From ff4aec6588d6452812131b9275069ac2933543ff Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 1 Jun 2014 15:34:27 +0200 Subject: [PATCH 1/4] wind estimate: added uORB topic --- src/modules/uORB/objects_common.cpp | 2 + src/modules/uORB/topics/wind_estimate.h | 68 +++++++++++++++++++++++++ 2 files changed, 70 insertions(+) create mode 100644 src/modules/uORB/topics/wind_estimate.h diff --git a/src/modules/uORB/objects_common.cpp b/src/modules/uORB/objects_common.cpp index bae46e14d7..7c3bb0009e 100644 --- a/src/modules/uORB/objects_common.cpp +++ b/src/modules/uORB/objects_common.cpp @@ -203,3 +203,5 @@ ORB_DEFINE(estimator_status, struct estimator_status_report); #include "topics/tecs_status.h" ORB_DEFINE(tecs_status, struct tecs_status_s); +#include "topics/wind_estimate.h" +ORB_DEFINE(wind_estimate, struct wind_estimate_s); diff --git a/src/modules/uORB/topics/wind_estimate.h b/src/modules/uORB/topics/wind_estimate.h new file mode 100644 index 0000000000..58333a64f8 --- /dev/null +++ b/src/modules/uORB/topics/wind_estimate.h @@ -0,0 +1,68 @@ +/**************************************************************************** + * + * Copyright (c) 2014 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 + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file wind_estimate.h + * + * Wind estimate topic topic + * + */ + +#ifndef TOPIC_WIND_ESTIMATE_H +#define TOPIC_WIND_ESTIMATE_H + +#include +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** Wind estimate */ +struct wind_estimate_s { + + uint64_t timestamp; /**< Microseconds since system boot */ + float windspeed_north; /**< Wind component in north / X direction */ + float windspeed_east; /**< Wind component in east / Y direction */ + float covariance_north; /**< Uncertainty - set to zero (no uncertainty) if not estimated */ + float covariance_east; /**< Uncertainty - set to zero (no uncertainty) if not estimated */ +}; + +/** + * @} + */ + +ORB_DECLARE(wind_estimate); + +#endif \ No newline at end of file From 50342f96613d6a6d428b8b65a572c93696bd720f Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 1 Jun 2014 15:35:01 +0200 Subject: [PATCH 2/4] att / pos estimator: Publishing wind estimate --- .../ekf_att_pos_estimator_main.cpp | 33 ++++++++++++++++--- .../ekf_att_pos_estimator/estimator.cpp | 4 +-- 2 files changed, 31 insertions(+), 6 deletions(-) diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index 0a6d3fa8fe..93ed18b8d9 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -74,6 +74,7 @@ #include #include #include +#include #include #include #include @@ -158,6 +159,7 @@ private: orb_advert_t _global_pos_pub; /**< global position */ orb_advert_t _local_pos_pub; /**< position in local frame */ orb_advert_t _estimator_status_pub; /**< status of the estimator */ + orb_advert_t _wind_pub; /**< wind estimate */ struct vehicle_attitude_s _att; /**< vehicle attitude */ struct gyro_report _gyro; @@ -169,6 +171,7 @@ private: struct vehicle_global_position_s _global_pos; /**< global vehicle position */ struct vehicle_local_position_s _local_pos; /**< local vehicle position */ struct vehicle_gps_position_s _gps; /**< GPS position */ + struct wind_estimate_s _wind; /**< Wind estimate */ struct gyro_scale _gyro_offsets; struct accel_scale _accel_offsets; @@ -312,6 +315,7 @@ FixedwingEstimator::FixedwingEstimator() : _global_pos_pub(-1), _local_pos_pub(-1), _estimator_status_pub(-1), + _wind_pub(-1), _att({}), _gyro({}), @@ -323,6 +327,7 @@ FixedwingEstimator::FixedwingEstimator() : _global_pos({}), _local_pos({}), _gps({}), + _wind({}), _gyro_offsets({}), _accel_offsets({}), @@ -1328,13 +1333,31 @@ FixedwingEstimator::task_main() /* lazily publish the global position only once available */ if (_global_pos_pub > 0) { - /* publish the attitude setpoint */ + /* publish the global position */ orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &_global_pos); } else { /* advertise and publish */ _global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &_global_pos); } + + if (hrt_elapsed_time(&_wind.timestamp) > 99000) { + _wind.timestamp = _global_pos.timestamp; + _wind.windspeed_north = _ekf->states[14]; + _wind.windspeed_east = _ekf->states[15]; + _wind.covariance_north = 0.0f; // XXX get form filter + _wind.covariance_east = 0.0f; + + /* lazily publish the wind estimate only once available */ + if (_wind_pub > 0) { + /* publish the wind estimate */ + orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind); + + } else { + /* advertise and publish */ + _wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind); + } + } } } @@ -1396,9 +1419,11 @@ FixedwingEstimator::print_status() printf("states (vel m/s) [5-7]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[4], (double)_ekf->states[5], (double)_ekf->states[6]); printf("states (pos m) [8-10]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[7], (double)_ekf->states[8], (double)_ekf->states[9]); printf("states (delta ang) [11-13]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[10], (double)_ekf->states[11], (double)_ekf->states[12]); - printf("states (wind) [14-15]: %8.4f, %8.4f\n", (double)_ekf->states[13], (double)_ekf->states[14]); - printf("states (earth mag) [16-18]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[15], (double)_ekf->states[16], (double)_ekf->states[17]); - printf("states (body mag) [19-21]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[18], (double)_ekf->states[19], (double)_ekf->states[20]); + printf("states (accel offs) [14]: %8.4f\n", (double)_ekf->states[13]); + printf("states (wind) [15-16]: %8.4f, %8.4f\n", (double)_ekf->states[14], (double)_ekf->states[15]); + printf("states (earth mag) [17-19]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[16], (double)_ekf->states[17], (double)_ekf->states[18]); + printf("states (body mag) [20-22]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[19], (double)_ekf->states[20], (double)_ekf->states[21]); + printf("states (terrain) [23]: %8.4f\n", (double)_ekf->states[22]); printf("states: %s %s %s %s %s %s %s %s %s %s\n", (_ekf->statesInitialised) ? "INITIALIZED" : "NON_INIT", (_ekf->onGround) ? "ON_GROUND" : "AIRBORNE", diff --git a/src/modules/ekf_att_pos_estimator/estimator.cpp b/src/modules/ekf_att_pos_estimator/estimator.cpp index 5db1adbb3c..1320b46689 100644 --- a/src/modules/ekf_att_pos_estimator/estimator.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator.cpp @@ -2042,10 +2042,10 @@ float AttPosEKF::ConstrainFloat(float val, float min, float max) float ret; if (val > max) { ret = max; - ekf_debug("> max: %8.4f, val: %8.4f", max, val); + ekf_debug("> max: %8.4f, val: %8.4f", (double)max, (double)val); } else if (val < min) { ret = min; - ekf_debug("< min: %8.4f, val: %8.4f", min, val); + ekf_debug("< min: %8.4f, val: %8.4f", (double)min, (double)val); } else { ret = val; } From ef6af184aa7858a9124de13c958f02b140b0f712 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 1 Jun 2014 15:35:26 +0200 Subject: [PATCH 3/4] sdlog2: Logging wind estimate at low rate --- src/modules/sdlog2/sdlog2.c | 17 +++++++++++++++++ src/modules/sdlog2/sdlog2_messages.h | 10 ++++++++++ 2 files changed, 27 insertions(+) diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index 17461f5874..c19579f0f9 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -87,6 +87,7 @@ #include #include #include +#include #include #include @@ -943,6 +944,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct tecs_status_s tecs_status; struct system_power_s system_power; struct servorail_status_s servorail_status; + struct wind_estimate_s wind_estimate; } buf; memset(&buf, 0, sizeof(buf)); @@ -982,6 +984,7 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_GS1A_s log_GS1A; struct log_GS1B_s log_GS1B; struct log_TECS_s log_TECS; + struct log_WIND_s log_WIND; } body; } log_msg = { LOG_PACKET_HEADER_INIT(0) @@ -1016,6 +1019,7 @@ int sdlog2_thread_main(int argc, char *argv[]) int tecs_status_sub; int system_power_sub; int servorail_status_sub; + int wind_sub; } subs; subs.cmd_sub = orb_subscribe(ORB_ID(vehicle_command)); @@ -1044,6 +1048,9 @@ int sdlog2_thread_main(int argc, char *argv[]) subs.tecs_status_sub = orb_subscribe(ORB_ID(tecs_status)); subs.system_power_sub = orb_subscribe(ORB_ID(system_power)); subs.servorail_status_sub = orb_subscribe(ORB_ID(servorail_status)); + subs.wind_sub = orb_subscribe(ORB_ID(wind_estimate)); + /* we need to rate-limit wind, as we do not need the full update rate */ + orb_set_interval(subs.wind_sub, 90); thread_running = true; @@ -1512,6 +1519,16 @@ int sdlog2_thread_main(int argc, char *argv[]) LOGBUFFER_WRITE_AND_COUNT(TECS); } + /* --- WIND ESTIMATE --- */ + if (copy_if_updated(ORB_ID(wind_estimate), subs.wind_sub, &buf.wind_estimate)) { + log_msg.msg_type = LOG_WIND_MSG; + log_msg.body.log_WIND.x = buf.wind_estimate.windspeed_north; + log_msg.body.log_WIND.y = buf.wind_estimate.windspeed_east; + log_msg.body.log_WIND.cov_x = buf.wind_estimate.covariance_north; + log_msg.body.log_WIND.cov_y = buf.wind_estimate.covariance_east; + LOGBUFFER_WRITE_AND_COUNT(WIND); + } + /* signal the other thread new data, but not yet unlock */ if (logbuffer_count(&lb) > MIN_BYTES_TO_WRITE) { /* only request write if several packets can be written at once */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index 83832580ca..a6eb7a5bd3 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -366,6 +366,15 @@ struct log_TECS_s { uint8_t mode; }; +/* --- WIND - WIND ESTIMATE --- */ +#define LOG_WIND_MSG 31 +struct log_WIND_s { + float x; + float y; + float cov_x; + float cov_y; +}; + /********** SYSTEM MESSAGES, ID > 0x80 **********/ /* --- TIME - TIME STAMP --- */ @@ -422,6 +431,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(TECS, "ffffffffffffB", "AltSP,Alt,FpaSP,Fpa,AsSP,As,AsDSP,AsD,TERSP,TER,EDRSP,EDR,Mod"), + LOG_FORMAT(WIND, "fff", "X,Y,Cov"), /* system-level messages, ID >= 0x80 */ /* FMT: don't write format of format message, it's useless */ From 41a763a50e99880147a2e4f5a6988299f8fd6dac Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 1 Jun 2014 15:39:38 +0200 Subject: [PATCH 4/4] Fix log format specifier --- src/modules/sdlog2/sdlog2_messages.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index a6eb7a5bd3..a874351b30 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -431,7 +431,7 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(GS1A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(GS1B, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), LOG_FORMAT(TECS, "ffffffffffffB", "AltSP,Alt,FpaSP,Fpa,AsSP,As,AsDSP,AsD,TERSP,TER,EDRSP,EDR,Mod"), - LOG_FORMAT(WIND, "fff", "X,Y,Cov"), + LOG_FORMAT(WIND, "ffff", "X,Y,CovX,CovY"), /* system-level messages, ID >= 0x80 */ /* FMT: don't write format of format message, it's useless */