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px4-firmware
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Random improvements

This commit is contained in:
kamilritz 2019-12-17 18:53:19 +01:00 committed by Mathieu Bresciani
parent 7d3814b1d8
commit ef9f1053d0
2 changed files with 26 additions and 20 deletions
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18
EKF/control.cpp
View File

@ -57,22 +57,28 @@ void Ekf::controlFusionModes()
// and declare the tilt alignment complete
if ((angle_err_var_vec(0) + angle_err_var_vec(1)) < sq(math::radians(3.0f))) {
_control_status.flags.tilt_align = true;
_control_status.flags.yaw_align = resetMagHeading(_mag_lpf.getState());
_control_status.flags.yaw_align = resetMagHeading(_mag_lpf.getState()); // TODO: is this needed?
// send alignment status message to the console
if (_control_status.flags.baro_hgt) {
ECL_INFO("%llu: EKF aligned, (pressure height, IMU buf: %i, OBS buf: %i)", (unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
ECL_INFO("%llu: EKF aligned, (pressure height, IMU buf: %i, OBS buf: %i)",
(unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
} else if (_control_status.flags.ev_hgt) {
ECL_INFO("%llu: EKF aligned, (EV height, IMU buf: %i, OBS buf: %i)", (unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
ECL_INFO("%llu: EKF aligned, (EV height, IMU buf: %i, OBS buf: %i)",
(unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
} else if (_control_status.flags.gps_hgt) {
ECL_INFO("%llu: EKF aligned, (GPS height, IMU buf: %i, OBS buf: %i)", (unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
ECL_INFO("%llu: EKF aligned, (GPS height, IMU buf: %i, OBS buf: %i)",
(unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
} else if (_control_status.flags.rng_hgt) {
ECL_INFO("%llu: EKF aligned, (range height, IMU buf: %i, OBS buf: %i)", (unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
ECL_INFO("%llu: EKF aligned, (range height, IMU buf: %i, OBS buf: %i)",
(unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
} else {
ECL_ERR("%llu: EKF aligned, (unknown height, IMU buf: %i, OBS buf: %i)", (unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
ECL_ERR("%llu: EKF aligned, (unknown height, IMU buf: %i, OBS buf: %i)",
(unsigned long long)_imu_sample_delayed.time_us, (int)_imu_buffer_length, (int)_obs_buffer_length);
}
}

28
EKF/ekf_helper.cpp
View File

@ -592,18 +592,18 @@ bool Ekf::resetMagHeading(const Vector3f &mag_init, bool increase_yaw_var, bool
Dcmf R_to_earth(euler321);
// calculate the observed yaw angle
if (_control_status.flags.ev_yaw) {
// convert the observed quaternion to a rotation matrix
Dcmf R_to_earth_ev(_ev_sample_delayed.quat); // transformation matrix from body to world frame
// calculate the yaw angle for a 312 sequence
euler321(2) = atan2f(R_to_earth_ev(1, 0), R_to_earth_ev(0, 0));
} else if (_params.mag_fusion_type <= MAG_FUSE_TYPE_3D) {
if (_params.mag_fusion_type <= MAG_FUSE_TYPE_3D) {
// rotate the magnetometer measurements into earth frame using a zero yaw angle
Vector3f mag_earth_pred = R_to_earth * mag_init;
// the angle of the projection onto the horizontal gives the yaw angle
euler321(2) = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();
} else if (_control_status.flags.ev_yaw) {
// convert the observed quaternion to a rotation matrix
Dcmf R_to_earth_ev(_ev_sample_delayed.quat); // transformation matrix from body to world frame
// calculate the yaw angle for a 312 sequence
euler321(2) = atan2f(R_to_earth_ev(1, 0), R_to_earth_ev(0, 0));
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR && _mag_use_inhibit) {
// we are operating without knowing the earth frame yaw angle
return true;
@ -650,18 +650,18 @@ bool Ekf::resetMagHeading(const Vector3f &mag_init, bool increase_yaw_var, bool
R_to_earth(2, 1) = s1;
// calculate the observed yaw angle
if (_control_status.flags.ev_yaw) {
// convert the observed quaternion to a rotation matrix
Dcmf R_to_earth_ev(_ev_sample_delayed.quat); // transformation matrix from body to world frame
// calculate the yaw angle for a 312 sequence
euler312(0) = atan2f(-R_to_earth_ev(0, 1), R_to_earth_ev(1, 1));
} else if (_params.mag_fusion_type <= MAG_FUSE_TYPE_3D) {
if (_params.mag_fusion_type <= MAG_FUSE_TYPE_3D) {
// rotate the magnetometer measurements into earth frame using a zero yaw angle
Vector3f mag_earth_pred = R_to_earth * mag_init;
// the angle of the projection onto the horizontal gives the yaw angle
euler312(0) = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();
} else if (_control_status.flags.ev_yaw) {
// convert the observed quaternion to a rotation matrix
Dcmf R_to_earth_ev(_ev_sample_delayed.quat); // transformation matrix from body to world frame
// calculate the yaw angle for a 312 sequence
euler312(0) = atan2f(-R_to_earth_ev(0, 1), R_to_earth_ev(1, 1));
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR && _mag_use_inhibit) {
// we are operating without knowing the earth frame yaw angle
return true;