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px4-firmware
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update all fields of the control state message

This commit is contained in:
tumbili 2016-04-11 14:43:41 +02:00
parent 42e733b984
commit d227c61246
1 changed files with 22 additions and 7 deletions
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29
src/modules/ekf2/ekf2_main.cpp
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@ -143,6 +143,8 @@ private:
bool _prev_motors_armed = false; // motors armed status from the previous frame
float _acc_hor_filt = 0.0f; // low-pass filtered horizontal acceleration
orb_advert_t _att_pub;
orb_advert_t _lpos_pub;
orb_advert_t _control_state_pub;
@ -529,30 +531,43 @@ void Ekf2::task_main()
ctrl_state.pitch_rate = _lp_pitch_rate.apply(sensors.gyro_rad_s[1]);
ctrl_state.yaw_rate = _lp_yaw_rate.apply(sensors.gyro_rad_s[2]);
/* Velocity in Body Frame */
// Velocity in body frame
float velocity[3];
_ekf->copy_velocity(velocity);
_ekf->get_velocity(velocity);
Vector3f v_n(velocity);
matrix::Dcm<float> Tnb(q);
Vector3f v_b = Tnb * v_n;
matrix::Dcm<float> R_to_body(q.inversed());
Vector3f v_b = R_to_body * v_n;
ctrl_state.x_vel = v_b(0);
ctrl_state.y_vel = v_b(1);
ctrl_state.z_vel = v_b(2);
/* Local Position */
// Local Position NED
float position[3];
_ekf->copy_position(position);
_ekf->get_position(position);
ctrl_state.x_pos = position[0];
ctrl_state.y_pos = position[1];
ctrl_state.z_pos = position[2];
// Attitude quaternion
ctrl_state.q[0] = q(0);
ctrl_state.q[1] = q(1);
ctrl_state.q[2] = q(2);
ctrl_state.q[3] = q(3);
// Acceleration data
matrix::Vector<float, 3> acceleration = {&sensors.accelerometer_m_s2[0]};
float accel_bias = 0.0f;
_ekf->get_accel_bias(&accel_bias);
ctrl_state.x_acc = acceleration(0);
ctrl_state.y_acc = acceleration(1);
ctrl_state.z_acc = acceleration(2) - accel_bias;
// compute lowpass filtered horizontal acceleration
acceleration = R_to_body.transpose() * acceleration;
_acc_hor_filt = 0.95f * _acc_hor_filt + 0.05f * sqrtf(acceleration(0) * acceleration(0) + acceleration(1) * acceleration(1));
ctrl_state.horz_acc_mag = _acc_hor_filt;
// Airspeed - take airspeed measurement directly here as no wind is estimated
if (PX4_ISFINITE(airspeed.indicated_airspeed_m_s) && hrt_absolute_time() - airspeed.timestamp < 1e6