forked from Archive/PX4-Autopilot
att_pos_estimator_ekf restored
This commit is contained in:
Anton Babushkin
parent
f2094b9a1f
commit
e04b8d221b
|
|
@ -0,0 +1,812 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012, 2013 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 KalmanNav.cpp
|
||||
*
|
||||
* Kalman filter navigation code
|
||||
*/
|
||||
|
||||
#include <poll.h>
|
||||
|
||||
#include "KalmanNav.hpp"
|
||||
#include <systemlib/err.h>
|
||||
#include <geo/geo.h>
|
||||
|
||||
// constants
|
||||
// Titterton pg. 52
|
||||
static const float omega = 7.2921150e-5f; // earth rotation rate, rad/s
|
||||
static const float R0 = 6378137.0f; // earth radius, m
|
||||
static const float g0 = 9.806f; // standard gravitational accel. m/s^2
|
||||
static const int8_t ret_ok = 0; // no error in function
|
||||
static const int8_t ret_error = -1; // error occurred
|
||||
|
||||
KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
|
||||
SuperBlock(parent, name),
|
||||
// subscriptions
|
||||
_sensors(&getSubscriptions(), ORB_ID(sensor_combined), 5), // limit to 200 Hz
|
||||
_gps(&getSubscriptions(), ORB_ID(vehicle_gps_position), 100), // limit to 10 Hz
|
||||
_param_update(&getSubscriptions(), ORB_ID(parameter_update), 1000), // limit to 1 Hz
|
||||
// publications
|
||||
_pos(&getPublications(), ORB_ID(vehicle_global_position)),
|
||||
_localPos(&getPublications(), ORB_ID(vehicle_local_position)),
|
||||
_att(&getPublications(), ORB_ID(vehicle_attitude)),
|
||||
// timestamps
|
||||
_pubTimeStamp(hrt_absolute_time()),
|
||||
_predictTimeStamp(hrt_absolute_time()),
|
||||
_attTimeStamp(hrt_absolute_time()),
|
||||
_outTimeStamp(hrt_absolute_time()),
|
||||
// frame count
|
||||
_navFrames(0),
|
||||
// miss counts
|
||||
_miss(0),
|
||||
// accelerations
|
||||
fN(0), fE(0), fD(0),
|
||||
// state
|
||||
phi(0), theta(0), psi(0),
|
||||
vN(0), vE(0), vD(0),
|
||||
lat(0), lon(0), alt(0),
|
||||
lat0(0), lon0(0), alt0(0),
|
||||
// parameters for ground station
|
||||
_vGyro(this, "V_GYRO"),
|
||||
_vAccel(this, "V_ACCEL"),
|
||||
_rMag(this, "R_MAG"),
|
||||
_rGpsVel(this, "R_GPS_VEL"),
|
||||
_rGpsPos(this, "R_GPS_POS"),
|
||||
_rGpsAlt(this, "R_GPS_ALT"),
|
||||
_rPressAlt(this, "R_PRESS_ALT"),
|
||||
_rAccel(this, "R_ACCEL"),
|
||||
_magDip(this, "ENV_MAG_DIP"),
|
||||
_magDec(this, "ENV_MAG_DEC"),
|
||||
_g(this, "ENV_G"),
|
||||
_faultPos(this, "FAULT_POS"),
|
||||
_faultAtt(this, "FAULT_ATT"),
|
||||
_attitudeInitialized(false),
|
||||
_positionInitialized(false),
|
||||
_attitudeInitCounter(0)
|
||||
{
|
||||
using namespace math;
|
||||
|
||||
memset(&ref, 0, sizeof(ref));
|
||||
|
||||
F.zero();
|
||||
G.zero();
|
||||
V.zero();
|
||||
HAtt.zero();
|
||||
RAtt.zero();
|
||||
HPos.zero();
|
||||
RPos.zero();
|
||||
|
||||
// initial state covariance matrix
|
||||
P0.identity();
|
||||
P0 *= 0.01f;
|
||||
P = P0;
|
||||
|
||||
// initial state
|
||||
phi = 0.0f;
|
||||
theta = 0.0f;
|
||||
psi = 0.0f;
|
||||
vN = 0.0f;
|
||||
vE = 0.0f;
|
||||
vD = 0.0f;
|
||||
lat = 0.0f;
|
||||
lon = 0.0f;
|
||||
alt = 0.0f;
|
||||
|
||||
// initialize rotation quaternion with a single raw sensor measurement
|
||||
_sensors.update();
|
||||
q = init(
|
||||
_sensors.accelerometer_m_s2[0],
|
||||
_sensors.accelerometer_m_s2[1],
|
||||
_sensors.accelerometer_m_s2[2],
|
||||
_sensors.magnetometer_ga[0],
|
||||
_sensors.magnetometer_ga[1],
|
||||
_sensors.magnetometer_ga[2]);
|
||||
|
||||
// initialize dcm
|
||||
C_nb = q.to_dcm();
|
||||
|
||||
// HPos is constant
|
||||
HPos(0, 3) = 1.0f;
|
||||
HPos(1, 4) = 1.0f;
|
||||
HPos(2, 6) = 1.0e7f * M_RAD_TO_DEG_F;
|
||||
HPos(3, 7) = 1.0e7f * M_RAD_TO_DEG_F;
|
||||
HPos(4, 8) = 1.0f;
|
||||
HPos(5, 8) = 1.0f;
|
||||
|
||||
// initialize all parameters
|
||||
updateParams();
|
||||
}
|
||||
|
||||
math::Quaternion KalmanNav::init(float ax, float ay, float az, float mx, float my, float mz)
|
||||
{
|
||||
float initialRoll, initialPitch;
|
||||
float cosRoll, sinRoll, cosPitch, sinPitch;
|
||||
float magX, magY;
|
||||
float initialHdg, cosHeading, sinHeading;
|
||||
|
||||
initialRoll = atan2(-ay, -az);
|
||||
initialPitch = atan2(ax, -az);
|
||||
|
||||
cosRoll = cosf(initialRoll);
|
||||
sinRoll = sinf(initialRoll);
|
||||
cosPitch = cosf(initialPitch);
|
||||
sinPitch = sinf(initialPitch);
|
||||
|
||||
magX = mx * cosPitch + my * sinRoll * sinPitch + mz * cosRoll * sinPitch;
|
||||
|
||||
magY = my * cosRoll - mz * sinRoll;
|
||||
|
||||
initialHdg = atan2f(-magY, magX);
|
||||
|
||||
cosRoll = cosf(initialRoll * 0.5f);
|
||||
sinRoll = sinf(initialRoll * 0.5f);
|
||||
|
||||
cosPitch = cosf(initialPitch * 0.5f);
|
||||
sinPitch = sinf(initialPitch * 0.5f);
|
||||
|
||||
cosHeading = cosf(initialHdg * 0.5f);
|
||||
sinHeading = sinf(initialHdg * 0.5f);
|
||||
|
||||
float q0 = cosRoll * cosPitch * cosHeading + sinRoll * sinPitch * sinHeading;
|
||||
float q1 = sinRoll * cosPitch * cosHeading - cosRoll * sinPitch * sinHeading;
|
||||
float q2 = cosRoll * sinPitch * cosHeading + sinRoll * cosPitch * sinHeading;
|
||||
float q3 = cosRoll * cosPitch * sinHeading - sinRoll * sinPitch * cosHeading;
|
||||
|
||||
return math::Quaternion(q0, q1, q2, q3);
|
||||
|
||||
}
|
||||
|
||||
void KalmanNav::update()
|
||||
{
|
||||
using namespace math;
|
||||
|
||||
struct pollfd fds[1];
|
||||
fds[0].fd = _sensors.getHandle();
|
||||
fds[0].events = POLLIN;
|
||||
|
||||
// poll for new data
|
||||
int ret = poll(fds, 1, 1000);
|
||||
|
||||
if (ret < 0) {
|
||||
// XXX this is seriously bad - should be an emergency
|
||||
return;
|
||||
|
||||
} else if (ret == 0) { // timeout
|
||||
return;
|
||||
}
|
||||
|
||||
// get new timestamp
|
||||
uint64_t newTimeStamp = hrt_absolute_time();
|
||||
|
||||
// check updated subscriptions
|
||||
if (_param_update.updated()) updateParams();
|
||||
|
||||
bool gpsUpdate = _gps.updated();
|
||||
bool sensorsUpdate = _sensors.updated();
|
||||
|
||||
// get new information from subscriptions
|
||||
// this clears update flag
|
||||
updateSubscriptions();
|
||||
|
||||
// initialize attitude when sensors online
|
||||
if (!_attitudeInitialized && sensorsUpdate) {
|
||||
if (correctAtt() == ret_ok) _attitudeInitCounter++;
|
||||
|
||||
if (_attitudeInitCounter > 100) {
|
||||
warnx("initialized EKF attitude");
|
||||
warnx("phi: %8.4f, theta: %8.4f, psi: %8.4f",
|
||||
double(phi), double(theta), double(psi));
|
||||
_attitudeInitialized = true;
|
||||
}
|
||||
}
|
||||
|
||||
// initialize position when gps received
|
||||
if (!_positionInitialized &&
|
||||
_attitudeInitialized && // wait for attitude first
|
||||
gpsUpdate &&
|
||||
_gps.fix_type > 2
|
||||
//&& _gps.counter_pos_valid > 10
|
||||
) {
|
||||
vN = _gps.vel_n_m_s;
|
||||
vE = _gps.vel_e_m_s;
|
||||
vD = _gps.vel_d_m_s;
|
||||
setLatDegE7(_gps.lat);
|
||||
setLonDegE7(_gps.lon);
|
||||
setAltE3(_gps.alt);
|
||||
// set reference position for
|
||||
// local position
|
||||
lat0 = lat;
|
||||
lon0 = lon;
|
||||
alt0 = alt;
|
||||
map_projection_init(&ref, lat0, lon0);
|
||||
_positionInitialized = true;
|
||||
warnx("initialized EKF state with GPS");
|
||||
warnx("vN: %8.4f, vE: %8.4f, vD: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f",
|
||||
double(vN), double(vE), double(vD),
|
||||
lat, lon, double(alt));
|
||||
}
|
||||
|
||||
// prediction step
|
||||
// using sensors timestamp so we can account for packet lag
|
||||
float dt = (_sensors.timestamp - _predictTimeStamp) / 1.0e6f;
|
||||
//printf("dt: %15.10f\n", double(dt));
|
||||
_predictTimeStamp = _sensors.timestamp;
|
||||
|
||||
// don't predict if time greater than a second
|
||||
if (dt < 1.0f) {
|
||||
predictState(dt);
|
||||
predictStateCovariance(dt);
|
||||
// count fast frames
|
||||
_navFrames += 1;
|
||||
}
|
||||
|
||||
// count times 100 Hz rate isn't met
|
||||
if (dt > 0.01f) _miss++;
|
||||
|
||||
// gps correction step
|
||||
if (_positionInitialized && gpsUpdate) {
|
||||
correctPos();
|
||||
}
|
||||
|
||||
// attitude correction step
|
||||
if (_attitudeInitialized // initialized
|
||||
&& sensorsUpdate // new data
|
||||
&& _sensors.timestamp - _attTimeStamp > 1e6 / 50 // 50 Hz
|
||||
) {
|
||||
_attTimeStamp = _sensors.timestamp;
|
||||
correctAtt();
|
||||
}
|
||||
|
||||
// publication
|
||||
if (newTimeStamp - _pubTimeStamp > 1e6 / 50) { // 50 Hz
|
||||
_pubTimeStamp = newTimeStamp;
|
||||
|
||||
updatePublications();
|
||||
}
|
||||
|
||||
// output
|
||||
if (newTimeStamp - _outTimeStamp > 10e6) { // 0.1 Hz
|
||||
_outTimeStamp = newTimeStamp;
|
||||
//printf("nav: %4d Hz, miss #: %4d\n",
|
||||
// _navFrames / 10, _miss / 10);
|
||||
_navFrames = 0;
|
||||
_miss = 0;
|
||||
}
|
||||
}
|
||||
|
||||
void KalmanNav::updatePublications()
|
||||
{
|
||||
using namespace math;
|
||||
|
||||
// global position publication
|
||||
_pos.timestamp = _pubTimeStamp;
|
||||
_pos.time_gps_usec = _gps.timestamp_position;
|
||||
_pos.lat = lat * M_RAD_TO_DEG;
|
||||
_pos.lon = lon * M_RAD_TO_DEG;
|
||||
_pos.alt = float(alt);
|
||||
_pos.vel_n = vN;
|
||||
_pos.vel_e = vE;
|
||||
_pos.vel_d = vD;
|
||||
_pos.yaw = psi;
|
||||
|
||||
// local position publication
|
||||
float x;
|
||||
float y;
|
||||
bool landed = alt < (alt0 + 0.1); // XXX improve?
|
||||
map_projection_project(&ref, lat, lon, &x, &y);
|
||||
_localPos.timestamp = _pubTimeStamp;
|
||||
_localPos.xy_valid = true;
|
||||
_localPos.z_valid = true;
|
||||
_localPos.v_xy_valid = true;
|
||||
_localPos.v_z_valid = true;
|
||||
_localPos.x = x;
|
||||
_localPos.y = y;
|
||||
_localPos.z = alt0 - alt;
|
||||
_localPos.vx = vN;
|
||||
_localPos.vy = vE;
|
||||
_localPos.vz = vD;
|
||||
_localPos.yaw = psi;
|
||||
_localPos.xy_global = true;
|
||||
_localPos.z_global = true;
|
||||
_localPos.ref_timestamp = _pubTimeStamp;
|
||||
_localPos.ref_lat = lat * M_RAD_TO_DEG;
|
||||
_localPos.ref_lon = lon * M_RAD_TO_DEG;
|
||||
_localPos.ref_alt = 0;
|
||||
_localPos.landed = landed;
|
||||
|
||||
// attitude publication
|
||||
_att.timestamp = _pubTimeStamp;
|
||||
_att.roll = phi;
|
||||
_att.pitch = theta;
|
||||
_att.yaw = psi;
|
||||
_att.rollspeed = _sensors.gyro_rad_s[0];
|
||||
_att.pitchspeed = _sensors.gyro_rad_s[1];
|
||||
_att.yawspeed = _sensors.gyro_rad_s[2];
|
||||
// TODO, add gyro offsets to filter
|
||||
_att.rate_offsets[0] = 0.0f;
|
||||
_att.rate_offsets[1] = 0.0f;
|
||||
_att.rate_offsets[2] = 0.0f;
|
||||
|
||||
for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++)
|
||||
_att.R[i][j] = C_nb(i, j);
|
||||
|
||||
for (int i = 0; i < 4; i++) _att.q[i] = q(i);
|
||||
|
||||
_att.R_valid = true;
|
||||
_att.q_valid = true;
|
||||
|
||||
// selectively update publications,
|
||||
// do NOT call superblock do-all method
|
||||
if (_positionInitialized) {
|
||||
_pos.update();
|
||||
_localPos.update();
|
||||
}
|
||||
|
||||
if (_attitudeInitialized)
|
||||
_att.update();
|
||||
}
|
||||
|
||||
int KalmanNav::predictState(float dt)
|
||||
{
|
||||
using namespace math;
|
||||
|
||||
// trig
|
||||
float sinL = sinf(lat);
|
||||
float cosL = cosf(lat);
|
||||
float cosLSing = cosf(lat);
|
||||
|
||||
// prevent singularity
|
||||
if (fabsf(cosLSing) < 0.01f) {
|
||||
if (cosLSing > 0) cosLSing = 0.01;
|
||||
else cosLSing = -0.01;
|
||||
}
|
||||
|
||||
// attitude prediction
|
||||
if (_attitudeInitialized) {
|
||||
Vector<3> w(_sensors.gyro_rad_s);
|
||||
|
||||
// attitude
|
||||
q = q + q.derivative(w) * dt;
|
||||
|
||||
// renormalize quaternion if needed
|
||||
if (fabsf(q.length() - 1.0f) > 1e-4f) {
|
||||
q.normalize();
|
||||
}
|
||||
|
||||
// C_nb update
|
||||
C_nb = q.to_dcm();
|
||||
|
||||
// euler update
|
||||
Vector<3> euler = C_nb.to_euler();
|
||||
phi = euler.data[0];
|
||||
theta = euler.data[1];
|
||||
psi = euler.data[2];
|
||||
|
||||
// specific acceleration in nav frame
|
||||
Vector<3> accelB(_sensors.accelerometer_m_s2);
|
||||
Vector<3> accelN = C_nb * accelB;
|
||||
fN = accelN(0);
|
||||
fE = accelN(1);
|
||||
fD = accelN(2);
|
||||
}
|
||||
|
||||
// position prediction
|
||||
if (_positionInitialized) {
|
||||
// neglects angular deflections in local gravity
|
||||
// see Titerton pg. 70
|
||||
float R = R0 + float(alt);
|
||||
float LDot = vN / R;
|
||||
float lDot = vE / (cosLSing * R);
|
||||
float rotRate = 2 * omega + lDot;
|
||||
|
||||
// XXX position prediction using speed
|
||||
float vNDot = fN - vE * rotRate * sinL +
|
||||
vD * LDot;
|
||||
float vDDot = fD - vE * rotRate * cosL -
|
||||
vN * LDot + _g.get();
|
||||
float vEDot = fE + vN * rotRate * sinL +
|
||||
vDDot * rotRate * cosL;
|
||||
|
||||
// rectangular integration
|
||||
vN += vNDot * dt;
|
||||
vE += vEDot * dt;
|
||||
vD += vDDot * dt;
|
||||
lat += double(LDot * dt);
|
||||
lon += double(lDot * dt);
|
||||
alt += double(-vD * dt);
|
||||
}
|
||||
|
||||
return ret_ok;
|
||||
}
|
||||
|
||||
int KalmanNav::predictStateCovariance(float dt)
|
||||
{
|
||||
using namespace math;
|
||||
|
||||
// trig
|
||||
float sinL = sinf(lat);
|
||||
float cosL = cosf(lat);
|
||||
float cosLSq = cosL * cosL;
|
||||
float tanL = tanf(lat);
|
||||
|
||||
// prepare for matrix
|
||||
float R = R0 + float(alt);
|
||||
float RSq = R * R;
|
||||
|
||||
// F Matrix
|
||||
// Titterton pg. 291
|
||||
|
||||
F(0, 1) = -(omega * sinL + vE * tanL / R);
|
||||
F(0, 2) = vN / R;
|
||||
F(0, 4) = 1.0f / R;
|
||||
F(0, 6) = -omega * sinL;
|
||||
F(0, 8) = -vE / RSq;
|
||||
|
||||
F(1, 0) = omega * sinL + vE * tanL / R;
|
||||
F(1, 2) = omega * cosL + vE / R;
|
||||
F(1, 3) = -1.0f / R;
|
||||
F(1, 8) = vN / RSq;
|
||||
|
||||
F(2, 0) = -vN / R;
|
||||
F(2, 1) = -omega * cosL - vE / R;
|
||||
F(2, 4) = -tanL / R;
|
||||
F(2, 6) = -omega * cosL - vE / (R * cosLSq);
|
||||
F(2, 8) = vE * tanL / RSq;
|
||||
|
||||
F(3, 1) = -fD;
|
||||
F(3, 2) = fE;
|
||||
F(3, 3) = vD / R;
|
||||
F(3, 4) = -2 * (omega * sinL + vE * tanL / R);
|
||||
F(3, 5) = vN / R;
|
||||
F(3, 6) = -vE * (2 * omega * cosL + vE / (R * cosLSq));
|
||||
F(3, 8) = (vE * vE * tanL - vN * vD) / RSq;
|
||||
|
||||
F(4, 0) = fD;
|
||||
F(4, 2) = -fN;
|
||||
F(4, 3) = 2 * omega * sinL + vE * tanL / R;
|
||||
F(4, 4) = (vN * tanL + vD) / R;
|
||||
F(4, 5) = 2 * omega * cosL + vE / R;
|
||||
F(4, 6) = 2 * omega * (vN * cosL - vD * sinL) +
|
||||
vN * vE / (R * cosLSq);
|
||||
F(4, 8) = -vE * (vN * tanL + vD) / RSq;
|
||||
|
||||
F(5, 0) = -fE;
|
||||
F(5, 1) = fN;
|
||||
F(5, 3) = -2 * vN / R;
|
||||
F(5, 4) = -2 * (omega * cosL + vE / R);
|
||||
F(5, 6) = 2 * omega * vE * sinL;
|
||||
F(5, 8) = (vN * vN + vE * vE) / RSq;
|
||||
|
||||
F(6, 3) = 1 / R;
|
||||
F(6, 8) = -vN / RSq;
|
||||
|
||||
F(7, 4) = 1 / (R * cosL);
|
||||
F(7, 6) = vE * tanL / (R * cosL);
|
||||
F(7, 8) = -vE / (cosL * RSq);
|
||||
|
||||
F(8, 5) = -1;
|
||||
|
||||
// G Matrix
|
||||
// Titterton pg. 291
|
||||
G(0, 0) = -C_nb(0, 0);
|
||||
G(0, 1) = -C_nb(0, 1);
|
||||
G(0, 2) = -C_nb(0, 2);
|
||||
G(1, 0) = -C_nb(1, 0);
|
||||
G(1, 1) = -C_nb(1, 1);
|
||||
G(1, 2) = -C_nb(1, 2);
|
||||
G(2, 0) = -C_nb(2, 0);
|
||||
G(2, 1) = -C_nb(2, 1);
|
||||
G(2, 2) = -C_nb(2, 2);
|
||||
|
||||
G(3, 3) = C_nb(0, 0);
|
||||
G(3, 4) = C_nb(0, 1);
|
||||
G(3, 5) = C_nb(0, 2);
|
||||
G(4, 3) = C_nb(1, 0);
|
||||
G(4, 4) = C_nb(1, 1);
|
||||
G(4, 5) = C_nb(1, 2);
|
||||
G(5, 3) = C_nb(2, 0);
|
||||
G(5, 4) = C_nb(2, 1);
|
||||
G(5, 5) = C_nb(2, 2);
|
||||
|
||||
// continuous prediction equations
|
||||
// for discrete time EKF
|
||||
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
|
||||
P = P + (F * P + P * F.transposed() + G * V * G.transposed()) * dt;
|
||||
|
||||
return ret_ok;
|
||||
}
|
||||
|
||||
int KalmanNav::correctAtt()
|
||||
{
|
||||
using namespace math;
|
||||
|
||||
// trig
|
||||
float cosPhi = cosf(phi);
|
||||
float cosTheta = cosf(theta);
|
||||
// float cosPsi = cosf(psi);
|
||||
float sinPhi = sinf(phi);
|
||||
float sinTheta = sinf(theta);
|
||||
// float sinPsi = sinf(psi);
|
||||
|
||||
// mag predicted measurement
|
||||
// choosing some typical magnetic field properties,
|
||||
// TODO dip/dec depend on lat/ lon/ time
|
||||
//float dip = _magDip.get() / M_RAD_TO_DEG_F; // dip, inclination with level
|
||||
float dec = _magDec.get() / M_RAD_TO_DEG_F; // declination, clockwise rotation from north
|
||||
|
||||
// compensate roll and pitch, but not yaw
|
||||
// XXX take the vectors out of the C_nb matrix to avoid singularities
|
||||
math::Matrix<3,3> C_rp;
|
||||
C_rp.from_euler(phi, theta, 0.0f);//C_nb.transposed();
|
||||
|
||||
// mag measurement
|
||||
Vector<3> magBody(_sensors.magnetometer_ga);
|
||||
|
||||
// transform to earth frame
|
||||
Vector<3> magNav = C_rp * magBody;
|
||||
|
||||
// calculate error between estimate and measurement
|
||||
// apply declination correction for true heading as well.
|
||||
float yMag = -atan2f(magNav(1),magNav(0)) - psi - dec;
|
||||
if (yMag > M_PI_F) yMag -= 2*M_PI_F;
|
||||
if (yMag < -M_PI_F) yMag += 2*M_PI_F;
|
||||
|
||||
// accel measurement
|
||||
Vector<3> zAccel(_sensors.accelerometer_m_s2);
|
||||
float accelMag = zAccel.length();
|
||||
zAccel.normalize();
|
||||
|
||||
// ignore accel correction when accel mag not close to g
|
||||
Matrix<4,4> RAttAdjust = RAtt;
|
||||
|
||||
bool ignoreAccel = fabsf(accelMag - _g.get()) > 1.1f;
|
||||
|
||||
if (ignoreAccel) {
|
||||
RAttAdjust(1, 1) = 1.0e10;
|
||||
RAttAdjust(2, 2) = 1.0e10;
|
||||
RAttAdjust(3, 3) = 1.0e10;
|
||||
|
||||
} else {
|
||||
//printf("correcting attitude with accel\n");
|
||||
}
|
||||
|
||||
// accel predicted measurement
|
||||
Vector<3> zAccelHat = (C_nb.transposed() * Vector<3>(0, 0, -_g.get())).normalized();
|
||||
|
||||
// calculate residual
|
||||
Vector<4> y(yMag, zAccel(0) - zAccelHat(0), zAccel(1) - zAccelHat(1), zAccel(2) - zAccelHat(2));
|
||||
|
||||
// HMag
|
||||
HAtt(0, 2) = 1;
|
||||
|
||||
// HAccel
|
||||
HAtt(1, 1) = cosTheta;
|
||||
HAtt(2, 0) = -cosPhi * cosTheta;
|
||||
HAtt(2, 1) = sinPhi * sinTheta;
|
||||
HAtt(3, 0) = sinPhi * cosTheta;
|
||||
HAtt(3, 1) = cosPhi * sinTheta;
|
||||
|
||||
// compute correction
|
||||
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
|
||||
Matrix<4, 4> S = HAtt * P * HAtt.transposed() + RAttAdjust; // residual covariance
|
||||
Matrix<9, 4> K = P * HAtt.transposed() * S.inversed();
|
||||
Vector<9> xCorrect = K * y;
|
||||
|
||||
// check correciton is sane
|
||||
for (size_t i = 0; i < xCorrect.get_size(); i++) {
|
||||
float val = xCorrect(i);
|
||||
|
||||
if (isnan(val) || isinf(val)) {
|
||||
// abort correction and return
|
||||
warnx("numerical failure in att correction");
|
||||
// reset P matrix to P0
|
||||
P = P0;
|
||||
return ret_error;
|
||||
}
|
||||
}
|
||||
|
||||
// correct state
|
||||
if (!ignoreAccel) {
|
||||
phi += xCorrect(PHI);
|
||||
theta += xCorrect(THETA);
|
||||
}
|
||||
|
||||
psi += xCorrect(PSI);
|
||||
|
||||
// attitude also affects nav velocities
|
||||
if (_positionInitialized) {
|
||||
vN += xCorrect(VN);
|
||||
vE += xCorrect(VE);
|
||||
vD += xCorrect(VD);
|
||||
}
|
||||
|
||||
// update state covariance
|
||||
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
|
||||
P = P - K * HAtt * P;
|
||||
|
||||
// fault detection
|
||||
float beta = y * (S.inversed() * y);
|
||||
|
||||
if (beta > _faultAtt.get()) {
|
||||
warnx("fault in attitude: beta = %8.4f", (double)beta);
|
||||
warnx("y:"); y.print();
|
||||
}
|
||||
|
||||
// update quaternions from euler
|
||||
// angle correction
|
||||
q.from_euler(phi, theta, psi);
|
||||
|
||||
return ret_ok;
|
||||
}
|
||||
|
||||
int KalmanNav::correctPos()
|
||||
{
|
||||
using namespace math;
|
||||
|
||||
// residual
|
||||
Vector<6> y;
|
||||
y(0) = _gps.vel_n_m_s - vN;
|
||||
y(1) = _gps.vel_e_m_s - vE;
|
||||
y(2) = double(_gps.lat) - double(lat) * 1.0e7 * M_RAD_TO_DEG;
|
||||
y(3) = double(_gps.lon) - double(lon) * 1.0e7 * M_RAD_TO_DEG;
|
||||
y(4) = _gps.alt / 1.0e3f - alt;
|
||||
y(5) = _sensors.baro_alt_meter - alt;
|
||||
|
||||
// compute correction
|
||||
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
|
||||
Matrix<6,6> S = HPos * P * HPos.transposed() + RPos; // residual covariance
|
||||
Matrix<9,6> K = P * HPos.transposed() * S.inversed();
|
||||
Vector<9> xCorrect = K * y;
|
||||
|
||||
// check correction is sane
|
||||
for (size_t i = 0; i < xCorrect.get_size(); i++) {
|
||||
float val = xCorrect(i);
|
||||
|
||||
if (!isfinite(val)) {
|
||||
// abort correction and return
|
||||
warnx("numerical failure in gps correction");
|
||||
// fallback to GPS
|
||||
vN = _gps.vel_n_m_s;
|
||||
vE = _gps.vel_e_m_s;
|
||||
vD = _gps.vel_d_m_s;
|
||||
setLatDegE7(_gps.lat);
|
||||
setLonDegE7(_gps.lon);
|
||||
setAltE3(_gps.alt);
|
||||
// reset P matrix to P0
|
||||
P = P0;
|
||||
return ret_error;
|
||||
}
|
||||
}
|
||||
|
||||
// correct state
|
||||
vN += xCorrect(VN);
|
||||
vE += xCorrect(VE);
|
||||
vD += xCorrect(VD);
|
||||
lat += double(xCorrect(LAT));
|
||||
lon += double(xCorrect(LON));
|
||||
alt += xCorrect(ALT);
|
||||
|
||||
// update state covariance
|
||||
// http://en.wikipedia.org/wiki/Extended_Kalman_filter
|
||||
P = P - K * HPos * P;
|
||||
|
||||
// fault detetcion
|
||||
float beta = y * (S.inversed() * y);
|
||||
|
||||
static int counter = 0;
|
||||
if (beta > _faultPos.get() && (counter % 10 == 0)) {
|
||||
warnx("fault in gps: beta = %8.4f", (double)beta);
|
||||
warnx("Y/N: vN: %8.4f, vE: %8.4f, lat: %8.4f, lon: %8.4f, alt: %8.4f, baro: %8.4f",
|
||||
double(y(0) / sqrtf(RPos(0, 0))),
|
||||
double(y(1) / sqrtf(RPos(1, 1))),
|
||||
double(y(2) / sqrtf(RPos(2, 2))),
|
||||
double(y(3) / sqrtf(RPos(3, 3))),
|
||||
double(y(4) / sqrtf(RPos(4, 4))),
|
||||
double(y(5) / sqrtf(RPos(5, 5))));
|
||||
}
|
||||
counter++;
|
||||
|
||||
return ret_ok;
|
||||
}
|
||||
|
||||
void KalmanNav::updateParams()
|
||||
{
|
||||
using namespace math;
|
||||
using namespace control;
|
||||
SuperBlock::updateParams();
|
||||
|
||||
// gyro noise
|
||||
V(0, 0) = _vGyro.get(); // gyro x, rad/s
|
||||
V(1, 1) = _vGyro.get(); // gyro y
|
||||
V(2, 2) = _vGyro.get(); // gyro z
|
||||
|
||||
// accel noise
|
||||
V(3, 3) = _vAccel.get(); // accel x, m/s^2
|
||||
V(4, 4) = _vAccel.get(); // accel y
|
||||
V(5, 5) = _vAccel.get(); // accel z
|
||||
|
||||
// magnetometer noise
|
||||
float noiseMin = 1e-6f;
|
||||
float noiseMagSq = _rMag.get() * _rMag.get();
|
||||
|
||||
if (noiseMagSq < noiseMin) noiseMagSq = noiseMin;
|
||||
|
||||
RAtt(0, 0) = noiseMagSq; // normalized direction
|
||||
|
||||
// accelerometer noise
|
||||
float noiseAccelSq = _rAccel.get() * _rAccel.get();
|
||||
|
||||
// bound noise to prevent singularities
|
||||
if (noiseAccelSq < noiseMin) noiseAccelSq = noiseMin;
|
||||
|
||||
RAtt(1, 1) = noiseAccelSq; // normalized direction
|
||||
RAtt(2, 2) = noiseAccelSq;
|
||||
RAtt(3, 3) = noiseAccelSq;
|
||||
|
||||
// gps noise
|
||||
float R = R0 + float(alt);
|
||||
float cosLSing = cosf(lat);
|
||||
|
||||
// prevent singularity
|
||||
if (fabsf(cosLSing) < 0.01f) {
|
||||
if (cosLSing > 0) cosLSing = 0.01;
|
||||
else cosLSing = -0.01;
|
||||
}
|
||||
|
||||
float noiseVel = _rGpsVel.get();
|
||||
float noiseLatDegE7 = 1.0e7f * M_RAD_TO_DEG_F * _rGpsPos.get() / R;
|
||||
float noiseLonDegE7 = noiseLatDegE7 / cosLSing;
|
||||
float noiseGpsAlt = _rGpsAlt.get();
|
||||
float noisePressAlt = _rPressAlt.get();
|
||||
|
||||
// bound noise to prevent singularities
|
||||
if (noiseVel < noiseMin) noiseVel = noiseMin;
|
||||
|
||||
if (noiseLatDegE7 < noiseMin) noiseLatDegE7 = noiseMin;
|
||||
|
||||
if (noiseLonDegE7 < noiseMin) noiseLonDegE7 = noiseMin;
|
||||
|
||||
if (noiseGpsAlt < noiseMin) noiseGpsAlt = noiseMin;
|
||||
|
||||
if (noisePressAlt < noiseMin) noisePressAlt = noiseMin;
|
||||
|
||||
RPos(0, 0) = noiseVel * noiseVel; // vn
|
||||
RPos(1, 1) = noiseVel * noiseVel; // ve
|
||||
RPos(2, 2) = noiseLatDegE7 * noiseLatDegE7; // lat
|
||||
RPos(3, 3) = noiseLonDegE7 * noiseLonDegE7; // lon
|
||||
RPos(4, 4) = noiseGpsAlt * noiseGpsAlt; // h
|
||||
RPos(5, 5) = noisePressAlt * noisePressAlt; // h
|
||||
// XXX, note that RPos depends on lat, so updateParams should
|
||||
// be called if lat changes significantly
|
||||
}
|
||||
|
|
@ -0,0 +1,194 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012, 2013 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 KalmanNav.hpp
|
||||
*
|
||||
* kalman filter navigation code
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
//#define MATRIX_ASSERT
|
||||
//#define VECTOR_ASSERT
|
||||
|
||||
#include <nuttx/config.h>
|
||||
|
||||
#include <mathlib/mathlib.h>
|
||||
#include <controllib/blocks.hpp>
|
||||
#include <controllib/block/BlockParam.hpp>
|
||||
#include <uORB/Subscription.hpp>
|
||||
#include <uORB/Publication.hpp>
|
||||
#include <lib/geo/geo.h>
|
||||
|
||||
#include <uORB/topics/vehicle_attitude.h>
|
||||
#include <uORB/topics/vehicle_global_position.h>
|
||||
#include <uORB/topics/vehicle_local_position.h>
|
||||
#include <uORB/topics/sensor_combined.h>
|
||||
#include <uORB/topics/vehicle_gps_position.h>
|
||||
#include <uORB/topics/parameter_update.h>
|
||||
|
||||
#include <drivers/drv_accel.h>
|
||||
#include <drivers/drv_gyro.h>
|
||||
#include <drivers/drv_mag.h>
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <poll.h>
|
||||
#include <unistd.h>
|
||||
|
||||
/**
|
||||
* Kalman filter navigation class
|
||||
* http://en.wikipedia.org/wiki/Extended_Kalman_filter
|
||||
* Discrete-time extended Kalman filter
|
||||
*/
|
||||
class KalmanNav : public control::SuperBlock
|
||||
{
|
||||
public:
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
KalmanNav(SuperBlock *parent, const char *name);
|
||||
|
||||
/**
|
||||
* Deconstuctor
|
||||
*/
|
||||
|
||||
virtual ~KalmanNav() {};
|
||||
|
||||
math::Quaternion init(float ax, float ay, float az, float mx, float my, float mz);
|
||||
|
||||
/**
|
||||
* The main callback function for the class
|
||||
*/
|
||||
void update();
|
||||
|
||||
|
||||
/**
|
||||
* Publication update
|
||||
*/
|
||||
virtual void updatePublications();
|
||||
|
||||
/**
|
||||
* State prediction
|
||||
* Continuous, non-linear
|
||||
*/
|
||||
int predictState(float dt);
|
||||
|
||||
/**
|
||||
* State covariance prediction
|
||||
* Continuous, linear
|
||||
*/
|
||||
int predictStateCovariance(float dt);
|
||||
|
||||
/**
|
||||
* Attitude correction
|
||||
*/
|
||||
int correctAtt();
|
||||
|
||||
/**
|
||||
* Position correction
|
||||
*/
|
||||
int correctPos();
|
||||
|
||||
/**
|
||||
* Overloaded update parameters
|
||||
*/
|
||||
virtual void updateParams();
|
||||
protected:
|
||||
// kalman filter
|
||||
math::Matrix<9,9> F; /**< Jacobian(f,x), where dx/dt = f(x,u) */
|
||||
math::Matrix<9,6> G; /**< noise shaping matrix for gyro/accel */
|
||||
math::Matrix<9,9> P; /**< state covariance matrix */
|
||||
math::Matrix<9,9> P0; /**< initial state covariance matrix */
|
||||
math::Matrix<6,6> V; /**< gyro/ accel noise matrix */
|
||||
math::Matrix<4,9> HAtt; /**< attitude measurement matrix */
|
||||
math::Matrix<4,4> RAtt; /**< attitude measurement noise matrix */
|
||||
math::Matrix<6,9> HPos; /**< position measurement jacobian matrix */
|
||||
math::Matrix<6,6> RPos; /**< position measurement noise matrix */
|
||||
// attitude
|
||||
math::Matrix<3,3> C_nb; /**< direction cosine matrix from body to nav frame */
|
||||
math::Quaternion q; /**< quaternion from body to nav frame */
|
||||
// subscriptions
|
||||
uORB::Subscription<sensor_combined_s> _sensors; /**< sensors sub. */
|
||||
uORB::Subscription<vehicle_gps_position_s> _gps; /**< gps sub. */
|
||||
uORB::Subscription<parameter_update_s> _param_update; /**< parameter update sub. */
|
||||
// publications
|
||||
uORB::Publication<vehicle_global_position_s> _pos; /**< position pub. */
|
||||
uORB::Publication<vehicle_local_position_s> _localPos; /**< local position pub. */
|
||||
uORB::Publication<vehicle_attitude_s> _att; /**< attitude pub. */
|
||||
// time stamps
|
||||
uint64_t _pubTimeStamp; /**< output data publication time stamp */
|
||||
uint64_t _predictTimeStamp; /**< prediction time stamp */
|
||||
uint64_t _attTimeStamp; /**< attitude correction time stamp */
|
||||
uint64_t _outTimeStamp; /**< output time stamp */
|
||||
// frame count
|
||||
uint16_t _navFrames; /**< navigation frames completed in output cycle */
|
||||
// miss counts
|
||||
uint16_t _miss; /**< number of times fast prediction loop missed */
|
||||
// accelerations
|
||||
float fN, fE, fD; /**< navigation frame acceleration */
|
||||
// states
|
||||
enum {PHI = 0, THETA, PSI, VN, VE, VD, LAT, LON, ALT}; /**< state enumeration */
|
||||
float phi, theta, psi; /**< 3-2-1 euler angles */
|
||||
float vN, vE, vD; /**< navigation velocity, m/s */
|
||||
double lat, lon; /**< lat, lon radians */
|
||||
// parameters
|
||||
float alt; /**< altitude, meters */
|
||||
double lat0, lon0; /**< reference latitude and longitude */
|
||||
struct map_projection_reference_s ref; /**< local projection reference */
|
||||
float alt0; /**< refeerence altitude (ground height) */
|
||||
control::BlockParamFloat _vGyro; /**< gyro process noise */
|
||||
control::BlockParamFloat _vAccel; /**< accelerometer process noise */
|
||||
control::BlockParamFloat _rMag; /**< magnetometer measurement noise */
|
||||
control::BlockParamFloat _rGpsVel; /**< gps velocity measurement noise */
|
||||
control::BlockParamFloat _rGpsPos; /**< gps position measurement noise */
|
||||
control::BlockParamFloat _rGpsAlt; /**< gps altitude measurement noise */
|
||||
control::BlockParamFloat _rPressAlt; /**< press altitude measurement noise */
|
||||
control::BlockParamFloat _rAccel; /**< accelerometer measurement noise */
|
||||
control::BlockParamFloat _magDip; /**< magnetic inclination with level */
|
||||
control::BlockParamFloat _magDec; /**< magnetic declination, clockwise rotation */
|
||||
control::BlockParamFloat _g; /**< gravitational constant */
|
||||
control::BlockParamFloat _faultPos; /**< fault detection threshold for position */
|
||||
control::BlockParamFloat _faultAtt; /**< fault detection threshold for attitude */
|
||||
// status
|
||||
bool _attitudeInitialized;
|
||||
bool _positionInitialized;
|
||||
uint16_t _attitudeInitCounter;
|
||||
// accessors
|
||||
int32_t getLatDegE7() { return int32_t(lat * 1.0e7 * M_RAD_TO_DEG); }
|
||||
void setLatDegE7(int32_t val) { lat = val / 1.0e7 / M_RAD_TO_DEG; }
|
||||
int32_t getLonDegE7() { return int32_t(lon * 1.0e7 * M_RAD_TO_DEG); }
|
||||
void setLonDegE7(int32_t val) { lon = val / 1.0e7 / M_RAD_TO_DEG; }
|
||||
int32_t getAltE3() { return int32_t(alt * 1.0e3); }
|
||||
void setAltE3(int32_t val) { alt = double(val) / 1.0e3; }
|
||||
};
|
||||
|
|
@ -0,0 +1,157 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
* Author: James Goppert
|
||||
*
|
||||
* 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 kalman_main.cpp
|
||||
* Combined attitude / position estimator.
|
||||
*
|
||||
* @author James Goppert
|
||||
*/
|
||||
|
||||
#include <nuttx/config.h>
|
||||
#include <unistd.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <string.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <systemlib/param/param.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <math.h>
|
||||
#include "KalmanNav.hpp"
|
||||
|
||||
static bool thread_should_exit = false; /**< Deamon exit flag */
|
||||
static bool thread_running = false; /**< Deamon status flag */
|
||||
static int daemon_task; /**< Handle of deamon task / thread */
|
||||
|
||||
/**
|
||||
* Deamon management function.
|
||||
*/
|
||||
extern "C" __EXPORT int att_pos_estimator_ekf_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Mainloop of deamon.
|
||||
*/
|
||||
int kalman_demo_thread_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Print the correct usage.
|
||||
*/
|
||||
static void usage(const char *reason);
|
||||
|
||||
static void
|
||||
usage(const char *reason)
|
||||
{
|
||||
if (reason)
|
||||
fprintf(stderr, "%s\n", reason);
|
||||
|
||||
warnx("usage: att_pos_estimator_ekf {start|stop|status} [-p <additional params>]");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
/**
|
||||
* The deamon app only briefly exists to start
|
||||
* the background job. The stack size assigned in the
|
||||
* Makefile does only apply to this management task.
|
||||
*
|
||||
* The actual stack size should be set in the call
|
||||
* to task_create().
|
||||
*/
|
||||
int att_pos_estimator_ekf_main(int argc, char *argv[])
|
||||
{
|
||||
|
||||
if (argc < 1)
|
||||
usage("missing command");
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (thread_running) {
|
||||
warnx("already running");
|
||||
/* this is not an error */
|
||||
exit(0);
|
||||
}
|
||||
|
||||
thread_should_exit = false;
|
||||
|
||||
daemon_task = task_spawn_cmd("att_pos_estimator_ekf",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 30,
|
||||
8192,
|
||||
kalman_demo_thread_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
thread_should_exit = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
warnx("is running\n");
|
||||
exit(0);
|
||||
|
||||
} else {
|
||||
warnx("not started\n");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
usage("unrecognized command");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
int kalman_demo_thread_main(int argc, char *argv[])
|
||||
{
|
||||
|
||||
warnx("starting");
|
||||
|
||||
using namespace math;
|
||||
|
||||
thread_running = true;
|
||||
|
||||
KalmanNav nav(NULL, "KF");
|
||||
|
||||
while (!thread_should_exit) {
|
||||
nav.update();
|
||||
}
|
||||
|
||||
warnx("exiting.");
|
||||
|
||||
thread_running = false;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -0,0 +1,42 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2012, 2013 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Full attitude / position Extended Kalman Filter
|
||||
#
|
||||
|
||||
MODULE_COMMAND = att_pos_estimator_ekf
|
||||
|
||||
SRCS = kalman_main.cpp \
|
||||
KalmanNav.cpp \
|
||||
params.c
|
||||
|
|
@ -0,0 +1,49 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2012, 2013 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.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
#include <systemlib/param/param.h>
|
||||
|
||||
/*PARAM_DEFINE_FLOAT(NAME,0.0f);*/
|
||||
PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f);
|
||||
PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_MAG, 0.8f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 0.5f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 2.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 3.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_PRESS_ALT, 0.1f);
|
||||
PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_ENV_G, 9.765f);
|
||||
PARAM_DEFINE_FLOAT(KF_ENV_MAG_DIP, 60.0f);
|
||||
PARAM_DEFINE_FLOAT(KF_ENV_MAG_DEC, 0.0f);
|
||||
Loading…
Reference in New Issue