forked from Archive/PX4-Autopilot
ekf2: cleanup output predictor init
- output predictor align also init _output_vert_new - output predictor reset handle all fields - output predictor resetQuaternion() normalize - output predictor calculateOutputStates() paranoid timestamp check - output predictor correctOutputStates() paranoid timestamp checks and explicitly pop delayed sample at correct time
This commit is contained in:
Daniel Agar
parent
ae70f9c640
commit
b1727055f9
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@ -91,6 +91,8 @@ void Ekf::reset()
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_output_predictor.reset();
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// Ekf private fields
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_filter_initialised = false;
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_time_last_horizontal_aiding = 0;
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_time_last_v_pos_aiding = 0;
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_time_last_v_vel_aiding = 0;
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@ -161,11 +163,11 @@ void Ekf::reset()
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bool Ekf::update()
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{
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if (!_filter_initialised) {
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_filter_initialised = initialiseFilter();
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bool updated = false;
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if (!_filter_initialised) {
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return false;
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if (!_filter_initialised) {
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if (initialiseFilter()) {
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_filter_initialised = true;
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}
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}
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@ -177,24 +179,26 @@ bool Ekf::update()
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// TODO: explicitly pop at desired time horizon
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const imuSample imu_sample_delayed = _imu_buffer.get_oldest();
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// perform state and covariance prediction for the main filter
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predictCovariance(imu_sample_delayed);
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predictState(imu_sample_delayed);
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if (_filter_initialised) {
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// perform state and covariance prediction for the main filter
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predictCovariance(imu_sample_delayed);
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predictState(imu_sample_delayed);
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// control fusion of observation data
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controlFusionModes(imu_sample_delayed);
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// control fusion of observation data
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controlFusionModes(imu_sample_delayed);
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#if defined(CONFIG_EKF2_RANGE_FINDER)
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// run a separate filter for terrain estimation
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runTerrainEstimator(imu_sample_delayed);
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// run a separate filter for terrain estimation
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runTerrainEstimator(imu_sample_delayed);
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#endif // CONFIG_EKF2_RANGE_FINDER
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_output_predictor.correctOutputStates(imu_sample_delayed.time_us, _state.quat_nominal, _state.vel, _state.pos, _state.gyro_bias, _state.accel_bias);
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updated = true;
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}
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return true;
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_output_predictor.correctOutputStates(imu_sample_delayed.time_us, _state.quat_nominal, _state.vel, _state.pos, _state.gyro_bias, _state.accel_bias);
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}
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return false;
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return updated;
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}
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bool Ekf::initialiseFilter()
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@ -229,9 +233,6 @@ bool Ekf::initialiseFilter()
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initHagl();
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#endif // CONFIG_EKF2_RANGE_FINDER
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// reset the output predictor state history to match the EKF initial values
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_output_predictor.alignOutputFilter(_state.quat_nominal, _state.vel, _state.pos);
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return true;
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}
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@ -809,7 +809,7 @@ private:
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// fuse single velocity and position measurement
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bool fuseVelPosHeight(const float innov, const float innov_var, const int obs_index);
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void resetVelocityTo(const Vector3f &vel, const Vector3f &new_vel_var);
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void resetVelocityTo(const Vector3f &vel, const Vector3f &new_vel_var = Vector3f(NAN, NAN, NAN));
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void resetHorizontalVelocityTo(const Vector2f &new_horz_vel, const Vector2f &new_horz_vel_var);
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void resetHorizontalVelocityTo(const Vector2f &new_horz_vel, float vel_var) { resetHorizontalVelocityTo(new_horz_vel, Vector2f(vel_var, vel_var)); }
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@ -73,7 +73,7 @@ void Ekf::resetHorizontalVelocityTo(const Vector2f &new_horz_vel, const Vector2f
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P.uncorrelateCovarianceSetVariance<1>(5, math::max(sq(0.01f), new_horz_vel_var(1)));
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}
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_output_predictor.resetHorizontalVelocityTo(delta_horz_vel);
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_output_predictor.resetHorizontalVelocityTo(_time_delayed_us, new_horz_vel);
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// record the state change
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if (_state_reset_status.reset_count.velNE == _state_reset_count_prev.velNE) {
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@ -99,7 +99,7 @@ void Ekf::resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var)
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P.uncorrelateCovarianceSetVariance<1>(6, math::max(sq(0.01f), new_vert_vel_var));
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}
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_output_predictor.resetVerticalVelocityTo(delta_vert_vel);
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_output_predictor.resetVerticalVelocityTo(_time_delayed_us, new_vert_vel);
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// record the state change
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if (_state_reset_status.reset_count.velD == _state_reset_count_prev.velD) {
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@ -139,7 +139,7 @@ void Ekf::resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f
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P.uncorrelateCovarianceSetVariance<1>(8, math::max(sq(0.01f), new_horz_pos_var(1)));
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}
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_output_predictor.resetHorizontalPositionTo(delta_horz_pos);
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_output_predictor.resetHorizontalPositionTo(_time_delayed_us, new_horz_pos);
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// record the state change
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if (_state_reset_status.reset_count.posNE == _state_reset_count_prev.posNE) {
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@ -174,7 +174,7 @@ bool Ekf::isHeightResetRequired() const
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void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_var)
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{
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const float old_vert_pos = _state.pos(2);
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const float delta_z = new_vert_pos - _state.pos(2);
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_state.pos(2) = new_vert_pos;
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if (PX4_ISFINITE(new_vert_pos_var)) {
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@ -182,11 +182,9 @@ void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_v
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P.uncorrelateCovarianceSetVariance<1>(9, math::max(sq(0.01f), new_vert_pos_var));
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}
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const float delta_z = new_vert_pos - old_vert_pos;
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// apply the change in height / height rate to our newest height / height rate estimate
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// which have already been taken out from the output buffer
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_output_predictor.resetVerticalPositionTo(new_vert_pos, delta_z);
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_output_predictor.resetVerticalPositionTo(_time_delayed_us, new_vert_pos);
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// record the state change
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if (_state_reset_status.reset_count.posD == _state_reset_count_prev.posD) {
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@ -1069,7 +1067,7 @@ void Ekf::resetQuatStateYaw(float yaw, float yaw_variance)
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}
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// add the reset amount to the output observer buffered data
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_output_predictor.resetQuaternion(q_error);
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_output_predictor.resetQuaternion(_time_delayed_us, quat_after_reset);
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#if defined(CONFIG_EKF2_EXTERNAL_VISION)
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// update EV attitude error filter
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@ -1092,6 +1090,20 @@ void Ekf::resetQuatStateYaw(float yaw, float yaw_variance)
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_state_reset_status.reset_count.quat++;
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_time_last_heading_fuse = _time_delayed_us;
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// apply change to velocity state
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const Vector3f new_vel = q_error.rotateVector(_state.vel);
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const Vector3f delta_vel = new_vel - _state.vel;
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_state.vel = new_vel;
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if (_state_reset_status.reset_count.velNE == _state_reset_count_prev.velNE) {
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_state_reset_status.velNE_change = delta_vel.xy();
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} else {
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// there's already a reset this update, accumulate total delta
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_state_reset_status.velNE_change += delta_vel.xy();
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}
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}
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bool Ekf::resetYawToEKFGSF()
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@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2022 PX4. All rights reserved.
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* Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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@ -48,39 +48,11 @@ void OutputPredictor::print_status()
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printf("output buffer: %d/%d (%d Bytes)\n", _output_buffer.entries(), _output_buffer.get_length(),
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_output_buffer.get_total_size());
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printf("output vert buffer: %d/%d (%d Bytes)\n", _output_vert_buffer.entries(), _output_vert_buffer.get_length(),
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_output_vert_buffer.get_total_size());
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}
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void OutputPredictor::alignOutputFilter(const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state)
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{
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const outputSample &output_delayed = _output_buffer.get_oldest();
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// calculate the quaternion rotation delta from the EKF to output observer states at the EKF fusion time horizon
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Quatf q_delta{quat_state * output_delayed.quat_nominal.inversed()};
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q_delta.normalize();
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// calculate the velocity and position deltas between the output and EKF at the EKF fusion time horizon
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const Vector3f vel_delta = vel_state - output_delayed.vel;
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const Vector3f pos_delta = pos_state - output_delayed.pos;
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// loop through the output filter state history and add the deltas
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for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
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_output_buffer[i].quat_nominal = q_delta * _output_buffer[i].quat_nominal;
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_output_buffer[i].quat_nominal.normalize();
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_output_buffer[i].vel += vel_delta;
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_output_buffer[i].pos += pos_delta;
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}
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_output_new = _output_buffer.get_newest();
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}
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void OutputPredictor::reset()
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{
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// TODO: who resets the output buffer content?
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_output_new = {};
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_output_vert_new = {};
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_output_buffer.reset();
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_accel_bias.setZero();
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_gyro_bias.setZero();
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@ -88,86 +60,182 @@ void OutputPredictor::reset()
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_time_last_update_states_us = 0;
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_time_last_correct_states_us = 0;
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_output_new = {};
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_R_to_earth_now.setIdentity();
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_vel_imu_rel_body_ned.setZero();
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_vel_deriv.setZero();
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_vel_imu_rel_body_ned.zero();
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_vel_deriv.zero();
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_delta_angle_corr.setZero();
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_delta_angle_corr.zero();
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_vel_err_integ.zero();
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_pos_err_integ.zero();
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_vel_err_integ.setZero();
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_pos_err_integ.setZero();
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_output_tracking_error.zero();
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_output_tracking_error.setZero();
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for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
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_output_buffer[index] = {};
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}
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for (uint8_t index = 0; index < _output_vert_buffer.get_length(); index++) {
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_output_vert_buffer[index] = {};
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}
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_output_filter_aligned = false;
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}
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void OutputPredictor::resetQuaternion(const Quatf &quat_change)
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void OutputPredictor::resetQuaternion(const uint64_t time_delayed_us, const Quatf &new_quat)
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{
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const outputSample &output_delayed = _output_buffer.get_oldest();
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const Quatf quat_change{(new_quat * output_delayed.quat_nominal.inversed()).normalized()};
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const Dcmf rot_change{quat_change};
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// add the reset amount to the output observer buffered data
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for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
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_output_buffer[i].quat_nominal = quat_change * _output_buffer[i].quat_nominal;
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_output_buffer[i].quat_nominal = (quat_change * _output_buffer[i].quat_nominal).normalized();
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// apply change to velocity
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_output_buffer[i].vel = rot_change * _output_buffer[i].vel;
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_output_buffer[i].vel_alternative = rot_change * _output_buffer[i].vel_alternative;
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}
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// apply the change in attitude quaternion to our newest quaternion estimate
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// which was already taken out from the output buffer
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_output_new.quat_nominal = quat_change * _output_new.quat_nominal;
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_output_new.quat_nominal = (quat_change * _output_new.quat_nominal).normalized();
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_R_to_earth_now = Dcmf(_output_new.quat_nominal);
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// apply change to velocity
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_output_new.vel = rot_change * _output_new.vel;
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_output_new.vel_alternative = rot_change * _output_new.vel_alternative;
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propagateVelocityUpdateToPosition();
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}
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void OutputPredictor::resetHorizontalVelocityTo(const Vector2f &delta_horz_vel)
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void OutputPredictor::resetHorizontalVelocityTo(const uint64_t time_delayed_us, const Vector2f &new_horz_vel)
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{
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for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
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_output_buffer[index].vel.xy() += delta_horz_vel;
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// TODO: review time_us
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if (_output_buffer.get_oldest().time_us != time_delayed_us) {
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}
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_output_new.vel.xy() += delta_horz_vel;
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}
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void OutputPredictor::resetVerticalVelocityTo(float delta_vert_vel)
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{
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for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
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_output_buffer[index].vel(2) += delta_vert_vel;
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_output_vert_buffer[index].vert_vel += delta_vert_vel;
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const outputSample &output_delayed = _output_buffer.get_oldest();
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// horizontal velocity
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{
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const Vector2f delta_vxy = new_horz_vel - Vector2f(output_delayed.vel.xy());
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for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
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_output_buffer[index].vel.xy() += delta_vxy;
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}
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_output_new.vel.xy() += delta_vxy;
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}
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_output_new.vel(2) += delta_vert_vel;
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_output_vert_new.vert_vel += delta_vert_vel;
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}
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// horizontal velocity (alternative)
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{
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const Vector2f delta_vxy = new_horz_vel - Vector2f(output_delayed.vel_alternative.xy());
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void OutputPredictor::resetHorizontalPositionTo(const Vector2f &delta_horz_pos)
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{
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for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
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_output_buffer[index].pos.xy() += delta_horz_pos;
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for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
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_output_buffer[index].vel_alternative.xy() += delta_vxy;
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}
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_output_new.vel_alternative.xy() += delta_vxy;
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}
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_output_new.pos.xy() += delta_horz_pos;
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// propagate position forward using the reset velocity
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propagateVelocityUpdateToPosition();
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}
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void OutputPredictor::resetVerticalPositionTo(const float new_vert_pos, const float vert_pos_change)
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void OutputPredictor::resetVerticalVelocityTo(const uint64_t time_delayed_us, const float new_vert_vel)
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{
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// apply the change in height / height rate to our newest height / height rate estimate
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// which have already been taken out from the output buffer
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_output_new.pos(2) += vert_pos_change;
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const outputSample &output_delayed = _output_buffer.get_oldest();
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// add the reset amount to the output observer buffered data
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for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
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_output_buffer[i].pos(2) += vert_pos_change;
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_output_vert_buffer[i].vert_vel_integ += vert_pos_change;
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// vertical velocity
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{
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const float delta_z = new_vert_vel - output_delayed.vel(2);
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for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
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_output_buffer[index].vel(2) += delta_z;
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}
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_output_new.vel(2) += delta_z;
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}
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// add the reset amount to the output observer vertical position state
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_output_vert_new.vert_vel_integ = new_vert_pos;
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// vertical velocity (alternative)
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{
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const float delta_z = new_vert_vel - output_delayed.vel_alternative(2);
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for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
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_output_buffer[index].vel_alternative(2) += delta_z;
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}
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_output_new.vel_alternative(2) += delta_z;
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}
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// propagate vertical position forward using the reset velocity
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propagateVelocityUpdateToPosition();
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}
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void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector3f &delta_angle,
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void OutputPredictor::resetHorizontalPositionTo(const uint64_t time_delayed_us, const Vector2f &new_horz_pos)
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{
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const outputSample &output_delayed = _output_buffer.get_oldest();
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// horizontal position
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{
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const Vector2f delta_xy = new_horz_pos - output_delayed.pos.xy();
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for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
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_output_buffer[index].pos.xy() += delta_xy;
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}
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_output_new.pos.xy() += delta_xy;
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}
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// horizontal position (alternative)
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{
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const Vector2f delta_xy = new_horz_pos - output_delayed.vel_alternative_integ.xy();
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for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
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_output_buffer[index].vel_alternative_integ.xy() += delta_xy;
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}
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_output_new.vel_alternative_integ.xy() += delta_xy;
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}
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}
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void OutputPredictor::resetVerticalPositionTo(const uint64_t time_delayed_us, const float new_vert_pos)
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{
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const outputSample &output_delayed = _output_buffer.get_oldest();
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// vertical position
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{
|
||||
const float delta_z = new_vert_pos - output_delayed.pos(2);
|
||||
|
||||
// add the reset amount to the output observer buffered data
|
||||
for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
|
||||
_output_buffer[i].pos(2) += delta_z;
|
||||
}
|
||||
|
||||
// apply the change in height / height rate to our newest height / height rate estimate
|
||||
// which have already been taken out from the output buffer
|
||||
_output_new.pos(2) += delta_z;
|
||||
}
|
||||
|
||||
// vertical position (alternative)
|
||||
{
|
||||
const float delta_z = new_vert_pos - output_delayed.vel_alternative_integ(2);
|
||||
|
||||
// add the reset amount to the output observer buffered data
|
||||
for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
|
||||
_output_buffer[i].vel_alternative_integ(2) += delta_z;
|
||||
}
|
||||
|
||||
// add the reset amount to the output observer vertical position state
|
||||
_output_new.vel_alternative_integ(2) += delta_z;
|
||||
}
|
||||
}
|
||||
|
||||
bool OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector3f &delta_angle,
|
||||
const float delta_angle_dt, const Vector3f &delta_velocity, const float delta_velocity_dt)
|
||||
{
|
||||
if (time_us <= _time_last_update_states_us) {
|
||||
return false;
|
||||
}
|
||||
|
||||
// Use full rate IMU data at the current time horizon
|
||||
if (_time_last_update_states_us != 0) {
|
||||
const float dt = math::constrain((time_us - _time_last_update_states_us) * 1e-6f, 0.0001f, 0.03f);
|
||||
|
|
@ -185,18 +253,11 @@ void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector
|
|||
const Vector3f delta_velocity_corrected(delta_velocity - delta_vel_bias_scaled);
|
||||
|
||||
_output_new.time_us = time_us;
|
||||
_output_vert_new.time_us = time_us;
|
||||
|
||||
const Quatf dq(AxisAnglef{delta_angle_corrected});
|
||||
|
||||
// rotate the previous INS quaternion by the delta quaternions
|
||||
_output_new.quat_nominal = _output_new.quat_nominal * dq;
|
||||
|
||||
// the quaternions must always be normalised after modification
|
||||
_output_new.quat_nominal.normalize();
|
||||
|
||||
// calculate the rotation matrix from body to earth frame
|
||||
_R_to_earth_now = Dcmf(_output_new.quat_nominal);
|
||||
const Quatf dq(AxisAnglef{delta_angle_corrected});
|
||||
_output_new.quat_nominal = (_output_new.quat_nominal * dq).normalized();
|
||||
_R_to_earth_now = Dcmf(_output_new.quat_nominal); // calculate the rotation matrix from body to earth frame
|
||||
|
||||
// rotate the delta velocity to earth frame
|
||||
Vector3f delta_vel_earth{_R_to_earth_now * delta_velocity_corrected};
|
||||
|
|
@ -215,16 +276,16 @@ void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector
|
|||
// increment the INS velocity states by the measurement plus corrections
|
||||
// do the same for vertical state used by alternative correction algorithm
|
||||
_output_new.vel += delta_vel_earth;
|
||||
_output_vert_new.vert_vel += delta_vel_earth(2);
|
||||
_output_new.vel_alternative += delta_vel_earth;
|
||||
|
||||
// use trapezoidal integration to calculate the INS position states
|
||||
// do the same for vertical state used by alternative correction algorithm
|
||||
const Vector3f delta_pos_NED = (_output_new.vel + vel_last) * (delta_velocity_dt * 0.5f);
|
||||
_output_new.pos += delta_pos_NED;
|
||||
_output_vert_new.vert_vel_integ += delta_pos_NED(2);
|
||||
_output_new.vel_alternative_integ += delta_pos_NED;
|
||||
|
||||
// accumulate the time for each update
|
||||
_output_vert_new.dt += delta_velocity_dt;
|
||||
_output_new.dt += delta_velocity_dt;
|
||||
|
||||
// correct velocity for IMU offset
|
||||
if (delta_angle_dt > 0.001f) {
|
||||
|
|
@ -237,137 +298,258 @@ void OutputPredictor::calculateOutputStates(const uint64_t time_us, const Vector
|
|||
// rotate the relative velocity into earth frame
|
||||
_vel_imu_rel_body_ned = _R_to_earth_now * vel_imu_rel_body;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void OutputPredictor::correctOutputStates(const uint64_t time_delayed_us,
|
||||
const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state, const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias)
|
||||
const Quatf &quat_state, const Vector3f &vel_state, const Vector3f &pos_state,
|
||||
const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias)
|
||||
{
|
||||
// calculate an average filter update time
|
||||
if (_time_last_correct_states_us != 0) {
|
||||
const float dt = math::constrain((time_delayed_us - _time_last_correct_states_us) * 1e-6f, 0.0001f, 0.03f);
|
||||
_dt_correct_states_avg = 0.8f * _dt_correct_states_avg + 0.2f * dt;
|
||||
const uint64_t time_latest_us = _time_last_update_states_us;
|
||||
|
||||
if (time_latest_us <= time_delayed_us) {
|
||||
return;
|
||||
}
|
||||
|
||||
_time_last_correct_states_us = time_delayed_us;
|
||||
// store the INS states in a ring buffer with the same length and time coordinates as the IMU data buffer
|
||||
if (_output_new.dt > 0.f) {
|
||||
_output_buffer.push(_output_new);
|
||||
_output_new.dt = 0.0f; // reset time delta to zero for the next accumulation of full rate IMU data
|
||||
}
|
||||
|
||||
// store IMU bias for calculateOutputStates
|
||||
_gyro_bias = gyro_bias;
|
||||
_accel_bias = accel_bias;
|
||||
|
||||
// store the INS states in a ring buffer with the same length and time coordinates as the IMU data buffer
|
||||
_output_buffer.push(_output_new);
|
||||
_output_vert_buffer.push(_output_vert_new);
|
||||
// calculate an average filter update time
|
||||
if ((_time_last_correct_states_us != 0) && (time_delayed_us > _time_last_correct_states_us)) {
|
||||
const float dt = math::constrain((time_delayed_us - _time_last_correct_states_us) * 1e-6f, 0.0001f, 0.03f);
|
||||
_dt_correct_states_avg = 0.8f * _dt_correct_states_avg + 0.2f * dt;
|
||||
|
||||
} else {
|
||||
if (!_output_filter_aligned) {
|
||||
resetQuaternion(time_delayed_us, quat_state);
|
||||
resetHorizontalVelocityTo(time_delayed_us, vel_state.xy());
|
||||
resetVerticalVelocityTo(time_delayed_us, vel_state(2));
|
||||
resetHorizontalPositionTo(time_delayed_us, pos_state.xy());
|
||||
resetVerticalPositionTo(time_delayed_us, pos_state(2));
|
||||
}
|
||||
|
||||
_time_last_correct_states_us = time_delayed_us;
|
||||
return;
|
||||
}
|
||||
|
||||
_time_last_correct_states_us = time_delayed_us;
|
||||
|
||||
// get the oldest INS state data from the ring buffer
|
||||
// this data will be at the EKF fusion time horizon
|
||||
// TODO: there is no guarantee that data is at delayed fusion horizon
|
||||
// Shouldnt we use pop_first_older_than?
|
||||
const outputSample &output_delayed = _output_buffer.get_oldest();
|
||||
const outputVert &output_vert_delayed = _output_vert_buffer.get_oldest();
|
||||
outputSample output_delayed;
|
||||
|
||||
// calculate the quaternion delta between the INS and EKF quaternions at the EKF fusion time horizon
|
||||
const Quatf q_error((quat_state.inversed() * output_delayed.quat_nominal).normalized());
|
||||
while (_output_buffer.pop_first_older_than(time_delayed_us, &output_delayed)) {
|
||||
|
||||
// convert the quaternion delta to a delta angle
|
||||
const float scalar = (q_error(0) >= 0.0f) ? -2.f : 2.f;
|
||||
|
||||
const Vector3f delta_ang_error{scalar * q_error(1), scalar * q_error(2), scalar * q_error(3)};
|
||||
|
||||
// calculate a gain that provides tight tracking of the estimator attitude states and
|
||||
// adjust for changes in time delay to maintain consistent damping ratio of ~0.7
|
||||
const uint64_t time_latest_us = _time_last_update_states_us;
|
||||
const float time_delay = fmaxf((time_latest_us - time_delayed_us) * 1e-6f, _dt_update_states_avg);
|
||||
const float att_gain = 0.5f * _dt_update_states_avg / time_delay;
|
||||
|
||||
// calculate a corrrection to the delta angle
|
||||
// that will cause the INS to track the EKF quaternions
|
||||
_delta_angle_corr = delta_ang_error * att_gain;
|
||||
_output_tracking_error(0) = delta_ang_error.norm();
|
||||
|
||||
/*
|
||||
* Loop through the output filter state history and apply the corrections to the velocity and position states.
|
||||
* This method is too expensive to use for the attitude states due to the quaternion operations required
|
||||
* but because it eliminates the time delay in the 'correction loop' it allows higher tracking gains
|
||||
* to be used and reduces tracking error relative to EKF states.
|
||||
*/
|
||||
|
||||
// Complementary filter gains
|
||||
const float vel_gain = _dt_correct_states_avg / math::constrain(_vel_tau, _dt_correct_states_avg, 10.f);
|
||||
const float pos_gain = _dt_correct_states_avg / math::constrain(_pos_tau, _dt_correct_states_avg, 10.f);
|
||||
|
||||
// calculate down velocity and position tracking errors
|
||||
const float vert_vel_err = (vel_state(2) - output_vert_delayed.vert_vel);
|
||||
const float vert_vel_integ_err = (pos_state(2) - output_vert_delayed.vert_vel_integ);
|
||||
|
||||
// calculate a velocity correction that will be applied to the output state history
|
||||
// using a PD feedback tuned to a 5% overshoot
|
||||
const float vert_vel_correction = vert_vel_integ_err * pos_gain + vert_vel_err * vel_gain * 1.1f;
|
||||
|
||||
applyCorrectionToVerticalOutputBuffer(vert_vel_correction);
|
||||
|
||||
// calculate velocity and position tracking errors
|
||||
const Vector3f vel_err(vel_state - output_delayed.vel);
|
||||
const Vector3f pos_err(pos_state - output_delayed.pos);
|
||||
|
||||
_output_tracking_error(1) = vel_err.norm();
|
||||
_output_tracking_error(2) = pos_err.norm();
|
||||
|
||||
// calculate a velocity correction that will be applied to the output state history
|
||||
_vel_err_integ += vel_err;
|
||||
const Vector3f vel_correction = vel_err * vel_gain + _vel_err_integ * sq(vel_gain) * 0.1f;
|
||||
|
||||
// calculate a position correction that will be applied to the output state history
|
||||
_pos_err_integ += pos_err;
|
||||
const Vector3f pos_correction = pos_err * pos_gain + _pos_err_integ * sq(pos_gain) * 0.1f;
|
||||
|
||||
applyCorrectionToOutputBuffer(vel_correction, pos_correction);
|
||||
}
|
||||
|
||||
void OutputPredictor::applyCorrectionToVerticalOutputBuffer(float vert_vel_correction)
|
||||
{
|
||||
// loop through the vertical output filter state history starting at the oldest and apply the corrections to the
|
||||
// vert_vel states and propagate vert_vel_integ forward using the corrected vert_vel
|
||||
uint8_t index = _output_vert_buffer.get_oldest_index();
|
||||
|
||||
const uint8_t size = _output_vert_buffer.get_length();
|
||||
|
||||
for (uint8_t counter = 0; counter < (size - 1); counter++) {
|
||||
const uint8_t index_next = (index + 1) % size;
|
||||
outputVert ¤t_state = _output_vert_buffer[index];
|
||||
outputVert &next_state = _output_vert_buffer[index_next];
|
||||
|
||||
// correct the velocity
|
||||
if (counter == 0) {
|
||||
current_state.vert_vel += vert_vel_correction;
|
||||
if (output_delayed.time_us != time_delayed_us) {
|
||||
continue;
|
||||
}
|
||||
|
||||
next_state.vert_vel += vert_vel_correction;
|
||||
if (!_output_filter_aligned) {
|
||||
|
||||
// position is propagated forward using the corrected velocity and a trapezoidal integrator
|
||||
next_state.vert_vel_integ = current_state.vert_vel_integ + (current_state.vert_vel + next_state.vert_vel) * 0.5f * next_state.dt;
|
||||
// calculate the quaternion rotation delta from the EKF to output observer states at the EKF fusion time horizon
|
||||
const Quatf q_delta((quat_state * output_delayed.quat_nominal.inversed()).normalized());
|
||||
const Dcmf rot_change{q_delta};
|
||||
|
||||
// add the reset amount to the output observer buffered data
|
||||
for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
|
||||
|
||||
_output_buffer[i].quat_nominal = (q_delta * _output_buffer[i].quat_nominal).normalized();
|
||||
|
||||
// apply change to velocity
|
||||
_output_buffer[i].vel = rot_change * _output_buffer[i].vel;
|
||||
_output_buffer[i].vel_alternative = rot_change * _output_buffer[i].vel_alternative;
|
||||
}
|
||||
|
||||
// apply the change in attitude quaternion to our newest quaternion estimate
|
||||
_output_new.quat_nominal = (q_delta * _output_new.quat_nominal).normalized();
|
||||
|
||||
|
||||
// apply change to velocity
|
||||
_output_new.vel = rot_change * _output_new.vel;
|
||||
_output_new.vel_alternative = rot_change * _output_new.vel_alternative;
|
||||
|
||||
propagateVelocityUpdateToPosition();
|
||||
|
||||
|
||||
// calculate the velocity and position deltas between the output and EKF at the EKF fusion time horizon
|
||||
output_delayed.vel = q_delta.rotateVectorInverse(output_delayed.vel);
|
||||
const Vector3f vel_err = vel_state - output_delayed.vel;
|
||||
|
||||
output_delayed.vel_alternative = q_delta.rotateVectorInverse(output_delayed.vel_alternative);
|
||||
const Vector3f vel_alternative_err = vel_state - output_delayed.vel_alternative;
|
||||
|
||||
for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
|
||||
// a constant velocity correction is applied
|
||||
_output_buffer[index].vel += vel_err;
|
||||
_output_buffer[index].vel_alternative += vel_alternative_err;
|
||||
}
|
||||
|
||||
// manually correct next oldest state
|
||||
// position is propagated forward using the corrected velocity and a trapezoidal integrator
|
||||
uint8_t index = _output_buffer.get_oldest_index();
|
||||
outputSample &next_oldest_state = _output_buffer[index];
|
||||
|
||||
if ((next_oldest_state.time_us > output_delayed.time_us) && (next_oldest_state.dt > 0.f)) {
|
||||
|
||||
next_oldest_state.pos = pos_state + (vel_state + next_oldest_state.vel) * 0.5f * next_oldest_state.dt;
|
||||
next_oldest_state.vel_alternative_integ = pos_state + (vel_state + next_oldest_state.vel_alternative) * 0.5f *
|
||||
next_oldest_state.dt;
|
||||
|
||||
propagateVelocityUpdateToPosition();
|
||||
}
|
||||
|
||||
_output_new = _output_buffer.get_newest();
|
||||
_output_new.dt = 0.0f;
|
||||
|
||||
// reset tracking error, integral, etc
|
||||
_output_tracking_error.zero();
|
||||
_delta_angle_corr.zero();
|
||||
_vel_err_integ.zero();
|
||||
_pos_err_integ.zero();
|
||||
|
||||
_output_filter_aligned = true;
|
||||
|
||||
} else {
|
||||
|
||||
/*
|
||||
* Loop through the output filter state history and apply the corrections to the velocity and position states.
|
||||
* This method is too expensive to use for the attitude states due to the quaternion operations required
|
||||
* but because it eliminates the time delay in the 'correction loop' it allows higher tracking gains
|
||||
* to be used and reduces tracking error relative to EKF states.
|
||||
*/
|
||||
|
||||
// calculate the quaternion delta between the INS and EKF quaternions at the EKF fusion time horizon
|
||||
const Quatf q_error((quat_state.inversed() * output_delayed.quat_nominal).normalized());
|
||||
|
||||
// convert the quaternion delta to a delta angle
|
||||
const float scalar = (q_error(0) >= 0.0f) ? -2.f : 2.f;
|
||||
|
||||
const Vector3f delta_ang_error{scalar * q_error(1), scalar * q_error(2), scalar * q_error(3)};
|
||||
|
||||
// calculate a gain that provides tight tracking of the estimator attitude states and
|
||||
// adjust for changes in time delay to maintain consistent damping ratio of ~0.7
|
||||
|
||||
const float time_delay = fmaxf((time_latest_us - time_delayed_us) * 1e-6f, _dt_update_states_avg);
|
||||
const float att_gain = 0.5f * _dt_update_states_avg / time_delay;
|
||||
|
||||
// calculate a corrrection to the delta angle
|
||||
// that will cause the INS to track the EKF quaternions
|
||||
_delta_angle_corr = delta_ang_error * att_gain;
|
||||
_output_tracking_error(0) = delta_ang_error.norm();
|
||||
|
||||
|
||||
/*
|
||||
* Calculate corrections to be applied to vel and pos output state history.
|
||||
* The vel and pos state history are corrected individually so they track the EKF states at
|
||||
* the fusion time horizon. This option provides the most accurate tracking of EKF states.
|
||||
*/
|
||||
|
||||
// calculate velocity tracking errors
|
||||
const Vector3f vel_err = vel_state - output_delayed.vel;
|
||||
_output_tracking_error(1) = vel_err.norm();
|
||||
// calculate a velocity correction that will be applied to the output state history
|
||||
const float vel_gain = _dt_correct_states_avg / math::constrain(_vel_tau, _dt_correct_states_avg,
|
||||
10.f); // Complementary filter gains
|
||||
_vel_err_integ += vel_err;
|
||||
const Vector3f vel_correction = vel_err * vel_gain + _vel_err_integ * sq(vel_gain) * 0.1f;
|
||||
|
||||
// calculate position tracking errors
|
||||
const Vector3f pos_err = pos_state - output_delayed.pos;
|
||||
_output_tracking_error(2) = pos_err.norm();
|
||||
// calculate a position correction that will be applied to the output state history
|
||||
const float pos_gain = _dt_correct_states_avg / math::constrain(_pos_tau, _dt_correct_states_avg,
|
||||
10.f); // Complementary filter gains
|
||||
_pos_err_integ += pos_err;
|
||||
const Vector3f pos_correction = pos_err * pos_gain + _pos_err_integ * sq(pos_gain) * 0.1f;
|
||||
|
||||
for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
|
||||
// a constant velocity correction is applied
|
||||
_output_buffer[index].vel += vel_correction;
|
||||
_output_buffer[index].pos += pos_correction;
|
||||
}
|
||||
|
||||
|
||||
/*
|
||||
* Calculate a correction to be applied to vel_alternative that casues vel_alternative_integ to track the EKF
|
||||
* position state at the fusion time horizon using an alternative algorithm to what
|
||||
* is used for the vel and pos state tracking. The algorithm applies a correction to the vel_alternative
|
||||
* state history and propagates vel_alternative_integ forward in time using the corrected vel_alternative history.
|
||||
* This provides an alternative velocity output that is closer to the first derivative
|
||||
* of the position but does degrade tracking relative to the EKF state.
|
||||
*/
|
||||
|
||||
// vel alternative: calculate velocity and position tracking errors
|
||||
const Vector3f vel_alternative_err = (vel_state - output_delayed.vel_alternative);
|
||||
const Vector3f vel_alternative_integ_err = (pos_state - output_delayed.vel_alternative_integ);
|
||||
|
||||
// calculate a velocity correction that will be applied to the output state history
|
||||
// using a PD feedback tuned to a 5% overshoot
|
||||
const Vector3f vel_alternative_correction = vel_alternative_integ_err * pos_gain + vel_alternative_err * vel_gain *
|
||||
1.1f;
|
||||
|
||||
for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
|
||||
// a constant velocity correction is applied
|
||||
_output_buffer[index].vel_alternative += vel_alternative_correction;
|
||||
_output_buffer[index].vel_alternative_integ += vel_alternative_integ_err;
|
||||
}
|
||||
|
||||
// recompute position by integrating velocity
|
||||
propagateVelocityUpdateToPosition();
|
||||
}
|
||||
}
|
||||
|
||||
_output_new = _output_buffer.get_newest();
|
||||
_output_new.dt = 0.f;
|
||||
|
||||
_R_to_earth_now = Dcmf(_output_new.quat_nominal);
|
||||
}
|
||||
|
||||
void OutputPredictor::propagateVelocityUpdateToPosition()
|
||||
{
|
||||
// propagate position forward using the reset velocity
|
||||
uint8_t index = _output_buffer.get_oldest_index();
|
||||
const uint8_t size = _output_buffer.get_length();
|
||||
|
||||
for (uint8_t counter = 0; counter < (size - 1); counter++) {
|
||||
|
||||
const outputSample ¤t_state = _output_buffer[index];
|
||||
|
||||
// next state
|
||||
const uint8_t index_next = (index + 1) % size;
|
||||
outputSample &next_state = _output_buffer[index_next];
|
||||
|
||||
if ((next_state.time_us > current_state.time_us) && (next_state.dt > 0.f)) {
|
||||
// position is propagated forward using the corrected velocity and a trapezoidal integrator
|
||||
next_state.pos = current_state.pos + (current_state.vel + next_state.vel) * 0.5f * next_state.dt;
|
||||
next_state.vel_alternative_integ = current_state.vel_alternative_integ + (current_state.vel_alternative +
|
||||
next_state.vel_alternative) * 0.5f * next_state.dt;
|
||||
}
|
||||
|
||||
// advance the index
|
||||
index = (index + 1) % size;
|
||||
}
|
||||
|
||||
// update output state to corrected values
|
||||
_output_vert_new = _output_vert_buffer.get_newest();
|
||||
if ((_output_new.time_us > _output_buffer.get_newest().time_us) && (_output_new.dt > 0.f)) {
|
||||
// position is propagated forward using the corrected velocity and a trapezoidal integrator
|
||||
_output_new.pos = _output_buffer.get_newest().pos
|
||||
+ (_output_buffer.get_newest().vel + _output_new.vel) * 0.5f * _output_new.dt;
|
||||
|
||||
// reset time delta to zero for the next accumulation of full rate IMU data
|
||||
_output_vert_new.dt = 0.0f;
|
||||
}
|
||||
_output_new.vel_alternative_integ = _output_buffer.get_newest().vel_alternative_integ +
|
||||
(_output_buffer.get_newest().vel_alternative + _output_new.vel_alternative) * 0.5f * _output_new.dt;
|
||||
|
||||
void OutputPredictor::applyCorrectionToOutputBuffer(const Vector3f &vel_correction, const Vector3f &pos_correction)
|
||||
{
|
||||
// loop through the output filter state history and apply the corrections to the velocity and position states
|
||||
for (uint8_t index = 0; index < _output_buffer.get_length(); index++) {
|
||||
// a constant velocity correction is applied
|
||||
_output_buffer[index].vel += vel_correction;
|
||||
} else {
|
||||
// update output state to corrected values
|
||||
_output_new = _output_buffer.get_newest();
|
||||
|
||||
// a constant position correction is applied
|
||||
_output_buffer[index].pos += pos_correction;
|
||||
// reset time delta to zero for the next accumulation of full rate IMU data
|
||||
_output_new.dt = 0.0f;
|
||||
}
|
||||
|
||||
// update output state to corrected values
|
||||
_output_new = _output_buffer.get_newest();
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2022 PX4. All rights reserved.
|
||||
* Copyright (c) 2022-2023 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
|
|
@ -51,9 +51,6 @@ public:
|
|||
|
||||
~OutputPredictor() = default;
|
||||
|
||||
// modify output filter to match the the EKF state at the fusion time horizon
|
||||
void alignOutputFilter(const matrix::Quatf &quat_state, const matrix::Vector3f &vel_state,
|
||||
const matrix::Vector3f &pos_state);
|
||||
/*
|
||||
* Implement a strapdown INS algorithm using the latest IMU data at the current time horizon.
|
||||
* Buffer the INS states and calculate the difference with the EKF states at the delayed fusion time horizon.
|
||||
|
|
@ -64,25 +61,26 @@ public:
|
|||
* “Recursive Attitude Estimation in the Presence of Multi-rate and Multi-delay Vector Measurements”
|
||||
* A Khosravian, J Trumpf, R Mahony, T Hamel, Australian National University
|
||||
*/
|
||||
void calculateOutputStates(const uint64_t time_us, const matrix::Vector3f &delta_angle, const float delta_angle_dt,
|
||||
bool calculateOutputStates(const uint64_t time_us, const matrix::Vector3f &delta_angle, const float delta_angle_dt,
|
||||
const matrix::Vector3f &delta_velocity, const float delta_velocity_dt);
|
||||
|
||||
void correctOutputStates(const uint64_t time_delayed_us,
|
||||
const matrix::Quatf &quat_state, const matrix::Vector3f &vel_state, const matrix::Vector3f &pos_state, const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias);
|
||||
const matrix::Quatf &quat_state, const matrix::Vector3f &vel_state, const matrix::Vector3f &pos_state,
|
||||
const matrix::Vector3f &gyro_bias, const matrix::Vector3f &accel_bias);
|
||||
|
||||
void resetQuaternion(const matrix::Quatf &quat_change);
|
||||
void resetQuaternion(const uint64_t time_delayed_us, const matrix::Quatf &new_quat);
|
||||
|
||||
void resetHorizontalVelocityTo(const matrix::Vector2f &delta_horz_vel);
|
||||
void resetVerticalVelocityTo(float delta_vert_vel);
|
||||
void resetHorizontalVelocityTo(const uint64_t time_delayed_us, const matrix::Vector2f &new_horz_vel);
|
||||
void resetVerticalVelocityTo(const uint64_t time_delayed_us, const float new_vert_vel);
|
||||
|
||||
void resetHorizontalPositionTo(const matrix::Vector2f &delta_horz_pos);
|
||||
void resetVerticalPositionTo(const float new_vert_pos, const float vert_pos_change);
|
||||
void resetHorizontalPositionTo(const uint64_t time_delayed_us, const matrix::Vector2f &new_horz_pos);
|
||||
void resetVerticalPositionTo(const uint64_t time_delayed_us, const float new_vert_pos);
|
||||
|
||||
void print_status();
|
||||
|
||||
bool allocate(uint8_t size)
|
||||
{
|
||||
if (_output_buffer.allocate(size) && _output_vert_buffer.allocate(size)) {
|
||||
if (_output_buffer.allocate(size)) {
|
||||
reset();
|
||||
return true;
|
||||
}
|
||||
|
|
@ -101,7 +99,7 @@ public:
|
|||
const matrix::Vector3f &getVelocityDerivative() const { return _vel_deriv; }
|
||||
|
||||
// get the derivative of the vertical position of the body frame origin in local NED earth frame
|
||||
float getVerticalPositionDerivative() const { return _output_vert_new.vert_vel - _vel_imu_rel_body_ned(2); }
|
||||
float getVerticalPositionDerivative() const { return _output_new.vel_alternative(2) - _vel_imu_rel_body_ned(2); }
|
||||
|
||||
// get the position of the body frame origin in local earth frame
|
||||
matrix::Vector3f getPosition() const
|
||||
|
|
@ -116,48 +114,32 @@ public:
|
|||
// error magnitudes (rad), (m/sec), (m)
|
||||
const matrix::Vector3f &getOutputTrackingError() const { return _output_tracking_error; }
|
||||
|
||||
bool aligned() const { return _output_filter_aligned; }
|
||||
|
||||
void set_imu_offset(const matrix::Vector3f &offset) { _imu_pos_body = offset; }
|
||||
void set_pos_correction_tc(const float tau) { _pos_tau = tau; }
|
||||
void set_vel_correction_tc(const float tau) { _vel_tau = tau; }
|
||||
|
||||
private:
|
||||
|
||||
/*
|
||||
* Calculate a correction to be applied to vert_vel that casues vert_vel_integ to track the EKF
|
||||
* down position state at the fusion time horizon using an alternative algorithm to what
|
||||
* is used for the vel and pos state tracking. The algorithm applies a correction to the vert_vel
|
||||
* state history and propagates vert_vel_integ forward in time using the corrected vert_vel history.
|
||||
* This provides an alternative vertical velocity output that is closer to the first derivative
|
||||
* of the position but does degrade tracking relative to the EKF state.
|
||||
*/
|
||||
void applyCorrectionToVerticalOutputBuffer(float vert_vel_correction);
|
||||
|
||||
/*
|
||||
* Calculate corrections to be applied to vel and pos output state history.
|
||||
* The vel and pos state history are corrected individually so they track the EKF states at
|
||||
* the fusion time horizon. This option provides the most accurate tracking of EKF states.
|
||||
*/
|
||||
void applyCorrectionToOutputBuffer(const matrix::Vector3f &vel_correction, const matrix::Vector3f &pos_correction);
|
||||
void propagateVelocityUpdateToPosition();
|
||||
|
||||
// return the square of two floating point numbers - used in auto coded sections
|
||||
static constexpr float sq(float var) { return var * var; }
|
||||
|
||||
struct outputSample {
|
||||
uint64_t time_us{0}; ///< timestamp of the measurement (uSec)
|
||||
matrix::Quatf quat_nominal{1.f, 0.f, 0.f, 0.f}; ///< nominal quaternion describing vehicle attitude
|
||||
matrix::Vector3f vel{0.f, 0.f, 0.f}; ///< NED velocity estimate in earth frame (m/sec)
|
||||
matrix::Vector3f pos{0.f, 0.f, 0.f}; ///< NED position estimate in earth frame (m/sec)
|
||||
};
|
||||
uint64_t time_us{0}; ///< timestamp of the measurement (uSec)
|
||||
matrix::Quatf quat_nominal{1.f, 0.f, 0.f, 0.f}; ///< nominal quaternion describing vehicle attitude
|
||||
matrix::Vector3f vel{0.f, 0.f, 0.f}; ///< NED velocity estimate in earth frame (m/sec)
|
||||
matrix::Vector3f pos{0.f, 0.f, 0.f}; ///< NED position estimate in earth frame (m/sec)
|
||||
|
||||
struct outputVert {
|
||||
uint64_t time_us{0}; ///< timestamp of the measurement (uSec)
|
||||
float vert_vel{0.f}; ///< Vertical velocity calculated using alternative algorithm (m/sec)
|
||||
float vert_vel_integ{0.f}; ///< Integral of vertical velocity (m)
|
||||
float dt{0.f}; ///< delta time (sec)
|
||||
matrix::Vector3f vel_alternative{0.f, 0.f, 0.f}; ///< NED velocity calculated using alternative algorithm (m/sec)
|
||||
matrix::Vector3f vel_alternative_integ{0.f, 0.f, 0.f}; ///< NED integral of velocity (m)
|
||||
|
||||
float dt{0.f}; ///< delta time (sec)
|
||||
};
|
||||
|
||||
RingBuffer<outputSample> _output_buffer{12};
|
||||
RingBuffer<outputVert> _output_vert_buffer{12};
|
||||
|
||||
matrix::Vector3f _accel_bias{};
|
||||
matrix::Vector3f _gyro_bias{};
|
||||
|
|
@ -170,7 +152,6 @@ private:
|
|||
|
||||
// Output Predictor
|
||||
outputSample _output_new{}; // filter output on the non-delayed time horizon
|
||||
outputVert _output_vert_new{}; // vertical filter output on the non-delayed time horizon
|
||||
matrix::Matrix3f _R_to_earth_now{}; // rotation matrix from body to earth frame at current time
|
||||
matrix::Vector3f _vel_imu_rel_body_ned{}; // velocity of IMU relative to body origin in NED earth frame
|
||||
matrix::Vector3f _vel_deriv{}; // velocity derivative at the IMU in NED earth frame (m/s/s)
|
||||
|
|
@ -182,6 +163,8 @@ private:
|
|||
|
||||
matrix::Vector3f _output_tracking_error{}; ///< contains the magnitude of the angle, velocity and position track errors (rad, m/s, m)
|
||||
|
||||
bool _output_filter_aligned{false};
|
||||
|
||||
matrix::Vector3f _imu_pos_body{}; ///< xyz position of IMU in body frame (m)
|
||||
|
||||
// output complementary filter tuning
|
||||
|
|
|
|||
|
|
@ -690,12 +690,24 @@ void EKF2::Run()
|
|||
if (_ekf.update()) {
|
||||
perf_set_elapsed(_ecl_ekf_update_full_perf, hrt_elapsed_time(&ekf_update_start));
|
||||
|
||||
PublishLocalPosition(now);
|
||||
PublishOdometry(now, imu_sample_new);
|
||||
PublishGlobalPosition(now);
|
||||
if (_ekf.attitude_valid() && _ekf.output_predictor().aligned()) {
|
||||
// publish output predictor output
|
||||
PublishLocalPosition(now);
|
||||
PublishOdometry(now, imu_sample_new);
|
||||
PublishGlobalPosition(now);
|
||||
}
|
||||
|
||||
// online accel/gyro/mag calibration
|
||||
UpdateAccelCalibration(now);
|
||||
UpdateGyroCalibration(now);
|
||||
UpdateMagCalibration(now);
|
||||
|
||||
// publish other state output used by the system not dependent on output predictor
|
||||
PublishSensorBias(now);
|
||||
PublishWindEstimate(now);
|
||||
|
||||
// publish status/logging messages
|
||||
PublishAidSourceStatus(now);
|
||||
PublishBaroBias(now);
|
||||
PublishGnssHgtBias(now);
|
||||
#if defined(CONFIG_EKF2_RANGE_FINDER)
|
||||
|
|
@ -717,13 +729,6 @@ void EKF2::Run()
|
|||
PublishStatusFlags(now);
|
||||
PublishYawEstimatorStatus(now);
|
||||
|
||||
UpdateAccelCalibration(now);
|
||||
UpdateGyroCalibration(now);
|
||||
UpdateMagCalibration(now);
|
||||
PublishSensorBias(now);
|
||||
|
||||
PublishAidSourceStatus(now);
|
||||
|
||||
} else {
|
||||
// ekf no update
|
||||
perf_set_elapsed(_ecl_ekf_update_perf, hrt_elapsed_time(&ekf_update_start));
|
||||
|
|
@ -999,7 +1004,7 @@ void EKF2::PublishAidSourceStatus(const hrt_abstime ×tamp)
|
|||
|
||||
void EKF2::PublishAttitude(const hrt_abstime ×tamp)
|
||||
{
|
||||
if (_ekf.attitude_valid()) {
|
||||
if (_ekf.attitude_valid() && _ekf.output_predictor().aligned()) {
|
||||
// generate vehicle attitude quaternion data
|
||||
vehicle_attitude_s att;
|
||||
att.timestamp_sample = timestamp;
|
||||
|
|
@ -1009,7 +1014,7 @@ void EKF2::PublishAttitude(const hrt_abstime ×tamp)
|
|||
att.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
|
||||
_attitude_pub.publish(att);
|
||||
|
||||
} else if (_replay_mode) {
|
||||
} else if (_replay_mode) {
|
||||
// in replay mode we have to tell the replay module not to wait for an update
|
||||
// we do this by publishing an attitude with zero timestamp
|
||||
vehicle_attitude_s att{};
|
||||
|
|
|
|||
|
|
@ -61,331 +61,331 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
|||
5890000,1,-0.0095,-0.011,-5.9e-06,0.0045,-0.0011,0.0028,0.0022,-0.0017,-3.7e+02,-0.0015,-0.0056,4.5e-05,0,0,-6.4e-05,0,0,0,0,0,0,0,0,9e-08,0.00038,0.00038,3.3e-05,0.23,0.23,9.8,0.1,0.1,0.52,0.00018,0.00018,1.2e-05,0.04,0.04,0.04,0,0,0,0,0,0,0,0
|
||||
5990000,1,-0.0094,-0.011,1.2e-05,0.0048,0.00032,0.015,0.0026,-0.0017,-3.7e+02,-0.0015,-0.0056,4.5e-05,0,0,-7.3e-05,0,0,0,0,0,0,0,0,9.6e-08,0.00041,0.00041,3.5e-05,0.27,0.27,8.8,0.13,0.13,0.33,0.00018,0.00018,1.2e-05,0.04,0.04,0.04,0,0,0,0,0,0,0,0
|
||||
6090000,1,-0.0094,-0.011,-7.2e-06,0.0059,0.0015,-0.011,0.0031,-0.0016,-3.7e+02,-0.0015,-0.0056,4.5e-05,0,0,-6.4e-05,0,0,0,0,0,0,0,0,1e-07,0.00044,0.00044,3.7e-05,0.31,0.31,7,0.17,0.17,0.33,0.00018,0.00018,1.2e-05,0.04,0.04,0.04,0,0,0,0,0,0,0,0
|
||||
6190000,0.71,0.0013,-0.015,0.71,0.0035,0.0029,-0.005,0.0023,-0.00066,-3.7e+02,-0.0015,-0.0057,4.5e-05,0,0,-8.8e-05,0.37,0.0037,0.025,0,0,0,0,0,0.0016,0.00034,0.00034,0.0016,0.22,0.22,4.9,0.13,0.13,0.32,0.00015,0.00015,1.1e-05,0.04,0.04,0.04,0,0,0,0,0,0,0,0
|
||||
6290000,0.71,0.0013,-0.015,0.71,0.0034,0.0043,-0.012,0.0026,-0.00028,-3.7e+02,-0.0015,-0.0057,4.5e-05,0,0,-9.6e-05,0.37,0.0037,0.025,0,0,0,0,0,0.00078,0.00034,0.00034,0.00075,0.22,0.22,3.2,0.16,0.16,0.3,0.00015,0.00015,1.1e-05,0.04,0.04,0.04,0,0,0,0,0,0,0,0
|
||||
6390000,0.71,0.0013,-0.014,0.71,0.0024,0.0048,-0.05,0.0029,0.00018,-3.7e+02,-0.0015,-0.0057,4.6e-05,0,0,-3.7e-05,0.37,0.0037,0.025,0,0,0,0,0,0.00054,0.00034,0.00034,0.00051,0.23,0.23,2.3,0.19,0.19,0.29,0.00015,0.00015,1.1e-05,0.04,0.04,0.04,0,0,0,0,0,0,0,0
|
||||
6490000,0.71,0.0014,-0.014,0.71,0.0022,0.0056,-0.052,0.0031,0.00072,-3.7e+02,-0.0015,-0.0057,4.5e-05,0,0,-8.6e-05,0.37,0.0037,0.025,0,0,0,0,0,0.00041,0.00034,0.00034,0.00037,0.24,0.24,1.5,0.23,0.23,0.26,0.00015,0.00015,1.1e-05,0.04,0.04,0.04,0,0,0,0,0,0,0,0
|
||||
6590000,0.71,0.0014,-0.014,0.71,0.0017,0.0057,-0.099,0.0033,0.0013,-3.7e+02,-0.0015,-0.0057,4.4e-05,0,0,9.5e-05,0.37,0.0037,0.025,0,0,0,0,0,0.00033,0.00034,0.00034,0.00029,0.25,0.25,1.1,0.28,0.28,0.23,0.00015,0.00015,1.1e-05,0.04,0.04,0.04,0,0,0,0,0,0,0,0
|
||||
6690000,0.7,0.0014,-0.014,0.71,0.0021,0.0068,-0.076,0.0035,0.0019,-3.7e+02,-0.0015,-0.0057,4.2e-05,0,0,-0.00022,0.37,0.0037,0.025,0,0,0,0,0,0.00028,0.00035,0.00035,0.00024,0.26,0.26,0.78,0.33,0.33,0.21,0.00015,0.00015,1.1e-05,0.04,0.04,0.04,0,0,0,0,0,0,0,0
|
||||
6790000,0.71,0.0014,-0.014,0.71,0.00076,0.0067,-0.11,0.0036,0.0026,-3.7e+02,-0.0015,-0.0057,4.3e-05,0,0,8.1e-06,0.37,0.0037,0.025,0,0,0,0,0,0.00025,0.00035,0.00035,0.00021,0.28,0.28,0.6,0.38,0.38,0.2,0.00015,0.00015,1.1e-05,0.04,0.04,0.04,0,0,0,0,0,0,0,0
|
||||
6890000,0.71,0.0014,-0.014,0.71,-0.0013,0.0073,-0.12,0.0036,0.0033,-3.7e+02,-0.0015,-0.0057,4.3e-05,0,0,-4.3e-05,0.37,0.0037,0.025,0,0,0,0,0,0.00022,0.00036,0.00036,0.00018,0.3,0.3,0.46,0.44,0.44,0.18,0.00015,0.00015,1.1e-05,0.04,0.04,0.04,0,0,0,0,0,0,0,0
|
||||
6990000,0.7,0.0015,-0.014,0.71,-0.0013,0.0082,-0.12,0.0034,0.0041,-3.7e+02,-0.0015,-0.0057,3.8e-05,0,0,-0.00034,0.37,0.0037,0.025,0,0,0,0,0,0.0002,0.00036,0.00036,0.00016,0.32,0.32,0.36,0.51,0.51,0.16,0.00014,0.00014,1.1e-05,0.04,0.04,0.04,0,0,0,0,0,0,0,0
|
||||
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19390000,0.71,0.00011,-0.012,0.71,0.012,0.00042,0.012,0.008,-0.00026,-3.7e+02,-0.0014,-0.0061,0.00038,-0.0018,0.006,-0.13,0.37,0.0037,0.025,0,0,0,0,0,6.5e-05,0.00011,0.00011,3.2e-05,0.027,0.027,0.012,0.044,0.044,0.043,3.3e-06,3.3e-06,4e-06,0.03,0.03,0.00058,0,0,0,0,0,0,0,0
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19490000,0.71,0.00013,-0.012,0.71,0.012,-0.00029,0.0088,0.0092,-0.00026,-3.7e+02,-0.0014,-0.0061,0.0004,-0.0018,0.006,-0.13,0.37,0.0037,0.025,0,0,0,0,0,6.5e-05,0.00011,0.00011,3.2e-05,0.03,0.03,0.011,0.05,0.05,0.043,3.3e-06,3.3e-06,3.9e-06,0.03,0.03,0.00056,0,0,0,0,0,0,0,0
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19590000,0.71,0.00018,-0.012,0.71,0.0096,-0.0013,0.0081,0.0074,-0.00028,-3.7e+02,-0.0014,-0.0061,0.00043,-0.0019,0.0063,-0.13,0.37,0.0037,0.025,0,0,0,0,0,6.5e-05,0.00011,0.00011,3.2e-05,0.027,0.027,0.011,0.044,0.044,0.042,3e-06,3e-06,3.9e-06,0.03,0.03,0.00054,0,0,0,0,0,0,0,0
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19390000,0.71,9.9e-05,-0.012,0.71,0.012,0.00051,0.012,0.008,-0.00022,-3.7e+02,-0.0014,-0.0061,0.00038,-0.0019,0.0058,-0.13,0.37,0.0037,0.025,0,0,0,0,0,6.5e-05,0.00011,0.00011,3.2e-05,0.027,0.027,0.012,0.044,0.044,0.043,3.3e-06,3.3e-06,4e-06,0.03,0.03,0.00058,0,0,0,0,0,0,0,0
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19490000,0.71,0.00012,-0.012,0.71,0.011,-0.0002,0.0088,0.0091,-0.00021,-3.7e+02,-0.0014,-0.0061,0.0004,-0.0019,0.0058,-0.13,0.37,0.0037,0.025,0,0,0,0,0,6.5e-05,0.00011,0.00011,3.2e-05,0.03,0.03,0.011,0.05,0.05,0.043,3.3e-06,3.3e-06,3.9e-06,0.03,0.03,0.00056,0,0,0,0,0,0,0,0
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19590000,0.71,0.00017,-0.012,0.71,0.0095,-0.0012,0.0081,0.0074,-0.00024,-3.7e+02,-0.0014,-0.0061,0.00043,-0.0019,0.0061,-0.13,0.37,0.0037,0.025,0,0,0,0,0,6.5e-05,0.00011,0.00011,3.2e-05,0.027,0.027,0.011,0.044,0.044,0.042,3e-06,3e-06,3.9e-06,0.03,0.03,0.00054,0,0,0,0,0,0,0,0
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20090000,0.71,0.00017,-0.012,0.71,0.0036,-0.0072,0.014,0.0064,-0.0013,-3.7e+02,-0.0014,-0.006,0.00052,-0.0018,0.0065,-0.13,0.37,0.0037,0.025,0,0,0,0,0,6.5e-05,0.00011,0.00011,3.2e-05,0.028,0.028,0.01,0.049,0.049,0.042,2.5e-06,2.5e-06,3.6e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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18090000,0.98,-0.0072,-0.011,0.19,0.0036,-0.0098,0.028,0.0035,-0.003,0.031,-0.0014,-0.006,0.00032,0.0082,0.0045,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00013,0.00013,6.4e-05,0.036,0.036,0.0087,0.052,0.052,0.035,6.6e-06,6.6e-06,4.7e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
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18190000,0.98,-0.0072,-0.011,0.19,0.0036,-0.0088,0.028,0.0041,-0.0022,0.029,-0.0014,-0.006,0.00034,0.0088,0.0044,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00013,0.00013,6.4e-05,0.032,0.032,0.0086,0.045,0.045,0.035,6e-06,6e-06,4.7e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
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18290000,0.98,-0.0072,-0.011,0.19,0.0045,-0.0093,0.027,0.0045,-0.0031,0.027,-0.0014,-0.006,0.00034,0.009,0.0042,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00013,0.00013,6.4e-05,0.036,0.036,0.0087,0.051,0.051,0.035,6e-06,6e-06,4.6e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
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18390000,0.98,-0.0072,-0.011,0.19,0.0054,-0.008,0.027,0.0061,-0.0023,0.026,-0.0014,-0.006,0.00034,0.0096,0.0041,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00013,0.00012,6.4e-05,0.031,0.031,0.0086,0.045,0.045,0.035,5.4e-06,5.4e-06,4.5e-06,0.03,0.031,0.0005,0,0,0,0,0,0,0,0
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18490000,0.98,-0.0072,-0.011,0.19,0.0082,-0.008,0.026,0.0069,-0.0031,0.028,-0.0014,-0.006,0.00035,0.0097,0.0041,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00013,0.00013,6.4e-05,0.035,0.035,0.0087,0.051,0.051,0.035,5.4e-06,5.4e-06,4.5e-06,0.03,0.031,0.0005,0,0,0,0,0,0,0,0
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18590000,0.98,-0.007,-0.011,0.19,0.0066,-0.0074,0.026,0.0055,-0.0024,0.031,-0.0015,-0.006,0.00033,0.0095,0.0043,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00012,0.00012,6.4e-05,0.031,0.031,0.0087,0.045,0.045,0.035,4.9e-06,4.9e-06,4.4e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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18690000,0.98,-0.007,-0.011,0.19,0.0066,-0.0063,0.024,0.0062,-0.0031,0.029,-0.0015,-0.006,0.00034,0.0097,0.0041,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00012,0.00012,6.4e-05,0.034,0.034,0.0087,0.051,0.051,0.035,4.9e-06,4.9e-06,4.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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18790000,0.98,-0.007,-0.011,0.19,0.0056,-0.006,0.024,0.0062,-0.0025,0.027,-0.0015,-0.006,0.00034,0.01,0.004,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00012,0.00012,6.4e-05,0.03,0.03,0.0087,0.045,0.045,0.035,4.4e-06,4.4e-06,4.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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18890000,0.98,-0.0069,-0.011,0.19,0.0043,-0.0056,0.021,0.0067,-0.0032,0.023,-0.0015,-0.006,0.00033,0.01,0.0037,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00012,0.00012,6.4e-05,0.033,0.033,0.0087,0.051,0.051,0.035,4.4e-06,4.4e-06,4.2e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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18990000,0.98,-0.0069,-0.011,0.19,0.0027,-0.0057,0.022,0.0055,-0.0025,0.026,-0.0015,-0.006,0.00033,0.01,0.004,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00012,0.00012,6.3e-05,0.029,0.029,0.0086,0.045,0.045,0.035,4e-06,4e-06,4.2e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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19090000,0.98,-0.007,-0.011,0.19,0.00066,-0.0062,0.023,0.0058,-0.0031,0.022,-0.0015,-0.006,0.00034,0.011,0.0037,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00012,0.00012,6.3e-05,0.032,0.032,0.0087,0.051,0.051,0.036,4e-06,4e-06,4.1e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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19190000,0.98,-0.0069,-0.011,0.19,-0.00084,-0.0059,0.022,0.0048,-0.0025,0.022,-0.0015,-0.006,0.00031,0.011,0.0037,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00011,0.00011,6.3e-05,0.028,0.028,0.0086,0.045,0.045,0.036,3.7e-06,3.7e-06,4.1e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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19290000,0.98,-0.0069,-0.011,0.19,-0.0017,-0.0057,0.023,0.0047,-0.0031,0.021,-0.0015,-0.006,0.00031,0.011,0.0036,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00011,0.00011,6.3e-05,0.031,0.031,0.0087,0.05,0.051,0.036,3.7e-06,3.7e-06,4e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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19390000,0.98,-0.0069,-0.011,0.19,-0.0021,-0.0022,0.024,0.004,-0.0012,0.02,-0.0015,-0.006,0.0003,0.011,0.0037,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00011,0.00011,6.3e-05,0.028,0.028,0.0086,0.045,0.045,0.036,3.3e-06,3.3e-06,4e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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19490000,0.98,-0.007,-0.011,0.19,-0.003,-0.0022,0.023,0.0038,-0.0014,0.019,-0.0015,-0.006,0.00028,0.011,0.0036,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00011,0.00011,6.3e-05,0.03,0.03,0.0087,0.05,0.05,0.036,3.3e-06,3.3e-06,3.9e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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19590000,0.98,-0.0069,-0.011,0.19,-0.0041,-0.0051,0.025,0.0044,-0.0024,0.019,-0.0015,-0.006,0.00028,0.012,0.0033,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00011,0.00011,6.3e-05,0.027,0.027,0.0086,0.044,0.044,0.036,3e-06,3e-06,3.8e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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19690000,0.98,-0.0069,-0.011,0.19,-0.0057,-0.0037,0.023,0.0039,-0.0028,0.019,-0.0015,-0.006,0.00028,0.012,0.0032,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.5e-06,0.00011,0.00011,6.2e-05,0.03,0.03,0.0086,0.05,0.05,0.036,3e-06,3e-06,3.8e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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19790000,0.98,-0.007,-0.011,0.19,-0.0058,-0.0022,0.022,0.0063,-0.0023,0.014,-0.0015,-0.006,0.00027,0.012,0.0029,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.5e-06,0.00011,0.00011,6.2e-05,0.026,0.026,0.0086,0.044,0.044,0.036,2.8e-06,2.8e-06,3.7e-06,0.029,0.03,0.0005,0,0,0,0,0,0,0,0
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19890000,0.98,-0.0071,-0.011,0.19,-0.0058,-0.002,0.022,0.0057,-0.0025,0.013,-0.0015,-0.006,0.00026,0.013,0.0028,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.5e-06,0.00011,0.00011,6.2e-05,0.029,0.029,0.0086,0.05,0.05,0.036,2.8e-06,2.8e-06,3.7e-06,0.029,0.03,0.0005,0,0,0,0,0,0,0,0
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17790000,0.98,-0.0074,-0.011,0.19,0.0025,-0.014,0.029,0.0035,-0.0062,0.028,-0.0014,-0.006,0.00031,0.0078,0.0034,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00014,0.00013,6.5e-05,0.034,0.034,0.0086,0.046,0.046,0.034,7.3e-06,7.3e-06,4.9e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
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17890000,0.98,-0.0073,-0.011,0.19,0.0046,-0.016,0.029,0.0039,-0.0077,0.032,-0.0014,-0.006,0.00032,0.0077,0.0035,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00014,0.00014,6.5e-05,0.037,0.037,0.0086,0.052,0.052,0.035,7.3e-06,7.3e-06,4.8e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
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17990000,0.98,-0.0071,-0.011,0.19,0.004,-0.0092,0.029,0.0031,-0.0019,0.033,-0.0014,-0.006,0.00032,0.0081,0.0045,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00013,0.00013,6.4e-05,0.033,0.033,0.0086,0.045,0.045,0.034,6.6e-06,6.6e-06,4.8e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
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18090000,0.98,-0.0072,-0.011,0.19,0.0035,-0.0098,0.028,0.0035,-0.0029,0.031,-0.0014,-0.006,0.00031,0.0084,0.0043,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00013,0.00013,6.4e-05,0.036,0.036,0.0087,0.052,0.052,0.035,6.6e-06,6.6e-06,4.7e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
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18190000,0.98,-0.0072,-0.011,0.19,0.0036,-0.0087,0.028,0.0041,-0.0022,0.029,-0.0014,-0.006,0.00034,0.0089,0.0042,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00013,0.00013,6.4e-05,0.032,0.032,0.0086,0.045,0.045,0.035,6e-06,6e-06,4.7e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
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18290000,0.98,-0.0072,-0.011,0.19,0.0045,-0.0092,0.027,0.0045,-0.003,0.027,-0.0014,-0.006,0.00034,0.0092,0.004,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00013,0.00013,6.4e-05,0.036,0.036,0.0087,0.051,0.051,0.035,6e-06,6e-06,4.6e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0
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18390000,0.98,-0.0072,-0.011,0.19,0.0054,-0.0079,0.027,0.0061,-0.0023,0.026,-0.0014,-0.006,0.00033,0.0098,0.0039,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00013,0.00012,6.4e-05,0.031,0.031,0.0086,0.045,0.045,0.035,5.4e-06,5.4e-06,4.5e-06,0.03,0.031,0.0005,0,0,0,0,0,0,0,0
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18490000,0.98,-0.0072,-0.011,0.19,0.0081,-0.008,0.026,0.0069,-0.0031,0.028,-0.0014,-0.006,0.00034,0.0098,0.0039,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00013,0.00013,6.4e-05,0.035,0.035,0.0087,0.051,0.051,0.035,5.4e-06,5.4e-06,4.5e-06,0.03,0.031,0.0005,0,0,0,0,0,0,0,0
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18590000,0.98,-0.007,-0.011,0.19,0.0065,-0.0073,0.026,0.0055,-0.0024,0.031,-0.0015,-0.006,0.00033,0.0097,0.0042,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00012,0.00012,6.4e-05,0.031,0.031,0.0087,0.045,0.045,0.035,4.9e-06,4.9e-06,4.4e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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18690000,0.98,-0.007,-0.011,0.19,0.0066,-0.0063,0.024,0.0062,-0.0031,0.029,-0.0015,-0.006,0.00034,0.0099,0.004,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00012,0.00012,6.4e-05,0.034,0.034,0.0087,0.051,0.051,0.035,4.9e-06,4.9e-06,4.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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18790000,0.98,-0.007,-0.011,0.19,0.0056,-0.006,0.024,0.0062,-0.0025,0.027,-0.0015,-0.006,0.00034,0.01,0.0038,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00012,0.00012,6.4e-05,0.03,0.03,0.0087,0.045,0.045,0.035,4.4e-06,4.4e-06,4.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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18890000,0.98,-0.0069,-0.011,0.19,0.0043,-0.0056,0.021,0.0067,-0.0031,0.023,-0.0015,-0.006,0.00033,0.011,0.0036,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00012,0.00012,6.4e-05,0.033,0.033,0.0087,0.051,0.051,0.035,4.4e-06,4.4e-06,4.2e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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18990000,0.98,-0.0069,-0.011,0.19,0.0026,-0.0057,0.022,0.0055,-0.0025,0.026,-0.0015,-0.006,0.00033,0.011,0.0038,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00012,0.00012,6.3e-05,0.029,0.029,0.0086,0.045,0.045,0.035,4e-06,4e-06,4.2e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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19090000,0.98,-0.007,-0.011,0.19,0.0006,-0.0062,0.023,0.0057,-0.003,0.022,-0.0015,-0.006,0.00034,0.011,0.0035,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00012,0.00012,6.3e-05,0.032,0.032,0.0087,0.051,0.051,0.036,4e-06,4e-06,4.1e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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19190000,0.98,-0.0069,-0.011,0.19,-0.00089,-0.0058,0.022,0.0048,-0.0025,0.021,-0.0015,-0.006,0.00031,0.011,0.0035,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00011,0.00011,6.3e-05,0.028,0.028,0.0086,0.045,0.045,0.036,3.7e-06,3.7e-06,4.1e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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19290000,0.98,-0.0069,-0.011,0.19,-0.0018,-0.0057,0.023,0.0047,-0.0031,0.021,-0.0015,-0.006,0.00031,0.011,0.0034,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00011,0.00011,6.3e-05,0.031,0.031,0.0087,0.05,0.051,0.036,3.7e-06,3.7e-06,4e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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19390000,0.98,-0.0069,-0.011,0.19,-0.0022,-0.0022,0.024,0.004,-0.0011,0.019,-0.0015,-0.006,0.0003,0.011,0.0035,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00011,0.00011,6.3e-05,0.028,0.028,0.0086,0.045,0.045,0.036,3.3e-06,3.3e-06,4e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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19490000,0.98,-0.007,-0.011,0.19,-0.003,-0.0022,0.023,0.0038,-0.0014,0.019,-0.0015,-0.006,0.00028,0.012,0.0034,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00011,0.00011,6.3e-05,0.03,0.03,0.0087,0.05,0.05,0.036,3.3e-06,3.3e-06,3.9e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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19590000,0.98,-0.0069,-0.011,0.19,-0.0041,-0.0051,0.025,0.0043,-0.0024,0.019,-0.0015,-0.006,0.00027,0.012,0.0031,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.6e-06,0.00011,0.00011,6.3e-05,0.027,0.027,0.0086,0.044,0.044,0.036,3e-06,3e-06,3.8e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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19690000,0.98,-0.007,-0.011,0.19,-0.0058,-0.0036,0.023,0.0039,-0.0028,0.019,-0.0015,-0.006,0.00028,0.012,0.003,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.5e-06,0.00011,0.00011,6.2e-05,0.03,0.03,0.0086,0.05,0.05,0.036,3e-06,3e-06,3.8e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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19790000,0.98,-0.007,-0.011,0.19,-0.0058,-0.0022,0.022,0.0063,-0.0023,0.014,-0.0015,-0.006,0.00027,0.013,0.0027,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.5e-06,0.00011,0.00011,6.2e-05,0.026,0.026,0.0086,0.044,0.044,0.036,2.8e-06,2.8e-06,3.7e-06,0.029,0.03,0.0005,0,0,0,0,0,0,0,0
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19890000,0.98,-0.0071,-0.011,0.19,-0.0058,-0.0019,0.022,0.0057,-0.0025,0.013,-0.0015,-0.006,0.00026,0.013,0.0026,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.5e-06,0.00011,0.00011,6.2e-05,0.029,0.029,0.0086,0.05,0.05,0.036,2.8e-06,2.8e-06,3.7e-06,0.029,0.03,0.0005,0,0,0,0,0,0,0,0
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19990000,0.98,-0.0071,-0.011,0.19,-0.0055,-0.0019,0.019,0.0061,-0.00089,0.0097,-0.0015,-0.0059,0.00026,0.013,0.0025,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.5e-06,0.0001,0.0001,6.2e-05,0.026,0.026,0.0085,0.044,0.044,0.036,2.5e-06,2.5e-06,3.6e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0
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20090000,0.98,-0.0071,-0.011,0.19,-0.005,-0.0041,0.019,0.0055,-0.0012,0.013,-0.0015,-0.0059,0.00026,0.013,0.0025,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.5e-06,0.00011,0.0001,6.2e-05,0.028,0.028,0.0086,0.05,0.05,0.036,2.5e-06,2.5e-06,3.6e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0
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20190000,0.98,-0.0071,-0.011,0.19,-0.004,-0.0015,0.02,0.0065,-0.00088,0.013,-0.0015,-0.0059,0.00024,0.013,0.0025,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.5e-06,0.0001,0.0001,6.2e-05,0.025,0.025,0.0085,0.044,0.044,0.036,2.3e-06,2.3e-06,3.5e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0
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||||
20290000,0.98,-0.0071,-0.011,0.19,-0.0072,-0.0026,0.02,0.006,-0.001,0.013,-0.0015,-0.0059,0.00024,0.014,0.0024,-0.13,0.37,0.0037,0.025,0,0,0,0,0,3.5e-06,0.0001,0.0001,6.2e-05,0.027,0.027,0.0085,0.049,0.049,0.036,2.3e-06,2.3e-06,3.5e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0
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33990000,0.98,-0.0072,-0.013,0.18,-0.0062,-0.031,-0.1,0.069,-0.015,-0.092,-0.0014,-0.0056,0.00024,0.021,-0.025,-0.11,0.37,0.0037,0.025,0,0,0,0,0,2.7e-06,4.1e-05,4.1e-05,4.1e-05,0.047,0.047,0.0058,0.042,0.042,0.033,2.6e-07,2.6e-07,8e-07,0.025,0.025,0.0005,0,0,0,0,0,0,0,0
|
||||
34090000,0.98,-0.0072,-0.013,0.18,-0.011,-0.031,-0.1,0.069,-0.018,-0.096,-0.0014,-0.0056,0.00024,0.021,-0.025,-0.11,0.37,0.0037,0.025,0,0,0,0,0,2.7e-06,4.1e-05,4.1e-05,4.1e-05,0.054,0.055,0.0058,0.049,0.049,0.033,2.6e-07,2.6e-07,8e-07,0.025,0.025,0.0005,0,0,0,0,0,0,0,0
|
||||
34190000,0.98,-0.0071,-0.013,0.18,-0.011,-0.02,-0.098,0.072,-0.013,-0.099,-0.0014,-0.0056,0.00024,0.019,-0.027,-0.11,0.37,0.0037,0.025,0,0,0,0,0,2.7e-06,3.7e-05,3.6e-05,4.1e-05,0.048,0.048,0.0058,0.043,0.043,0.033,2.6e-07,2.6e-07,7.9e-07,0.024,0.024,0.0005,0,0,0,0,0,0,0,0
|
||||
34290000,0.98,-0.0069,-0.013,0.18,-0.012,-0.02,-0.097,0.071,-0.015,-0.1,-0.0014,-0.0056,0.00024,0.019,-0.027,-0.11,0.37,0.0037,0.025,0,0,0,0,0,2.7e-06,3.7e-05,3.7e-05,4.1e-05,0.055,0.055,0.0058,0.05,0.05,0.033,2.6e-07,2.6e-07,7.8e-07,0.024,0.024,0.0005,0,0,0,0,0,0,0,0
|
||||
34390000,0.98,-0.0068,-0.013,0.18,-0.013,-0.01,-0.092,0.073,-0.01,-0.11,-0.0014,-0.0056,0.00024,0.018,-0.028,-0.11,0.37,0.0037,0.025,0,0,0,0,0,2.7e-06,3.3e-05,3.3e-05,4.1e-05,0.047,0.047,0.0058,0.044,0.044,0.033,2.6e-07,2.6e-07,7.8e-07,0.023,0.023,0.0005,0,0,0,0,0,0,0,0
|
||||
34490000,0.98,-0.0069,-0.013,0.18,-0.016,-0.0091,-0.089,0.071,-0.011,-0.11,-0.0014,-0.0056,0.00024,0.017,-0.028,-0.11,0.37,0.0037,0.025,0,0,0,0,0,2.7e-06,3.4e-05,3.3e-05,4.1e-05,0.053,0.054,0.0059,0.051,0.051,0.032,2.6e-07,2.6e-07,7.7e-07,0.023,0.023,0.0005,0,0,0,0,0,0,0,0
|
||||
34590000,0.98,-0.0069,-0.013,0.18,-0.014,-0.0049,0.71,0.073,-0.0087,-0.081,-0.0014,-0.0056,0.00024,0.016,-0.028,-0.11,0.37,0.0037,0.025,0,0,0,0,0,2.7e-06,3.1e-05,3.1e-05,4.1e-05,0.044,0.044,0.0059,0.045,0.045,0.032,2.6e-07,2.6e-07,7.7e-07,0.022,0.022,0.0005,0,0,0,0,0,0,0,0
|
||||
34690000,0.98,-0.0068,-0.012,0.18,-0.017,-0.0027,1.7,0.071,-0.0091,0.038,-0.0014,-0.0056,0.00023,0.016,-0.028,-0.11,0.37,0.0037,0.025,0,0,0,0,0,2.7e-06,3.1e-05,3.1e-05,4.1e-05,0.047,0.048,0.006,0.052,0.052,0.032,2.6e-07,2.6e-07,7.6e-07,0.022,0.022,0.0005,0,0,0,0,0,0,0,0
|
||||
34790000,0.98,-0.0068,-0.012,0.18,-0.019,0.0019,2.7,0.072,-0.0068,0.21,-0.0014,-0.0056,0.00023,0.018,-0.029,-0.1,0.37,0.0037,0.025,0,0,0,0,0,2.7e-06,3e-05,2.9e-05,4e-05,0.04,0.04,0.0061,0.045,0.045,0.032,2.6e-07,2.6e-07,7.6e-07,0.021,0.021,0.0005,0,0,0,0,0,0,0,0
|
||||
34890000,0.98,-0.0068,-0.012,0.18,-0.022,0.0043,3.6,0.07,-0.0063,0.5,-0.0014,-0.0056,0.00023,0.018,-0.03,-0.1,0.37,0.0037,0.025,0,0,0,0,0,2.7e-06,3e-05,3e-05,4e-05,0.044,0.044,0.0061,0.052,0.052,0.032,2.6e-07,2.6e-07,7.5e-07,0.021,0.021,0.0005,0,0,0,0,0,0,0,0
|
||||
34490000,0.98,-0.0069,-0.013,0.18,-0.016,-0.0091,-0.089,0.071,-0.011,-0.11,-0.0014,-0.0056,0.00024,0.018,-0.028,-0.11,0.37,0.0037,0.025,0,0,0,0,0,2.7e-06,3.4e-05,3.3e-05,4.1e-05,0.053,0.054,0.0059,0.051,0.051,0.032,2.6e-07,2.6e-07,7.7e-07,0.023,0.023,0.0005,0,0,0,0,0,0,0,0
|
||||
34590000,0.98,-0.0069,-0.013,0.18,-0.014,-0.0048,0.71,0.073,-0.0087,-0.081,-0.0014,-0.0056,0.00024,0.016,-0.028,-0.11,0.37,0.0037,0.025,0,0,0,0,0,2.7e-06,3.1e-05,3.1e-05,4.1e-05,0.044,0.044,0.0059,0.045,0.045,0.032,2.6e-07,2.6e-07,7.7e-07,0.022,0.022,0.0005,0,0,0,0,0,0,0,0
|
||||
34690000,0.98,-0.0069,-0.012,0.18,-0.017,-0.0027,1.7,0.071,-0.0091,0.038,-0.0014,-0.0056,0.00023,0.016,-0.028,-0.11,0.37,0.0037,0.025,0,0,0,0,0,2.7e-06,3.1e-05,3.1e-05,4.1e-05,0.047,0.048,0.006,0.052,0.052,0.032,2.6e-07,2.6e-07,7.6e-07,0.022,0.022,0.0005,0,0,0,0,0,0,0,0
|
||||
34790000,0.98,-0.0068,-0.012,0.18,-0.019,0.0019,2.7,0.072,-0.0068,0.21,-0.0014,-0.0056,0.00023,0.018,-0.03,-0.1,0.37,0.0037,0.025,0,0,0,0,0,2.7e-06,3e-05,2.9e-05,4e-05,0.04,0.04,0.0061,0.045,0.045,0.032,2.6e-07,2.6e-07,7.6e-07,0.021,0.021,0.0005,0,0,0,0,0,0,0,0
|
||||
34890000,0.98,-0.0068,-0.012,0.18,-0.022,0.0044,3.6,0.07,-0.0063,0.5,-0.0014,-0.0056,0.00023,0.018,-0.03,-0.1,0.37,0.0037,0.025,0,0,0,0,0,2.7e-06,3e-05,3e-05,4e-05,0.044,0.044,0.0061,0.052,0.052,0.032,2.6e-07,2.6e-07,7.5e-07,0.021,0.021,0.0005,0,0,0,0,0,0,0,0
|
||||
|
|
|
|||
|
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Reference in New Issue