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ekf2: publish GNSS, rng and EV height biases

This commit is contained in:
bresch 2022-08-03 10:33:39 +02:00 committed by Daniel Agar
parent 6833c7e311
commit aba2eac0df
7 changed files with 85 additions and 13 deletions
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2
msg/CMakeLists.txt
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@ -70,7 +70,7 @@ set(msg_files
estimator_aid_source_1d.msg
estimator_aid_source_2d.msg
estimator_aid_source_3d.msg
estimator_baro_bias.msg
estimator_bias.msg
estimator_event_flags.msg
estimator_gps_status.msg
estimator_innovations.msg

3
msg/estimator_baro_bias.msg → msg/estimator_bias.msg
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@ -8,3 +8,6 @@ float32 bias_var # estimated barometric altitude bias variance (m^2)
float32 innov # innovation of the last measurement fusion (m)
float32 innov_var # innovation variance of the last measurement fusion (m^2)
float32 innov_test_ratio # normalized innovation squared test ratio
# TOPICS estimator_bias
# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias estimator_ev_hgt_bias

3
src/modules/ekf2/EKF/ekf.h
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@ -392,6 +392,9 @@ public:
bool isYawEmergencyEstimateAvailable() const;
const BiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
const BiasEstimator::status &getGpsHgtBiasEstimatorStatus() const { return _gps_hgt_b_est.getStatus(); }
const BiasEstimator::status &getRngHgtBiasEstimatorStatus() const { return _rng_hgt_b_est.getStatus(); }
const BiasEstimator::status &getEvHgtBiasEstimatorStatus() const { return _ev_hgt_b_est.getStatus(); }
const auto &aid_src_airspeed() const { return _aid_src_airspeed; }

2
src/modules/ekf2/EKF/estimator_interface.h
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@ -257,6 +257,8 @@ public:
const baroSample &get_baro_sample_delayed() const { return _baro_sample_delayed; }
const gpsSample &get_gps_sample_delayed() const { return _gps_sample_delayed; }
const rangeSample &get_rng_sample_delayed() { return *(_range_sensor.getSampleAddress()); }
const extVisionSample &get_ev_sample_delayed() const { return _ev_sample_delayed; }
const bool &global_origin_valid() const { return _NED_origin_initialised; }
const MapProjection &global_origin() const { return _pos_ref; }

64
src/modules/ekf2/EKF2.cpp
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@ -604,6 +604,9 @@ void EKF2::Run()
// publish status/logging messages
PublishBaroBias(now);
PublishGnssHgtBias(now);
PublishRngHgtBias(now);
PublishEvHgtBias(now);
PublishEventFlags(now);
PublishGpsStatus(now);
PublishInnovations(now);
@ -699,22 +702,63 @@ void EKF2::PublishBaroBias(const hrt_abstime &timestamp)
const BiasEstimator::status &status = _ekf.getBaroBiasEstimatorStatus();
if (fabsf(status.bias - _last_baro_bias_published) > 0.001f) {
estimator_baro_bias_s baro_bias{};
baro_bias.timestamp_sample = _ekf.get_baro_sample_delayed().time_us;
baro_bias.baro_device_id = _device_id_baro;
baro_bias.bias = status.bias;
baro_bias.bias_var = status.bias_var;
baro_bias.innov = status.innov;
baro_bias.innov_var = status.innov_var;
baro_bias.innov_test_ratio = status.innov_test_ratio;
baro_bias.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
_estimator_baro_bias_pub.publish(baro_bias);
_estimator_baro_bias_pub.publish(fillEstimatorBiasMsg(status, _ekf.get_baro_sample_delayed().time_us, timestamp,
_device_id_baro));
_last_baro_bias_published = status.bias;
}
}
}
void EKF2::PublishGnssHgtBias(const hrt_abstime &timestamp)
{
const BiasEstimator::status &status = _ekf.getGpsHgtBiasEstimatorStatus();
if (fabsf(status.bias - _last_gnss_hgt_bias_published) > 0.001f) {
_estimator_gnss_hgt_bias_pub.publish(fillEstimatorBiasMsg(status, _ekf.get_gps_sample_delayed().time_us, timestamp));
_last_gnss_hgt_bias_published = status.bias;
}
}
void EKF2::PublishRngHgtBias(const hrt_abstime &timestamp)
{
const BiasEstimator::status &status = _ekf.getRngHgtBiasEstimatorStatus();
if (fabsf(status.bias - _last_rng_hgt_bias_published) > 0.001f) {
_estimator_rng_hgt_bias_pub.publish(fillEstimatorBiasMsg(status, _ekf.get_rng_sample_delayed().time_us, timestamp));
_last_rng_hgt_bias_published = status.bias;
}
}
void EKF2::PublishEvHgtBias(const hrt_abstime &timestamp)
{
const BiasEstimator::status &status = _ekf.getEvHgtBiasEstimatorStatus();
if (fabsf(status.bias - _last_ev_hgt_bias_published) > 0.001f) {
_estimator_ev_hgt_bias_pub.publish(fillEstimatorBiasMsg(status, _ekf.get_ev_sample_delayed().time_us, timestamp));
_last_ev_hgt_bias_published = status.bias;
}
}
estimator_bias_s EKF2::fillEstimatorBiasMsg(const BiasEstimator::status &status, uint64_t timestamp_sample_us,
uint64_t timestamp, uint32_t device_id)
{
estimator_bias_s bias{};
bias.timestamp_sample = timestamp_sample_us;
bias.baro_device_id = device_id;
bias.bias = status.bias;
bias.bias_var = status.bias_var;
bias.innov = status.innov;
bias.innov_var = status.innov_var;
bias.innov_test_ratio = status.innov_test_ratio;
bias.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
return bias;
}
void EKF2::PublishEventFlags(const hrt_abstime &timestamp)
{
// information events

15
src/modules/ekf2/EKF2.hpp
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@ -67,7 +67,7 @@
#include <uORB/topics/airspeed_validated.h>
#include <uORB/topics/distance_sensor.h>
#include <uORB/topics/ekf2_timestamps.h>
#include <uORB/topics/estimator_baro_bias.h>
#include <uORB/topics/estimator_bias.h>
#include <uORB/topics/estimator_event_flags.h>
#include <uORB/topics/estimator_gps_status.h>
#include <uORB/topics/estimator_innovations.h>
@ -137,6 +137,11 @@ private:
void PublishAidSourceStatus(const hrt_abstime &timestamp);
void PublishAttitude(const hrt_abstime &timestamp);
void PublishBaroBias(const hrt_abstime &timestamp);
void PublishGnssHgtBias(const hrt_abstime &timestamp);
void PublishRngHgtBias(const hrt_abstime &timestamp);
void PublishEvHgtBias(const hrt_abstime &timestamp);
estimator_bias_s fillEstimatorBiasMsg(const BiasEstimator::status &status, uint64_t timestamp_sample_us,
uint64_t timestamp, uint32_t device_id = 0);
void PublishEventFlags(const hrt_abstime &timestamp);
void PublishGlobalPosition(const hrt_abstime &timestamp);
void PublishGpsStatus(const hrt_abstime &timestamp);
@ -269,6 +274,9 @@ private:
hrt_abstime _status_aux_vel_pub_last{0};
float _last_baro_bias_published{};
float _last_gnss_hgt_bias_published{};
float _last_rng_hgt_bias_published{};
float _last_ev_hgt_bias_published{};
float _airspeed_scale_factor{1.0f}; ///< scale factor correction applied to airspeed measurements
hrt_abstime _airspeed_validated_timestamp_last{0};
@ -312,7 +320,10 @@ private:
uint32_t _filter_information_event_changes{0};
uORB::PublicationMulti<ekf2_timestamps_s> _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
uORB::PublicationMulti<estimator_baro_bias_s> _estimator_baro_bias_pub{ORB_ID(estimator_baro_bias)};
uORB::PublicationMulti<estimator_bias_s> _estimator_baro_bias_pub{ORB_ID(estimator_baro_bias)};
uORB::PublicationMulti<estimator_bias_s> _estimator_gnss_hgt_bias_pub{ORB_ID(estimator_gnss_hgt_bias)};
uORB::PublicationMulti<estimator_bias_s> _estimator_rng_hgt_bias_pub{ORB_ID(estimator_rng_hgt_bias)};
uORB::PublicationMulti<estimator_bias_s> _estimator_ev_hgt_bias_pub{ORB_ID(estimator_ev_hgt_bias)};
uORB::PublicationMultiData<estimator_event_flags_s> _estimator_event_flags_pub{ORB_ID(estimator_event_flags)};
uORB::PublicationMulti<estimator_gps_status_s> _estimator_gps_status_pub{ORB_ID(estimator_gps_status)};
uORB::PublicationMulti<estimator_innovations_s> _estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)};

9
src/modules/logger/logged_topics.cpp
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@ -144,6 +144,9 @@ void LoggedTopics::add_default_topics()
// always add the first instance
add_topic("estimator_baro_bias", 500);
add_topic("estimator_gnss_hgt_bias", 500);
add_topic("estimator_rng_hgt_bias", 500);
add_topic("estimator_ev_hgt_bias", 500);
add_topic("estimator_event_flags", 0);
add_topic("estimator_gps_status", 1000);
add_topic("estimator_innovation_test_ratios", 500);
@ -158,6 +161,9 @@ void LoggedTopics::add_default_topics()
add_topic("yaw_estimator_status", 1000);
add_optional_topic_multi("estimator_baro_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_gnss_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_rng_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_ev_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_gps_status", 1000, MAX_ESTIMATOR_INSTANCES);
add_optional_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES);
@ -241,6 +247,9 @@ void LoggedTopics::add_default_topics()
// EKF replay
add_topic("estimator_baro_bias");
add_topic("estimator_gnss_hgt_bias");
add_topic("estimator_rng_hgt_bias");
add_topic("estimator_ev_hgt_bias");
add_topic("estimator_event_flags");
add_topic("estimator_gps_status");
add_topic("estimator_innovation_test_ratios");