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px4-firmware
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Reworked how we deal with altitudes

This commit is contained in:
Lorenz Meier 2014-04-26 18:37:26 +02:00
parent 6612cdab85
commit 925430796e
2 changed files with 62 additions and 28 deletions
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79
src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp
View File

@ -191,6 +191,7 @@ private:
perf_counter_t _perf_airspeed; ///<local performance counter for airspeed updates
bool _initialized;
bool _baro_init;
bool _gps_initialized;
uint64_t _gps_start_time;
@ -214,6 +215,7 @@ private:
float mage_pnoise;
float magb_pnoise;
float eas_noise;
float pos_stddev_threshold;
} _parameters; /**< local copies of interesting parameters */
struct {
@ -234,6 +236,7 @@ private:
param_t mage_pnoise;
param_t magb_pnoise;
param_t eas_noise;
param_t pos_stddev_threshold;
} _parameter_handles; /**< handles for interesting parameters */
AttPosEKF *_ekf;
@ -336,6 +339,7 @@ FixedwingEstimator::FixedwingEstimator() :
/* states */
_initialized(false),
_baro_init(false),
_gps_initialized(false),
_mavlink_fd(-1),
_ekf(nullptr)
@ -360,6 +364,7 @@ FixedwingEstimator::FixedwingEstimator() :
_parameter_handles.mage_pnoise = param_find("PE_MAGE_PNOISE");
_parameter_handles.magb_pnoise = param_find("PE_MAGB_PNOISE");
_parameter_handles.eas_noise = param_find("PE_EAS_NOISE");
_parameter_handles.pos_stddev_threshold = param_find("PE_POSDEV_INIT");
/* fetch initial parameter values */
parameters_update();
@ -448,6 +453,7 @@ FixedwingEstimator::parameters_update()
param_get(_parameter_handles.mage_pnoise, &(_parameters.mage_pnoise));
param_get(_parameter_handles.magb_pnoise, &(_parameters.magb_pnoise));
param_get(_parameter_handles.eas_noise, &(_parameters.eas_noise));
param_get(_parameter_handles.pos_stddev_threshold, &(_parameters.pos_stddev_threshold));
if (_ekf) {
// _ekf->yawVarScale = 1.0f;
@ -568,18 +574,10 @@ FixedwingEstimator::task_main()
#endif
bool newDataGps = false;
bool newHgtData = false;
bool newAdsData = false;
bool newDataMag = false;
// Reset relevant structs
_gps = {};
#ifndef SENSOR_COMBINED_SUB
_gyro = {};
#else
_sensor_combined = {};
#endif
while (!_task_should_exit) {
/* wait for up to 500ms for data */
@ -611,6 +609,7 @@ FixedwingEstimator::task_main()
if (fds[1].revents & POLLIN) {
/* check vehicle status for changes to publication state */
bool prev_hil = (_vstatus.hil_state == HIL_STATE_ON);
vehicle_status_poll();
bool accel_updated;
@ -618,6 +617,12 @@ FixedwingEstimator::task_main()
perf_count(_perf_gyro);
/* Reset baro reference if switching to HIL */
if (!prev_hil && (_vstatus.hil_state == HIL_STATE_ON)) {
_baro_init = false;
_gps_initialized = false;
}
/**
* PART ONE: COLLECT ALL DATA
**/
@ -813,10 +818,17 @@ FixedwingEstimator::task_main()
if (baro_updated) {
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
_ekf->baroHgt = _baro.altitude - _baro_ref;
_ekf->baroHgt = _baro.altitude;
// Could use a blend of GPS and baro alt data if desired
_ekf->hgtMea = 1.0f * _ekf->baroHgt + 0.0f * _ekf->gpsHgt;
if (!_baro_init) {
_baro_ref = _baro.altitude;
_baro_init = true;
warnx("ALT REF INIT");
}
newHgtData = true;
} else {
newHgtData = false;
}
#ifndef SENSOR_COMBINED_SUB
@ -904,9 +916,9 @@ FixedwingEstimator::task_main()
}
}
// XXX trap for testing
// warn on fatal resets
if (check == 1) {
errx(1, "NUMERIC ERROR IN FILTER");
warnx("NUMERIC ERROR IN FILTER");
}
// If non-zero, we got a filter reset
@ -960,7 +972,7 @@ FixedwingEstimator::task_main()
// struct home_position_s home;
// orb_copy(ORB_ID(home_position), _home_sub, &home);
if (!_gps_initialized && _gps.fix_type > 2) {
if (!_gps_initialized && _gps.fix_type > 2 && _gps.eph_m < _parameters.pos_stddev_threshold && _gps.epv_m < _parameters.pos_stddev_threshold) {
_ekf->velNED[0] = _gps.vel_n_m_s;
_ekf->velNED[1] = _gps.vel_e_m_s;
_ekf->velNED[2] = _gps.vel_d_m_s;
@ -968,26 +980,37 @@ FixedwingEstimator::task_main()
// GPS is in scaled integers, convert
double lat = _gps.lat / 1.0e7;
double lon = _gps.lon / 1.0e7;
float alt = _gps.alt / 1e3f;
float gps_alt = _gps.alt / 1e3f;
_ekf->InitialiseFilter(_ekf->velNED, math::radians(lat), math::radians(lon) - M_PI, alt);
// Set up height correctly
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
_baro_gps_offset = gps_alt - _baro.altitude;
_ekf->baroHgt = _baro.altitude;
_ekf->hgtMea = 1.0f * (_ekf->baroHgt - _baro_ref);
// Set up position variables correctly
_ekf->GPSstatus = _gps.fix_type;
_ekf->velNED[0] = _gps.vel_n_m_s;
_ekf->velNED[1] = _gps.vel_e_m_s;
_ekf->velNED[2] = _gps.vel_d_m_s;
_ekf->gpsLat = math::radians(_gps.lat / (double)1e7);
_ekf->gpsLon = math::radians(_gps.lon / (double)1e7) - M_PI;
_ekf->gpsHgt = _gps.alt / 1e3f;
_ekf->InitialiseFilter(_ekf->velNED, math::radians(lat), math::radians(lon) - M_PI, gps_alt);
// Initialize projection
_local_pos.ref_lat = _gps.lat;
_local_pos.ref_lon = _gps.alt;
_local_pos.ref_alt = alt;
_local_pos.ref_alt = _baro_ref + _baro_gps_offset;
_local_pos.ref_timestamp = _gps.timestamp_position;
// Store
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
_baro_ref = _baro.altitude;
_ekf->baroHgt = _baro.altitude - _baro_ref;
_baro_gps_offset = _baro_ref - _local_pos.ref_alt;
map_projection_init(&_pos_ref, lat, lon);
mavlink_log_info(_mavlink_fd, "[ekf] ref: LA %.4f,LO %.4f,ALT %.2f", lat, lon, (double)alt);
warnx("[ekf] HOME/REF: LA %8.4f,LO %8.4f,ALT %8.2f V: %8.4f %8.4f %8.4f", lat, lon, (double)alt,
mavlink_log_info(_mavlink_fd, "[ekf] ref: LA %.4f,LO %.4f,ALT %.2f", lat, lon, (double)gps_alt);
warnx("HOME/REF: LA %8.4f,LO %8.4f,ALT %8.2f V: %8.4f %8.4f %8.4f", lat, lon, (double)gps_alt,
(double)_ekf->velNED[0], (double)_ekf->velNED[1], (double)_ekf->velNED[2]);
warnx("GPS: eph: %8.4f, epv: %8.4f", (double)_gps.eph_m, (double)_gps.epv_m);
_gps_initialized = true;
@ -1089,9 +1112,9 @@ FixedwingEstimator::task_main()
_ekf->fusePosData = false;
}
if (newAdsData && _ekf->statesInitialised) {
if (newHgtData && _ekf->statesInitialised) {
// Could use a blend of GPS and baro alt data if desired
_ekf->hgtMea = 1.0f * _ekf->baroHgt + 0.0f * _ekf->gpsHgt;
_ekf->hgtMea = 1.0f * (_ekf->baroHgt - _baro_ref);
_ekf->fuseHgtData = true;
// recall states stored at time of measurement after adjusting for delays
_ekf->RecallStates(_ekf->statesAtHgtTime, (IMUmsec - _parameters.height_delay_ms));

11
src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c
View File

@ -258,3 +258,14 @@ PARAM_DEFINE_FLOAT(PE_MAGE_PNOISE, 0.0003f);
*/
PARAM_DEFINE_FLOAT(PE_MAGB_PNOISE, 0.0003f);
/**
* Threshold for filter initialization.
*
* If the standard deviation of the GPS position estimate is below this threshold
* in meters, the filter will initialize.
*
* @min 0.3
* @max 10.0
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_POSDEV_INIT, 5.0f);