new.time_us = time_usec;
|
||||
|
||||
setIMUData(imu_sample_new);
|
||||
}
|
||||
|
||||
void EstimatorInterface::setMagData(uint64_t time_usec, float (&data)[3])
|
||||
{
|
||||
if (!_initialised || _mag_buffer_fail) {
|
||||
|
|
|
@ -175,6 +175,9 @@ public:
|
|||
virtual bool collect_imu(const imuSample &imu) = 0;
|
||||
|
||||
// set delta angle imu data
|
||||
void setIMUData(const imuSample &imu_sample);
|
||||
|
||||
// legacy interface for compatibility (2018-09-14)
|
||||
void setIMUData(uint64_t time_usec, uint64_t delta_ang_dt, uint64_t delta_vel_dt, float (&delta_ang)[3], float (&delta_vel)[3]);
|
||||
|
||||
// set magnetometer data
|
||||
|
|
Loading…
Reference in New Issue