forked from Archive/PX4-Autopilot
EKF2 limit map reprojection (#7900)
This commit is contained in:
Daniel Agar
GitHub
parent
201b2bd75e
commit
dc18112697
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@ -8,7 +8,6 @@ uint64 time_utc_usec # GPS UTC timestamp, (microseconds)
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float64 lat # Latitude, (degrees)
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float64 lon # Longitude, (degrees)
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float32 alt # Altitude AMSL, (meters)
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float64[2] delta_lat_lon # Reset delta for horizontal position coordinates
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float32 delta_alt # Reset delta for altitude
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uint8 lat_lon_reset_counter # Counter for reset events on horizontal position coordinates
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uint8 alt_reset_counter # Counter for reset events on altitude
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@ -41,29 +41,18 @@
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#include <px4_config.h>
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#include <px4_defines.h>
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#include <px4_module.h>
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#include <px4_tasks.h>
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#include <px4_posix.h>
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#include <px4_tasks.h>
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#include <px4_time.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <errno.h>
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#include <math.h>
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#include <poll.h>
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#include <time.h>
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#include <float.h>
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#include <arch/board/board.h>
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#include <systemlib/param/param.h>
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#include <systemlib/err.h>
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#include <cfloat>
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#include <systemlib/systemlib.h>
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#include <mathlib/mathlib.h>
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#include <mathlib/math/filter/LowPassFilter2p.hpp>
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#include <platforms/px4_defines.h>
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#include <drivers/drv_hrt.h>
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#include <controllib/blocks.hpp>
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#include <controllib/block/BlockParam.hpp>
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/vehicle_gps_position.h>
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@ -95,8 +84,7 @@ class Ekf2 : public control::SuperBlock, public ModuleBase<Ekf2>
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{
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public:
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Ekf2();
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~Ekf2();
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~Ekf2() override = default;
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/** @see ModuleBase */
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static int task_spawn(int argc, char *argv[]);
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@ -120,16 +108,12 @@ public:
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int print_status() override;
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private:
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static constexpr float _dt_max = 0.02; ///< minimum allowed arrival time between non-IMU sensor readings (sec)
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bool _replay_mode; ///< true when we use replay data from a log
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int32_t _publish_replay_mode; ///< set to 1 if we should publish replay messages for logging
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float _default_ev_pos_noise = 0.05f; ///< external vision position noise used when an invalid value is supplied (m)
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float _default_ev_ang_noise = 0.05f; ///< external vision angle noise used when an invalid value is supplied (rad)
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bool _replay_mode = false; ///< true when we use replay data from a log
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// time slip monitoring
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uint64_t integrated_time_us = 0; ///< integral of gyro delta time from start (uSec)
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uint64_t start_time_us = 0; ///< system time at EKF start (uSec)
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uint64_t _integrated_time_us = 0; ///< integral of gyro delta time from start (uSec)
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uint64_t _start_time_us = 0; ///< system time at EKF start (uSec)
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uint64_t _last_time_slip_us = 0; ///< Last time slip (uSec)
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// Initialise time stamps used to send sensor data to the EKF and for logging
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uint64_t _timestamp_mag_us = 0; ///< magnetomer data timestamp (uSec)
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@ -155,31 +139,35 @@ private:
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// Used to check, save and use learned magnetometer biases
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hrt_abstime _last_magcal_us = 0; ///< last time the EKF was operating a mode that estimates magnetomer biases (uSec)
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hrt_abstime _total_cal_time_us = 0; ///< accumulated calibration time since the last save
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hrt_abstime _last_time_slip_us = 0; ///< Last time slip (uSec)
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float _last_valid_mag_cal[3] = {}; ///< last valid XYZ magnetometer bias estimates (mGauss)
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bool _valid_cal_available[3] = {}; ///< true when an unsaved valid calibration for the XYZ magnetometer bias is available
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float _last_valid_variance[3] = {}; ///< variances for the last valid magnetometer XYZ bias estimates (mGauss**2)
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// Used to filter velocity innovations during pre-flight checks
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bool _vel_innov_preflt_fail = false; ///< true if the norm of the filtered innovation vector is too large before flight
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Vector3f _vel_innov_lpf_ned = {}; ///< Preflight low pass filtered velocity innovations (m/sec)
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float _hgt_innov_lpf = 0.0f; ///< Preflight low pass filtered height innovation (m)
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const float _innov_lpf_tau_inv = 0.2f; ///< Preflight low pass filter time constant inverse (1/sec)
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const float _vel_innov_test_lim = 0.5f; ///< Maximum permissible velocity innovation to pass pre-flight checks (m/sec)
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const float _hgt_innov_test_lim = 1.5f; ///< Maximum permissible height innovation to pass pre-flight checks (m)
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static constexpr float _innov_lpf_tau_inv = 0.2f; ///< Preflight low pass filter time constant inverse (1/sec)
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static constexpr float _vel_innov_test_lim =
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0.5f; ///< Maximum permissible velocity innovation to pass pre-flight checks (m/sec)
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static constexpr float _hgt_innov_test_lim =
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1.5f; ///< Maximum permissible height innovation to pass pre-flight checks (m)
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const float _vel_innov_spike_lim = 2.0f * _vel_innov_test_lim; ///< preflight velocity innovation spike limit (m/sec)
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const float _hgt_innov_spike_lim = 2.0f * _hgt_innov_test_lim; ///< preflight position innovation spike limit (m)
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bool _vel_innov_preflt_fail = false; ///< true if the norm of the filtered innovation vector is too large before flight
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orb_advert_t _att_pub;
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orb_advert_t _lpos_pub;
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orb_advert_t _control_state_pub;
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orb_advert_t _vehicle_global_position_pub;
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orb_advert_t _wind_pub;
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orb_advert_t _estimator_status_pub;
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orb_advert_t _estimator_innovations_pub;
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orb_advert_t _replay_pub;
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orb_advert_t _ekf2_timestamps_pub;
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uORB::Publication<vehicle_local_position_s> _vehicle_local_position_pub;
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uORB::Publication<vehicle_global_position_s> _vehicle_global_position_pub;
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/* Low pass filter for attitude rates */
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math::LowPassFilter2p _lp_roll_rate; ///< Low pass filter applied to roll rates published on the control_state message
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math::LowPassFilter2p _lp_pitch_rate; ///< Low pass filter applied to pitch rates published on the control_state message
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@ -246,7 +234,8 @@ private:
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control::BlockParamExtFloat _requiredGDoP; ///< maximum acceptable geometric dilution of precision
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control::BlockParamExtFloat _requiredHdrift; ///< maximum acceptable horizontal drift speed (m/s)
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control::BlockParamExtFloat _requiredVdrift; ///< maximum acceptable vertical drift speed (m/s)
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control::BlockParamExtInt _param_record_replay_msg; ///< turns on recording of ekf2 replay messages
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control::BlockParamInt _param_record_replay_msg; ///< turns on recording of ekf2 replay messages
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// measurement source control
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control::BlockParamExtInt
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@ -267,8 +256,8 @@ private:
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_rng_aid_innov_gate; ///< gate size used for innovation consistency checks for range aid fusion (STD)
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// vision estimate fusion
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control::BlockParamExtFloat _ev_pos_noise; ///< default position observation noise for exernal vision measurements (m)
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control::BlockParamExtFloat _ev_ang_noise; ///< default angular observation noise for exernal vision measurements (rad)
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control::BlockParamFloat _ev_pos_noise; ///< default position observation noise for exernal vision measurements (m)
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control::BlockParamFloat _ev_ang_noise; ///< default angular observation noise for exernal vision measurements (rad)
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control::BlockParamExtFloat _ev_innov_gate; ///< external vision position innovation consistency gate size (STD)
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// optical flow fusion
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@ -345,16 +334,15 @@ private:
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Ekf2::Ekf2():
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SuperBlock(nullptr, "EKF"),
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_replay_mode(false),
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_publish_replay_mode(0),
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_att_pub(nullptr),
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_lpos_pub(nullptr),
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_control_state_pub(nullptr),
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_vehicle_global_position_pub(nullptr),
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_wind_pub(nullptr),
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_estimator_status_pub(nullptr),
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_estimator_innovations_pub(nullptr),
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_replay_pub(nullptr),
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_ekf2_timestamps_pub(nullptr),
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_vehicle_local_position_pub(ORB_ID(vehicle_local_position), -1, &getPublications()),
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_vehicle_global_position_pub(ORB_ID(vehicle_global_position), -1, &getPublications()),
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_lp_roll_rate(250.0f, 30.0f),
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_lp_pitch_rate(250.0f, 30.0f),
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_lp_yaw_rate(250.0f, 20.0f),
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@ -403,7 +391,7 @@ Ekf2::Ekf2():
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_requiredGDoP(this, "EKF2_REQ_GDOP", false, _params->req_gdop),
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_requiredHdrift(this, "EKF2_REQ_HDRIFT", false, _params->req_hdrift),
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_requiredVdrift(this, "EKF2_REQ_VDRIFT", false, _params->req_vdrift),
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_param_record_replay_msg(this, "EKF2_REC_RPL", false, _publish_replay_mode),
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_param_record_replay_msg(this, "EKF2_REC_RPL", false),
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_fusion_mode(this, "EKF2_AID_MASK", false, _params->fusion_mode),
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_vdist_sensor_type(this, "EKF2_HGT_MODE", false, _params->vdist_sensor_type),
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_range_noise(this, "EKF2_RNG_NOISE", false, _params->range_noise),
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@ -415,8 +403,8 @@ Ekf2::Ekf2():
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_rng_aid_hor_vel_max(this, "EKF2_RNG_A_VMAX", false, _params->max_vel_for_range_aid),
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_rng_aid_height_max(this, "EKF2_RNG_A_HMAX", false, _params->max_hagl_for_range_aid),
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_rng_aid_innov_gate(this, "EKF2_RNG_A_IGATE", false, _params->range_aid_innov_gate),
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_ev_pos_noise(this, "EKF2_EVP_NOISE", false, _default_ev_pos_noise),
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_ev_ang_noise(this, "EKF2_EVA_NOISE", false, _default_ev_ang_noise),
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_ev_pos_noise(this, "EKF2_EVP_NOISE", false),
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_ev_ang_noise(this, "EKF2_EVA_NOISE", false),
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_ev_innov_gate(this, "EKF2_EV_GATE", false, _params->ev_innov_gate),
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_flow_noise(this, "EKF2_OF_N_MIN", false, _params->flow_noise),
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_flow_noise_qual_min(this, "EKF2_OF_N_MAX", false, _params->flow_noise_qual_min),
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@ -461,12 +449,6 @@ Ekf2::Ekf2():
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_K_pstatic_coef_y(this, "EKF2_PCOEF_Y", false),
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_K_pstatic_coef_z(this, "EKF2_PCOEF_Z", false)
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{
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}
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Ekf2::~Ekf2()
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{
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}
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int Ekf2::print_status()
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@ -546,6 +528,8 @@ void Ekf2::run()
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bool gps_updated = false;
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bool airspeed_updated = false;
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bool baro_updated = false;
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bool sensor_selection_updated = false;
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bool optical_flow_updated = false;
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bool range_finder_updated = false;
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bool vehicle_land_detected_updated = false;
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@ -574,6 +558,18 @@ void Ekf2::run()
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orb_copy(ORB_ID(airspeed), airspeed_sub, &airspeed);
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}
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orb_check(sensor_baro_sub, &baro_updated);
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if (baro_updated) {
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orb_copy(ORB_ID(sensor_baro), sensor_baro_sub, &sensor_baro);
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}
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orb_check(sensor_selection_sub, &sensor_selection_updated);
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if (sensor_selection_updated) {
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orb_copy(ORB_ID(sensor_selection), sensor_selection_sub, &sensor_selection);
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}
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orb_check(optical_flow_sub, &optical_flow_updated);
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if (optical_flow_updated) {
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@ -619,13 +615,14 @@ void Ekf2::run()
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gyro_integral[0] = sensors.gyro_rad[0] * gyro_dt;
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gyro_integral[1] = sensors.gyro_rad[1] * gyro_dt;
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gyro_integral[2] = sensors.gyro_rad[2] * gyro_dt;
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float accel_integral[3];
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float accel_dt = sensors.accelerometer_integral_dt / 1.e6f;
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accel_integral[0] = sensors.accelerometer_m_s2[0] * accel_dt;
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accel_integral[1] = sensors.accelerometer_m_s2[1] * accel_dt;
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accel_integral[2] = sensors.accelerometer_m_s2[2] * accel_dt;
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_ekf.setIMUData(now, sensors.gyro_integral_dt, sensors.accelerometer_integral_dt,
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gyro_integral, accel_integral);
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_ekf.setIMUData(now, sensors.gyro_integral_dt, sensors.accelerometer_integral_dt, gyro_integral, accel_integral);
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// read mag data
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if (sensors.magnetometer_timestamp_relative == sensor_combined_s::RELATIVE_TIMESTAMP_INVALID) {
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@ -640,8 +637,6 @@ void Ekf2::run()
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// Do not reset parmameters when armed to prevent potential time slips casued by parameter set
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// and notification events
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// Check if there has been a persistant change in magnetometer ID
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orb_copy(ORB_ID(sensor_selection), sensor_selection_sub, &sensor_selection);
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if (sensor_selection.mag_device_id != 0 && sensor_selection.mag_device_id != _mag_bias_id.get()) {
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if (_invalid_mag_id_count < 200) {
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_invalid_mag_id_count++;
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@ -718,7 +713,6 @@ void Ekf2::run()
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float balt_data_avg = _balt_data_sum / (float)_balt_sample_count;
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// estimate air density assuming typical 20degC ambient temperature
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orb_copy(ORB_ID(sensor_baro), sensor_baro_sub, &sensor_baro);
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const float pressure_to_density = 100.0f / (CONSTANTS_AIR_GAS_CONST * (20.0f - CONSTANTS_ABSOLUTE_NULL_CELSIUS));
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float rho = pressure_to_density * sensor_baro.pressure;
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_ekf.set_air_density(rho);
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@ -741,7 +735,7 @@ void Ekf2::run()
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_K_pstatic_coef_z.get() * fminf(_vel_body_wind(2) * _vel_body_wind(2), max_airspeed_sq));
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// correct baro measurement using pressure error estimate and assuming sea level gravity
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balt_data_avg += pstatic_err / (rho * 9.80665f);
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balt_data_avg += pstatic_err / (rho * CONSTANTS_ONE_G);
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// push to estimator
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_ekf.setBaroData(1000 * (uint64_t)balt_time_ms, balt_data_avg);
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@ -756,7 +750,7 @@ void Ekf2::run()
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// read gps data if available
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if (gps_updated) {
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struct gps_message gps_msg = {};
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struct gps_message gps_msg;
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gps_msg.time_usec = gps.timestamp;
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gps_msg.lat = gps.lat;
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gps_msg.lon = gps.lon;
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@ -780,19 +774,22 @@ void Ekf2::run()
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// only set airspeed data if condition for airspeed fusion are met
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bool fuse_airspeed = airspeed_updated && !vehicle_status.is_rotary_wing
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&& _arspFusionThreshold.get() <= airspeed.true_airspeed_m_s && _arspFusionThreshold.get() >= 0.1f;
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&& (_arspFusionThreshold.get() > FLT_EPSILON)
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&& (airspeed.true_airspeed_m_s > _arspFusionThreshold.get());
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if (fuse_airspeed) {
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float eas2tas = airspeed.true_airspeed_m_s / airspeed.indicated_airspeed_m_s;
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_ekf.setAirspeedData(airspeed.timestamp, airspeed.true_airspeed_m_s, eas2tas);
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}
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// only fuse synthetic sideslip measurements if conditions are met
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bool fuse_beta = !vehicle_status.is_rotary_wing && _fuseBeta.get();
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_ekf.set_fuse_beta_flag(fuse_beta);
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if (vehicle_status_updated) {
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// only fuse synthetic sideslip measurements if conditions are met
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bool fuse_beta = !vehicle_status.is_rotary_wing && (_fuseBeta.get() == 1);
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_ekf.set_fuse_beta_flag(fuse_beta);
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// let the EKF know if the vehicle motion is that of a fixed wing (forward flight only relative to wind)
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_ekf.set_is_fixed_wing(!vehicle_status.is_rotary_wing);
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// let the EKF know if the vehicle motion is that of a fixed wing (forward flight only relative to wind)
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_ekf.set_is_fixed_wing(!vehicle_status.is_rotary_wing);
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}
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if (optical_flow_updated) {
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flow_message flow;
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@ -825,8 +822,8 @@ void Ekf2::run()
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ev_data.quat = q;
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// position measurement error from parameters. TODO : use covariances from topic
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ev_data.posErr = _default_ev_pos_noise;
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ev_data.angErr = _default_ev_ang_noise;
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ev_data.posErr = _ev_pos_noise.get();
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ev_data.angErr = _ev_ang_noise.get();
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// use timestamp from external computer, clocks are synchronized when using MAVROS
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_ekf.setExtVisionData(vision_position_updated ? ev_pos.timestamp : ev_att.timestamp, &ev_data);
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@ -843,11 +840,11 @@ void Ekf2::run()
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if (_ekf.update()) {
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// integrate time to monitor time slippage
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if (start_time_us == 0) {
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start_time_us = now;
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if (_start_time_us == 0) {
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_start_time_us = now;
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} else if (start_time_us > 0) {
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integrated_time_us += sensors.gyro_integral_dt;
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} else if (_start_time_us > 0) {
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_integrated_time_us += sensors.gyro_integral_dt;
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}
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matrix::Quaternion<float> q;
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@ -989,13 +986,16 @@ void Ekf2::run()
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}
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// generate vehicle local position data
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struct vehicle_local_position_s lpos = {};
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vehicle_local_position_s &lpos = _vehicle_local_position_pub.get();
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float pos[3] = {};
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lpos.timestamp = now;
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// Position of body origin in local NED frame
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_ekf.get_position(pos);
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const float lpos_x_prev = lpos.x;
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const float lpos_y_prev = lpos.y;
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lpos.x = (_ekf.local_position_is_valid()) ? pos[0] : 0.0f;
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lpos.y = (_ekf.local_position_is_valid()) ? pos[1] : 0.0f;
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lpos.z = pos[2];
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@ -1013,11 +1013,19 @@ void Ekf2::run()
|
|||
lpos.v_z_valid = !_vel_innov_preflt_fail;
|
||||
|
||||
// Position of local NED origin in GPS / WGS84 frame
|
||||
struct map_projection_reference_s ekf_origin = {};
|
||||
map_projection_reference_s ekf_origin = {};
|
||||
uint64_t origin_time = 0;
|
||||
|
||||
// true if position (x,y,z) has a valid WGS-84 global reference (ref_lat, ref_lon, alt)
|
||||
lpos.xy_global = lpos.z_global = _ekf.get_ekf_origin(&lpos.ref_timestamp, &ekf_origin, &lpos.ref_alt);
|
||||
lpos.ref_lat = ekf_origin.lat_rad * 180.0 / M_PI; // Reference point latitude in degrees
|
||||
lpos.ref_lon = ekf_origin.lon_rad * 180.0 / M_PI; // Reference point longitude in degrees
|
||||
const bool ekf_origin_valid = _ekf.get_ekf_origin(&origin_time, &ekf_origin, &lpos.ref_alt);
|
||||
lpos.xy_global = ekf_origin_valid;
|
||||
lpos.z_global = ekf_origin_valid;
|
||||
|
||||
if (ekf_origin_valid && (origin_time > lpos.ref_timestamp)) {
|
||||
lpos.ref_timestamp = origin_time;
|
||||
lpos.ref_lat = ekf_origin.lat_rad * 180.0 / M_PI; // Reference point latitude in degrees
|
||||
lpos.ref_lon = ekf_origin.lon_rad * 180.0 / M_PI; // Reference point longitude in degrees
|
||||
}
|
||||
|
||||
// The rotation of the tangent plane vs. geographical north
|
||||
matrix::Eulerf euler(q);
|
||||
|
|
@ -1047,28 +1055,19 @@ void Ekf2::run()
|
|||
_ekf.get_velNE_reset(&lpos.delta_vxy[0], &lpos.vxy_reset_counter);
|
||||
|
||||
// publish vehicle local position data
|
||||
if (_lpos_pub == nullptr) {
|
||||
_lpos_pub = orb_advertise(ORB_ID(vehicle_local_position), &lpos);
|
||||
|
||||
} else {
|
||||
orb_publish(ORB_ID(vehicle_local_position), _lpos_pub, &lpos);
|
||||
}
|
||||
_vehicle_local_position_pub.update();
|
||||
|
||||
if (_ekf.global_position_is_valid() && !_vel_innov_preflt_fail) {
|
||||
// generate and publish global position data
|
||||
struct vehicle_global_position_s global_pos = {};
|
||||
vehicle_global_position_s &global_pos = _vehicle_global_position_pub.get();
|
||||
|
||||
global_pos.timestamp = now;
|
||||
global_pos.time_utc_usec = gps.time_utc_usec; // GPS UTC timestamp in microseconds
|
||||
|
||||
double est_lat, est_lon, lat_pre_reset, lon_pre_reset;
|
||||
map_projection_reproject(&ekf_origin, lpos.x, lpos.y, &est_lat, &est_lon);
|
||||
global_pos.lat = est_lat; // Latitude in degrees
|
||||
global_pos.lon = est_lon; // Longitude in degrees
|
||||
map_projection_reproject(&ekf_origin, lpos.x - lpos.delta_xy[0], lpos.y - lpos.delta_xy[1], &lat_pre_reset,
|
||||
&lon_pre_reset);
|
||||
global_pos.delta_lat_lon[0] = est_lat - lat_pre_reset;
|
||||
global_pos.delta_lat_lon[1] = est_lon - lon_pre_reset;
|
||||
if (fabsf(lpos_x_prev - lpos.x) > FLT_EPSILON || fabsf(lpos_y_prev - lpos.y) > FLT_EPSILON) {
|
||||
map_projection_reproject(&ekf_origin, lpos.x, lpos.y, &global_pos.lat, &global_pos.lon);
|
||||
}
|
||||
|
||||
global_pos.lat_lon_reset_counter = lpos.xy_reset_counter;
|
||||
|
||||
global_pos.alt = -pos[2] + lpos.ref_alt; // Altitude AMSL in meters
|
||||
|
|
@ -1100,17 +1099,12 @@ void Ekf2::run()
|
|||
|
||||
global_pos.pressure_alt = sensors.baro_alt_meter; // Pressure altitude AMSL (m)
|
||||
|
||||
if (_vehicle_global_position_pub == nullptr) {
|
||||
_vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos);
|
||||
|
||||
} else {
|
||||
orb_publish(ORB_ID(vehicle_global_position), _vehicle_global_position_pub, &global_pos);
|
||||
}
|
||||
_vehicle_global_position_pub.update();
|
||||
}
|
||||
|
||||
// publish estimator status
|
||||
{
|
||||
struct estimator_status_s status = {};
|
||||
estimator_status_s status;
|
||||
status.timestamp = now;
|
||||
_ekf.get_state_delayed(status.states);
|
||||
_ekf.get_covariances(status.covariances);
|
||||
|
|
@ -1128,9 +1122,9 @@ void Ekf2::run()
|
|||
_ekf.get_imu_vibe_metrics(status.vibe);
|
||||
|
||||
// monitor time slippage
|
||||
if (start_time_us != 0 && now > start_time_us) {
|
||||
status.time_slip = (float)(1e-6 * ((double)(now - start_time_us) - (double) integrated_time_us));
|
||||
_last_time_slip_us = (now - start_time_us) - integrated_time_us;
|
||||
if (_start_time_us != 0 && now > _start_time_us) {
|
||||
status.time_slip = (float)(1e-6 * ((double)(now - _start_time_us) - (double) _integrated_time_us));
|
||||
_last_time_slip_us = (now - _start_time_us) - _integrated_time_us;
|
||||
|
||||
} else {
|
||||
status.time_slip = 0.0f;
|
||||
|
|
@ -1218,7 +1212,7 @@ void Ekf2::run()
|
|||
}
|
||||
|
||||
// Publish wind estimate
|
||||
struct wind_estimate_s wind_estimate = {};
|
||||
wind_estimate_s wind_estimate;
|
||||
wind_estimate.timestamp = now;
|
||||
wind_estimate.windspeed_north = status.states[22];
|
||||
wind_estimate.windspeed_east = status.states[23];
|
||||
|
|
@ -1235,7 +1229,7 @@ void Ekf2::run()
|
|||
|
||||
// publish estimator innovation data
|
||||
{
|
||||
struct ekf2_innovations_s innovations = {};
|
||||
ekf2_innovations_s innovations;
|
||||
innovations.timestamp = now;
|
||||
_ekf.get_vel_pos_innov(&innovations.vel_pos_innov[0]);
|
||||
_ekf.get_mag_innov(&innovations.mag_innov[0]);
|
||||
|
|
@ -1362,11 +1356,8 @@ void Ekf2::run()
|
|||
}
|
||||
}
|
||||
|
||||
|
||||
// publish replay message if in replay mode
|
||||
bool publish_replay_message = (bool)_param_record_replay_msg.get();
|
||||
|
||||
if (publish_replay_message) {
|
||||
if (_param_record_replay_msg.get() == 1) {
|
||||
struct ekf2_replay_s replay = {};
|
||||
replay.timestamp = now;
|
||||
replay.gyro_integral_dt = sensors.gyro_integral_dt;
|
||||
|
|
@ -1439,9 +1430,9 @@ void Ekf2::run()
|
|||
replay.quat_ev[1] = ev_att.q[1];
|
||||
replay.quat_ev[2] = ev_att.q[2];
|
||||
replay.quat_ev[3] = ev_att.q[3];
|
||||
// TODO : switch to covariances from topic later
|
||||
replay.pos_err = _default_ev_pos_noise;
|
||||
replay.ang_err = _default_ev_ang_noise;
|
||||
// TODO: switch to covariances from topic later
|
||||
replay.pos_err = _ev_pos_noise.get();
|
||||
replay.ang_err = _ev_ang_noise.get();
|
||||
|
||||
} else {
|
||||
replay.ev_timestamp = 0;
|
||||
|
|
@ -1463,9 +1454,11 @@ void Ekf2::run()
|
|||
orb_unsubscribe(optical_flow_sub);
|
||||
orb_unsubscribe(range_finder_sub);
|
||||
orb_unsubscribe(ev_pos_sub);
|
||||
orb_unsubscribe(ev_att_sub);
|
||||
orb_unsubscribe(vehicle_land_detected_sub);
|
||||
orb_unsubscribe(status_sub);
|
||||
orb_unsubscribe(sensor_selection_sub);
|
||||
orb_unsubscribe(sensor_baro_sub);
|
||||
}
|
||||
|
||||
Ekf2 *Ekf2::instantiate(int argc, char *argv[])
|
||||
|
|
@ -1517,7 +1510,7 @@ int Ekf2::task_spawn(int argc, char *argv[])
|
|||
_task_id = px4_task_spawn_cmd("ekf2",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_ESTIMATOR,
|
||||
5900,
|
||||
5700,
|
||||
(px4_main_t)&run_trampoline,
|
||||
(char *const *)argv);
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue