Att / Pos EKF: Fix handling of altitude initialization for local frame

This commit is contained in:
Lorenz Meier 2015-06-07 11:51:44 +02:00
parent 1ecbf674aa
commit f02ffa5a90
2 changed files with 26 additions and 19 deletions

View File

@ -174,7 +174,7 @@ private:
struct map_projection_reference_s _pos_ref;
float _baro_ref_offset; /**< offset between initial baro reference and GPS init baro altitude */
float _filter_ref_offset; /**< offset between initial baro reference and GPS init baro altitude */
float _baro_gps_offset; /**< offset between baro altitude (at GPS init time) and GPS altitude */
hrt_abstime _last_debug_print = 0;
@ -193,7 +193,6 @@ private:
bool _gpsIsGood; ///< True if the current GPS fix is good enough for us to use
uint64_t _previousGPSTimestamp; ///< Timestamp of last good GPS fix we have received
bool _baro_init;
float _baroAltRef;
bool _gps_initialized;
hrt_abstime _filter_start_time;
hrt_abstime _last_sensor_timestamp;

View File

@ -153,7 +153,7 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() :
_sensor_combined {},
_pos_ref{},
_baro_ref_offset(0.0f),
_filter_ref_offset(0.0f),
_baro_gps_offset(0.0f),
/* performance counters */
@ -173,7 +173,6 @@ AttitudePositionEstimatorEKF::AttitudePositionEstimatorEKF() :
_gpsIsGood(false),
_previousGPSTimestamp(0),
_baro_init(false),
_baroAltRef(0.0f),
_gps_initialized(false),
_filter_start_time(0),
_last_sensor_timestamp(0),
@ -404,6 +403,7 @@ int AttitudePositionEstimatorEKF::check_filter_state()
// Count the reset condition
perf_count(_perf_reset);
_filter_ref_offset = _ekf->states[9];
} else if (_ekf_logging) {
_ekf->GetFilterState(&ekf_report);
@ -585,6 +585,7 @@ void AttitudePositionEstimatorEKF::task_main()
_baro_init = false;
_gps_initialized = false;
_last_sensor_timestamp = hrt_absolute_time();
_last_run = _last_sensor_timestamp;
@ -643,12 +644,13 @@ void AttitudePositionEstimatorEKF::task_main()
_ekf->posNE[1] = 0.0f;
_local_pos.ref_alt = 0.0f;
_baro_ref_offset = 0.0f;
_baro_gps_offset = 0.0f;
_baro_alt_filt = _baro.altitude;
_ekf->InitialiseFilter(initVelNED, 0.0, 0.0, 0.0f, 0.0f);
_filter_ref_offset = -_baro.altitude;
} else {
if (!_gps_initialized && _gpsIsGood) {
@ -711,7 +713,7 @@ void AttitudePositionEstimatorEKF::initializeGPS()
// Set up height correctly
orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro);
_baro_ref_offset = _ekf->states[9]; // this should become zero in the local frame
_filter_ref_offset = _ekf->states[9]; // this should become zero in the local frame
// init filtered gps and baro altitudes
_gps_alt_filt = gps_alt;
@ -750,7 +752,7 @@ void AttitudePositionEstimatorEKF::initializeGPS()
warnx("HOME/REF: LA %8.4f,LO %8.4f,ALT %8.2f V: %8.4f %8.4f %8.4f", lat, lon, (double)gps_alt,
(double)_ekf->velNED[0], (double)_ekf->velNED[1], (double)_ekf->velNED[2]);
warnx("BARO: %8.4f m / ref: %8.4f m / gps offs: %8.4f m", (double)_ekf->baroHgt, (double)_baro_ref,
(double)_baro_ref_offset);
(double)_filter_ref_offset);
warnx("GPS: eph: %8.4f, epv: %8.4f, declination: %8.4f", (double)_gps.eph, (double)_gps.epv,
(double)math::degrees(declination));
#endif
@ -811,7 +813,8 @@ void AttitudePositionEstimatorEKF::publishLocalPosition()
_local_pos.y = _ekf->states[8];
// XXX need to announce change of Z reference somehow elegantly
_local_pos.z = _ekf->states[9] - _baro_ref_offset - _baroAltRef;
_local_pos.z = _ekf->states[9] - _filter_ref_offset;
//_local_pos.z_stable = _ekf->states[9];
_local_pos.vx = _ekf->states[4];
_local_pos.vy = _ekf->states[5];
@ -859,7 +862,7 @@ void AttitudePositionEstimatorEKF::publishGlobalPosition()
}
/* local pos alt is negative, change sign and add alt offsets */
_global_pos.alt = (-_local_pos.z) - _baro_gps_offset;
_global_pos.alt = (-_local_pos.z) - _filter_ref_offset - _baro_gps_offset;
if (_local_pos.v_z_valid) {
_global_pos.vel_d = _local_pos.vz;
@ -1070,8 +1073,9 @@ void AttitudePositionEstimatorEKF::print_status()
// 19-21: Body Magnetic Field Vector - gauss (X,Y,Z)
printf("dtIMU: %8.6f filt: %8.6f IMUmsec: %d\n", (double)_ekf->dtIMU, (double)_ekf->dtIMUfilt, (int)IMUmsec);
printf("baro alt: %8.4f GPS alt: %8.4f\n", (double)_baro.altitude, (double)(_gps.alt / 1e3f));
printf("baro ref offset: %8.4f baro GPS offset: %8.4f\n", (double)_baro_ref_offset,
printf("alt RAW: baro alt: %8.4f GPS alt: %8.4f\n", (double)_baro.altitude, (double)_ekf->gpsHgt);
printf("alt EST: local alt: %8.4f (NED), AMSL alt: %8.4f (ENU)\n", (double)(_local_pos.z), (double)_global_pos.alt);
printf("filter ref offset: %8.4f baro GPS offset: %8.4f\n", (double)_filter_ref_offset,
(double)_baro_gps_offset);
printf("dvel: %8.6f %8.6f %8.6f accel: %8.6f %8.6f %8.6f\n", (double)_ekf->dVelIMU.x, (double)_ekf->dVelIMU.y,
(double)_ekf->dVelIMU.z, (double)_ekf->accel.x, (double)_ekf->accel.y, (double)_ekf->accel.z);
@ -1400,9 +1404,9 @@ void AttitudePositionEstimatorEKF::pollData()
}
baro_last = _baro.timestamp;
if(!_baro_init) {
if (!_baro_init) {
_baro_init = true;
_baroAltRef = _baro.altitude;
_baro_alt_filt = _baro.altitude;
}
_ekf->updateDtHgtFilt(math::constrain(baro_elapsed, 0.001f, 0.1f));
@ -1494,30 +1498,34 @@ int AttitudePositionEstimatorEKF::trip_nan()
float nan_val = 0.0f / 0.0f;
warnx("system not armed, tripping state vector with NaN values");
warnx("system not armed, tripping state vector with NaN");
_ekf->states[5] = nan_val;
usleep(100000);
warnx("tripping covariance #1 with NaN values");
warnx("tripping covariance #1 with NaN");
_ekf->KH[2][2] = nan_val; // intermediate result used for covariance updates
usleep(100000);
warnx("tripping covariance #2 with NaN values");
warnx("tripping covariance #2 with NaN");
_ekf->KHP[5][5] = nan_val; // intermediate result used for covariance updates
usleep(100000);
warnx("tripping covariance #3 with NaN values");
warnx("tripping covariance #3 with NaN");
_ekf->P[3][3] = nan_val; // covariance matrix
usleep(100000);
warnx("tripping Kalman gains with NaN values");
warnx("tripping Kalman gains with NaN");
_ekf->Kfusion[0] = nan_val; // Kalman gains
usleep(100000);
warnx("tripping stored states[0] with NaN values");
warnx("tripping stored states[0] with NaN");
_ekf->storedStates[0][0] = nan_val;
usleep(100000);
warnx("tripping states[9] with NaN");
_ekf->states[9] = nan_val;
usleep(100000);
warnx("\nDONE - FILTER STATE:");
print_status();
}