From eb38ea17896e9970e9bdf532557ebcd87f81e34a Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Wed, 19 Jun 2013 12:17:10 +0400 Subject: [PATCH] position_estimator_inav: better handling of lost GPS, minor fixes --- .../position_estimator_inav_main.c | 60 +++++++++---------- 1 file changed, 30 insertions(+), 30 deletions(-) diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index a8a66e93d8..278a319b51 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -254,7 +254,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* initialize coordinates */ map_projection_init(lat_current, lon_current); warnx("init GPS: lat = %.10f, lon = %.10f", lat_current, lon_current); - mavlink_log_info(mavlink_fd, "[inav] init GPS: lat = %.10f, lon = %.10f", lat_current, lon_current); + mavlink_log_info(mavlink_fd, "[inav] init GPS: %.7f, %.7f", lat_current, lon_current); } } } @@ -361,34 +361,27 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } } - if (params.use_gps) { + if (params.use_gps && fds[4].revents & POLLIN) { /* vehicle GPS position */ - if (fds[4].revents & POLLIN) { - /* new GPS value */ - orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub, &gps); - if (gps.fix_type >= 3) { - /* project GPS lat lon to plane */ - float gps_proj[2]; - map_projection_project(gps.lat * 1e-7, gps.lon * 1e-7, &(gps_proj[0]), &(gps_proj[1])); - gps_corr[0][0] = gps_proj[0] - x_est[0]; - gps_corr[1][0] = gps_proj[1] - y_est[0]; - if (gps.vel_ned_valid) { - gps_corr[0][1] = gps.vel_n_m_s; - gps_corr[1][1] = gps.vel_e_m_s; - } else { - gps_corr[0][1] = 0.0f; - gps_corr[1][1] = 0.0f; - } - local_pos.valid = true; - gps_updates++; + orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub, &gps); + if (gps.fix_type >= 3) { + /* project GPS lat lon to plane */ + float gps_proj[2]; + map_projection_project(gps.lat * 1e-7, gps.lon * 1e-7, &(gps_proj[0]), &(gps_proj[1])); + gps_corr[0][0] = gps_proj[0] - x_est[0]; + gps_corr[1][0] = gps_proj[1] - y_est[0]; + if (gps.vel_ned_valid) { + gps_corr[0][1] = gps.vel_n_m_s; + gps_corr[1][1] = gps.vel_e_m_s; } else { - local_pos.valid = false; + gps_corr[0][1] = 0.0f; + gps_corr[1][1] = 0.0f; } + gps_updates++; + } else { + memset(gps_corr, 0, sizeof(gps_corr)); } - } else { - local_pos.valid = true; } - } /* end of poll return value check */ @@ -403,19 +396,25 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) inertial_filter_correct(baro_corr * dt, z_est, 0, params.w_alt_baro); inertial_filter_correct(accel_corr[2] * dt, z_est, 2, params.w_alt_acc); - if (params.use_gps) { + /* dont't try to estimate position when no any position source available */ + bool can_estimate_pos = params.use_gps && gps.fix_type >= 3; + if (can_estimate_pos) { /* inertial filter prediction for position */ inertial_filter_predict(dt, x_est); inertial_filter_predict(dt, y_est); /* inertial filter correction for position */ - inertial_filter_correct(gps_corr[0][0] * dt, x_est, 0, params.w_pos_gps_p); - inertial_filter_correct(gps_corr[0][1] * dt, x_est, 1, params.w_pos_gps_v); - inertial_filter_correct(gps_corr[1][0] * dt, y_est, 0, params.w_pos_gps_p); - inertial_filter_correct(gps_corr[1][1] * dt, y_est, 1, params.w_pos_gps_v); - inertial_filter_correct(accel_corr[0] * dt, x_est, 2, params.w_pos_acc); inertial_filter_correct(accel_corr[1] * dt, y_est, 2, params.w_pos_acc); + + if (params.use_gps && gps.fix_type >= 3) { + inertial_filter_correct(gps_corr[0][0] * dt, x_est, 0, params.w_pos_gps_p); + inertial_filter_correct(gps_corr[1][0] * dt, y_est, 0, params.w_pos_gps_p); + if (gps.vel_ned_valid) { + inertial_filter_correct(gps_corr[0][1] * dt, x_est, 1, params.w_pos_gps_v); + inertial_filter_correct(gps_corr[1][1] * dt, y_est, 1, params.w_pos_gps_v); + } + } } if (verbose_mode) { @@ -439,6 +438,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (t - pub_last > pub_interval) { pub_last = t; local_pos.timestamp = t; + local_pos.valid = can_estimate_pos; local_pos.x = x_est[0]; local_pos.vx = x_est[1]; local_pos.y = y_est[0];