forked from Archive/PX4-Autopilot
sensors/vehicle_imu: use WelfordMean for online mean and variance
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@ -20,7 +20,8 @@ float32 gyro_coning_vibration # Level of coning vibration in the IMU delta ang
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float32[3] mean_accel # average accelerometer readings since last publication
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float32[3] mean_gyro # average gyroscope readings since last publication
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float32[3] var_accel # average accelerometer variance since last publication
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float32[3] var_accel # accelerometer variance since last publication
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float32[3] var_gyro # gyroscope variance since last publication
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float32 temperature_accel
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float32 temperature_gyro
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@ -319,15 +319,25 @@ bool VehicleIMU::UpdateAccel()
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_status.accel_error_count = accel.error_count;
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}
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const Vector3f accel_raw{accel.x, accel.y, accel.z};
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_accel_sum += accel_raw;
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_accel_temperature += accel.temperature;
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_accel_sum_count++;
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// temperature average
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if (_accel_temperature_sum_count == 0) {
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_accel_temperature_sum = accel.temperature;
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} else {
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_accel_temperature_sum += accel.temperature;
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}
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_accel_temperature_sum_count++;
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const float dt = (accel.timestamp_sample - _accel_timestamp_sample_last) * 1e-6f;
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_accel_timestamp_sample_last = accel.timestamp_sample;
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const Vector3f accel_raw{accel.x, accel.y, accel.z};
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_raw_accel_mean.update(accel_raw);
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_accel_integrator.put(accel_raw, dt);
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updated = true;
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if (accel.clip_counter[0] > 0 || accel.clip_counter[1] > 0 || accel.clip_counter[2] > 0) {
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@ -465,15 +475,25 @@ bool VehicleIMU::UpdateGyro()
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_status.gyro_error_count = gyro.error_count;
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}
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const Vector3f gyro_raw{gyro.x, gyro.y, gyro.z};
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_gyro_sum += gyro_raw;
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_gyro_temperature += gyro.temperature;
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_gyro_sum_count++;
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// temperature average
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if (_gyro_temperature_sum_count == 0) {
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_gyro_temperature_sum = gyro.temperature;
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} else {
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_gyro_temperature_sum += gyro.temperature;
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}
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_gyro_temperature_sum_count++;
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const float dt = (gyro.timestamp_sample - _gyro_timestamp_sample_last) * 1e-6f;
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_gyro_timestamp_sample_last = gyro.timestamp_sample;
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const Vector3f gyro_raw{gyro.x, gyro.y, gyro.z};
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_raw_gyro_mean.update(gyro_raw);
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_gyro_integrator.put(gyro_raw, dt);
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updated = true;
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}
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@ -505,38 +525,38 @@ bool VehicleIMU::Publish()
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const float accel_dt_inv = 1.e6f / imu.delta_velocity_dt;
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const Vector3f acceleration{_accel_calibration.Correct(delta_velocity * accel_dt_inv)};
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UpdateAccelVibrationMetrics(acceleration);
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UpdateAccelSquaredErrorSum(acceleration);
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const Vector3f delta_velocity_corrected{acceleration / accel_dt_inv};
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// vehicle_imu_status
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// publish before vehicle_imu so that error counts are available synchronously if needed
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if ((_accel_sum_count > 0) && (_gyro_sum_count > 0)
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if (_raw_accel_mean.valid() && _raw_gyro_mean.valid()
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&& (_publish_status || (hrt_elapsed_time(&_status.timestamp) >= 100_ms))) {
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_status.accel_device_id = _accel_calibration.device_id();
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// accel mean and variance
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Vector3f(_accel_calibration.rotation() * _raw_accel_mean.mean()).copyTo(_status.mean_accel);
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Vector3f(_accel_calibration.rotation() * _raw_accel_mean.variance()).copyTo(_status.var_accel);
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_raw_accel_mean.reset();
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// accel temperature
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_status.temperature_accel = _accel_temperature_sum / _accel_temperature_sum_count;
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_accel_temperature_sum = NAN;
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_accel_temperature_sum_count = 0;
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_status.gyro_device_id = _gyro_calibration.device_id();
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// mean accel
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const Vector3f accel_mean{_accel_calibration.Correct(_accel_sum / _accel_sum_count)};
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accel_mean.copyTo(_status.mean_accel);
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_status.temperature_accel = _accel_temperature / _accel_sum_count;
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_accel_sum.zero();
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_accel_temperature = 0;
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// gyro mean and variance
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Vector3f(_gyro_calibration.rotation() * _raw_gyro_mean.mean()).copyTo(_status.mean_gyro);
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Vector3f(_gyro_calibration.rotation() * _raw_gyro_mean.variance()).copyTo(_status.var_gyro);
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_raw_gyro_mean.reset();
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// variance accel
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const Vector3f variance_accel{_accel_squared_error_sum / _accel_sum_count};
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variance_accel.copyTo(_status.var_accel);
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_accel_squared_error_sum.zero();
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// gyro temperature
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_status.temperature_gyro = _gyro_temperature_sum / _gyro_temperature_sum_count;
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_gyro_temperature_sum = NAN;
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_gyro_temperature_sum_count = 0;
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_accel_sum_count = 0;
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// mean gyro
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const Vector3f gyro_mean{_gyro_calibration.Correct(_gyro_sum / _gyro_sum_count)};
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gyro_mean.copyTo(_status.mean_gyro);
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_status.temperature_gyro = _gyro_temperature / _gyro_sum_count;
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_gyro_sum.zero();
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_gyro_temperature = 0;
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_gyro_sum_count = 0;
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_status.timestamp = hrt_absolute_time();
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_vehicle_imu_status_pub.publish(_status);
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@ -617,13 +637,6 @@ void VehicleIMU::UpdateIntegratorConfiguration()
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}
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}
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void VehicleIMU::UpdateAccelSquaredErrorSum(const Vector3f &acceleration)
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{
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// Compute the squared error using the average from last publication for efficiency purposes
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const Vector3f error{acceleration - Vector3f(_status.mean_accel)};
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_accel_squared_error_sum += error.emult(error);
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}
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void VehicleIMU::UpdateAccelVibrationMetrics(const Vector3f &acceleration)
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{
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// Accel high frequency vibe = filtered length of (acceleration - acceleration_prev)
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@ -86,7 +86,6 @@ private:
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void UpdateIntegratorConfiguration();
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void UpdateAccelVibrationMetrics(const matrix::Vector3f &acceleration);
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void UpdateGyroVibrationMetrics(const matrix::Vector3f &angular_velocity);
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void UpdateAccelSquaredErrorSum(const matrix::Vector3f &acceleration);
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void SensorCalibrationUpdate();
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@ -117,6 +116,9 @@ private:
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hrt_abstime _in_flight_calibration_check_timestamp_last{0};
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math::WelfordMean<matrix::Vector3f> _raw_accel_mean{};
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math::WelfordMean<matrix::Vector3f> _raw_gyro_mean{};
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math::WelfordMean<matrix::Vector2f> _accel_interval_mean{};
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math::WelfordMean<matrix::Vector2f> _gyro_interval_mean{};
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@ -131,13 +133,11 @@ private:
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unsigned _accel_last_generation{0};
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unsigned _gyro_last_generation{0};
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matrix::Vector3f _accel_squared_error_sum{};
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matrix::Vector3f _accel_sum{};
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matrix::Vector3f _gyro_sum{};
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int _accel_sum_count{0};
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int _gyro_sum_count{0};
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float _accel_temperature{0};
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float _gyro_temperature{0};
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float _accel_temperature_sum{NAN};
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float _gyro_temperature_sum{NAN};
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int _accel_temperature_sum_count{0};
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int _gyro_temperature_sum_count{0};
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matrix::Vector3f _acceleration_prev{}; // acceleration from the previous IMU measurement for vibration metrics
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matrix::Vector3f _angular_velocity_prev{}; // angular velocity from the previous IMU measurement for vibration metrics
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