forked from Archive/PX4-Autopilot
117 lines
4.0 KiB
C++
117 lines
4.0 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file KalmanNav.hpp
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*
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* kalman filter navigation code
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*/
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#pragma once
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//#define MATRIX_ASSERT
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//#define VECTOR_ASSERT
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#include <nuttx/config.h>
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#include <mathlib/mathlib.h>
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#include <controllib/blocks.hpp>
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#include <controllib/block/BlockParam.hpp>
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#include <controllib/block/UOrbSubscription.hpp>
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#include <controllib/block/UOrbPublication.hpp>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/sensor_combined.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <uORB/topics/parameter_update.h>
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#include <drivers/drv_hrt.h>
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#include <poll.h>
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#include <unistd.h>
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class KalmanNav : public control::SuperBlock
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{
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public:
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KalmanNav(SuperBlock *parent, const char *name);
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virtual ~KalmanNav() {};
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void update();
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virtual void updatePublications();
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void predictFast(float dt);
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void predictSlow(float dt);
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void correctAtt();
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void correctGps();
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virtual void updateParams();
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protected:
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math::Matrix F;
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math::Matrix G;
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math::Matrix P;
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math::Matrix V;
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math::Matrix HAtt;
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math::Matrix RAtt;
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math::Matrix HGps;
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math::Matrix RGps;
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math::Dcm C_nb;
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math::Quaternion q;
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control::UOrbSubscription<sensor_combined_s> _sensors;
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control::UOrbSubscription<vehicle_gps_position_s> _gps;
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control::UOrbSubscription<parameter_update_s> _param_update;
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control::UOrbPublication<vehicle_global_position_s> _pos;
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control::UOrbPublication<vehicle_attitude_s> _att;
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uint64_t _pubTimeStamp;
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uint64_t _fastTimeStamp;
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uint64_t _slowTimeStamp;
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uint64_t _attTimeStamp;
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uint64_t _outTimeStamp;
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uint16_t _navFrames;
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float fN, fE, fD;
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// states
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enum {PHI = 0, THETA, PSI, VN, VE, VD, LAT, LON, ALT};
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float phi, theta, psi;
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float vN, vE, vD;
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double lat, lon, alt;
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control::BlockParam<float> _vGyro;
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control::BlockParam<float> _vAccel;
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control::BlockParam<float> _rMag;
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control::BlockParam<float> _rGpsV;
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control::BlockParam<float> _rGpsGeo;
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control::BlockParam<float> _rGpsAlt;
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control::BlockParam<float> _rAccel;
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int32_t getLatDegE7() { return int32_t(lat * 1.0e7 * M_RAD_TO_DEG); }
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void setLatDegE7(int32_t val) { lat = val / 1.0e7 / M_RAD_TO_DEG; }
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int32_t getLonDegE7() { return int32_t(lon * 1.0e7 * M_RAD_TO_DEG); }
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void setLonDegE7(int32_t val) { lon = val / 1.0e7 / M_RAD_TO_DEG; }
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int32_t getAltE3() { return int32_t(alt * 1.0e3); }
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void setAltE3(int32_t val) { alt = double(val) / 1.0e3; }
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};
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