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Simplified pos estimator, ready for tests

This commit is contained in:
Lorenz Meier 2012-10-02 13:50:59 +02:00
parent 178462edcd
commit a95aa1bbba
3 changed files with 86 additions and 89 deletions
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8
apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
View File

@ -285,10 +285,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
if (time_elapsed > loop_interval_alarm) { if (time_elapsed > loop_interval_alarm) {
//TODO: add warning, cpu overload here //TODO: add warning, cpu overload here
if (overloadcounter == 20) { // if (overloadcounter == 20) {
printf("CPU OVERLOAD DETECTED IN ATTITUDE ESTIMATOR EKF (%lu > %lu)\n", time_elapsed, loop_interval_alarm); // printf("CPU OVERLOAD DETECTED IN ATTITUDE ESTIMATOR EKF (%lu > %lu)\n", time_elapsed, loop_interval_alarm);
overloadcounter = 0; // overloadcounter = 0;
} // }
overloadcounter++; overloadcounter++;
} }

2
apps/position_estimator/Makefile
View File

@ -47,6 +47,4 @@ CSRCS = position_estimator_main.c \
codegen/rtGetInf.c \ codegen/rtGetInf.c \
codegen/rtGetNaN.c codegen/rtGetNaN.c
INCLUDES = $(TOPDIR)/../mavlink/include/mavlink
include $(APPDIR)/mk/app.mk include $(APPDIR)/mk/app.mk

165
apps/position_estimator/position_estimator_main.c
View File

@ -35,8 +35,9 @@
* *
****************************************************************************/ ****************************************************************************/
/* /**
* @file Model-identification based position estimator for multirotors * @file position_estimator_main.c
* Model-identification based position estimator for multirotors
*/ */
#include <nuttx/config.h> #include <nuttx/config.h>
@ -45,7 +46,6 @@
#include <stdio.h> #include <stdio.h>
#include <stdbool.h> #include <stdbool.h>
#include <fcntl.h> #include <fcntl.h>
#include <v1.0/common/mavlink.h>
#include <float.h> #include <float.h>
#include <nuttx/sched.h> #include <nuttx/sched.h>
#include <sys/prctl.h> #include <sys/prctl.h>
@ -58,6 +58,7 @@
#include <uORB/topics/vehicle_attitude.h> #include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_gps_position.h> #include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_global_position.h> #include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_local_position.h>
#include <poll.h> #include <poll.h>
#include "codegen/position_estimator.h" #include "codegen/position_estimator.h"
@ -251,8 +252,9 @@ int position_estimator_main(int argc, char *argv[])
bool new_initialization = true; bool new_initialization = true;
static double lat_current = 0;//[°]] --> 47.0 static double lat_current = 0.0d;//[°]] --> 47.0
static double lon_current = 0; //[°]] -->8.5 static double lon_current = 0.0d; //[°]] -->8.5
float alt_current = 0.0f;
//TODO: handle flight without gps but with estimator //TODO: handle flight without gps but with estimator
@ -269,7 +271,7 @@ int position_estimator_main(int argc, char *argv[])
int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude)); int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
/* wait until gps signal turns valid, only then can we initialize the projection */ /* wait until gps signal turns valid, only then can we initialize the projection */
while (!gps_valid) { while (gps.fix_type < 3) {
struct pollfd fds[1] = { {.fd = vehicle_gps_sub, .events = POLLIN} }; struct pollfd fds[1] = { {.fd = vehicle_gps_sub, .events = POLLIN} };
/* wait for GPS updates, BUT READ VEHICLE STATUS (!) /* wait for GPS updates, BUT READ VEHICLE STATUS (!)
@ -290,14 +292,18 @@ int position_estimator_main(int argc, char *argv[])
orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps); orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_sub, &gps);
lat_current = ((double)(gps.lat)) * 1e-7; lat_current = ((double)(gps.lat)) * 1e-7;
lon_current = ((double)(gps.lon)) * 1e-7; lon_current = ((double)(gps.lon)) * 1e-7;
alt_current = gps.alt * 1e-3;
/* initialize coordinates */
map_projection_init(lat_current, lon_current);
/* publish global position messages only after first GPS message */ /* publish global position messages only after first GPS message */
struct vehicle_global_position_s global_pos = { struct vehicle_local_position_s local_pos = {
.lat = lat_current * 1e7, .x = 0,
.lon = lon_current * 1e7, .y = 0,
.alt = gps.alt .z = 0
}; };
orb_advert_t global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos); orb_advert_t local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos);
printf("[multirotor position estimator] initialized projection with: lat: %.10f, lon:%.10f\n", lat_current, lon_current); printf("[multirotor position estimator] initialized projection with: lat: %.10f, lon:%.10f\n", lat_current, lon_current);
@ -320,91 +326,84 @@ int position_estimator_main(int argc, char *argv[])
u[1] = att.pitch; u[1] = att.pitch;
/* initialize map projection with the last estimate (not at full rate) */ /* initialize map projection with the last estimate (not at full rate) */
if (counter % PROJECTION_INITIALIZE_COUNTER_LIMIT == 0) { if (gps.fix_type > 2) {
map_projection_init(lat_current, lon_current);
new_initialization = true;
} else {
new_initialization = false;
}
/*check if new gps values are available */
gps_valid = vstatus.gps_valid;
if (gps_valid) { //we are safe to use the gps signal (it has good quality)
predict_only = 0;
/* Project gps lat lon (Geographic coordinate system) to plane*/ /* Project gps lat lon (Geographic coordinate system) to plane*/
map_projection_project((double)(gps.lat) * 1e-7, (double)(gps.lon) * 1e-7, &(z[0]), &(z[1])); map_projection_project(((double)(gps.lat)) * 1e-7, ((double)(gps.lon)) * 1e-7, &(z[0]), &(z[1]));
/* copy altitude */ local_pos.x = z[0];
z[2] = (gps.alt) * 1e-3; local_pos.y = z[1];
/* negative offset from initialization altitude */
gps_covariance[0] = gps.eph; //TODO: needs scaling local_pos.z = alt_current - (gps.alt) * 1e-3;
gps_covariance[1] = gps.eph;
gps_covariance[2] = gps.epv;
} else {
/* we can not use the gps signal (it is of low quality) */
predict_only = 1;
}
// predict_only = 0; //TODO: only for testing, removeme, XXX
// z[0] = sinf(((float)counter)/180.0f*3.14159265f); //TODO: only for testing, removeme, XXX
// usleep(100000); //TODO: only for testing, removeme, XXX
/*Get new estimation (this is calculated in the plane) */ orb_publish(ORB_ID(vehicle_local_position), local_pos_pub, &local_pos);
//TODO: if new_initialization == true: use 0,0,0, else use xapo
if (true == new_initialization) { //TODO,XXX: uncomment!
xapo[0] = 0; //we have a new plane initialization. the current estimate is in the center of the plane
xapo[2] = 0;
xapo[4] = 0;
position_estimator(u, z, xapo, Papo, gps_covariance, predict_only, xapo1, Papo1);
} else {
position_estimator(u, z, xapo, Papo, gps_covariance, predict_only, xapo1, Papo1);
} }
// gps_covariance[0] = gps.eph; //TODO: needs scaling
// gps_covariance[1] = gps.eph;
// gps_covariance[2] = gps.epv;
/* Copy values from xapo1 to xapo */ // } else {
int i; // /* we can not use the gps signal (it is of low quality) */
// predict_only = 1;
// }
for (i = 0; i < N_STATES; i++) { // // predict_only = 0; //TODO: only for testing, removeme, XXX
xapo[i] = xapo1[i]; // // z[0] = sinf(((float)counter)/180.0f*3.14159265f); //TODO: only for testing, removeme, XXX
} // // usleep(100000); //TODO: only for testing, removeme, XXX
if ((counter % REPROJECTION_COUNTER_LIMIT == 0) || (counter % (PROJECTION_INITIALIZE_COUNTER_LIMIT - 1) == 0)) {
/* Reproject from plane to geographic coordinate system */
// map_projection_reproject(xapo1[0], xapo1[2], map_scale, phi_1, lambda_0, &lat_current, &lon_current) //TODO,XXX: uncomment!
map_projection_reproject(z[0], z[1], &lat_current, &lon_current); //do not use estimator for projection testing, removeme
// //DEBUG
// if(counter%500 == 0)
// {
// printf("phi_1: %.10f\n", phi_1);
// printf("lambda_0: %.10f\n", lambda_0);
// printf("lat_estimated: %.10f\n", lat_current);
// printf("lon_estimated: %.10f\n", lon_current);
// printf("z[0]=%.10f, z[1]=%.10f, z[2]=%f\n", z[0], z[1], z[2]);
// fflush(stdout);
//
// }
// if(!isnan(lat_current) && !isnan(lon_current))// && !isnan(xapo1[4]) && !isnan(xapo1[1]) && !isnan(xapo1[3]) && !isnan(xapo1[5])) // /*Get new estimation (this is calculated in the plane) */
// { // //TODO: if new_initialization == true: use 0,0,0, else use xapo
/* send out */ // if (true == new_initialization) { //TODO,XXX: uncomment!
// xapo[0] = 0; //we have a new plane initialization. the current estimate is in the center of the plane
// xapo[2] = 0;
// xapo[4] = 0;
// position_estimator(u, z, xapo, Papo, gps_covariance, predict_only, xapo1, Papo1);
global_pos.lat = lat_current; // } else {
global_pos.lon = lon_current; // position_estimator(u, z, xapo, Papo, gps_covariance, predict_only, xapo1, Papo1);
global_pos.alt = xapo1[4]; // }
global_pos.vx = xapo1[1];
global_pos.vy = xapo1[3];
global_pos.vz = xapo1[5];
// /* Copy values from xapo1 to xapo */
// int i;
// for (i = 0; i < N_STATES; i++) {
// xapo[i] = xapo1[i];
// }
// if ((counter % REPROJECTION_COUNTER_LIMIT == 0) || (counter % (PROJECTION_INITIALIZE_COUNTER_LIMIT - 1) == 0)) {
// /* Reproject from plane to geographic coordinate system */
// // map_projection_reproject(xapo1[0], xapo1[2], map_scale, phi_1, lambda_0, &lat_current, &lon_current) //TODO,XXX: uncomment!
// map_projection_reproject(z[0], z[1], &lat_current, &lon_current); //do not use estimator for projection testing, removeme
// // //DEBUG
// // if(counter%500 == 0)
// // {
// // printf("phi_1: %.10f\n", phi_1);
// // printf("lambda_0: %.10f\n", lambda_0);
// // printf("lat_estimated: %.10f\n", lat_current);
// // printf("lon_estimated: %.10f\n", lon_current);
// // printf("z[0]=%.10f, z[1]=%.10f, z[2]=%f\n", z[0], z[1], z[2]);
// // fflush(stdout);
// //
// // }
// // if(!isnan(lat_current) && !isnan(lon_current))// && !isnan(xapo1[4]) && !isnan(xapo1[1]) && !isnan(xapo1[3]) && !isnan(xapo1[5]))
// // {
// /* send out */
// global_pos.lat = lat_current;
// global_pos.lon = lon_current;
// global_pos.alt = xapo1[4];
// global_pos.vx = xapo1[1];
// global_pos.vy = xapo1[3];
// global_pos.vz = xapo1[5];
/* publish current estimate */ /* publish current estimate */
orb_publish(ORB_ID(vehicle_global_position), global_pos_pub, &global_pos); // orb_publish(ORB_ID(vehicle_global_position), global_pos_pub, &global_pos);
// } // }
// else // else
// { // {
@ -412,7 +411,7 @@ int position_estimator_main(int argc, char *argv[])
// fflush(stdout); // fflush(stdout);
// } // }
} // }
counter++; counter++;
} }