diff options
Diffstat (limited to 'src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp')
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 54 |
1 files changed, 29 insertions, 25 deletions
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 7e3eca085..a70a14fe4 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -57,7 +57,7 @@ #include <uORB/topics/debug_key_value.h> #include <uORB/topics/sensor_combined.h> #include <uORB/topics/vehicle_attitude.h> -#include <uORB/topics/vehicle_status.h> +#include <uORB/topics/vehicle_control_mode.h> #include <uORB/topics/parameter_update.h> #include <drivers/drv_hrt.h> @@ -126,7 +126,7 @@ int attitude_estimator_ekf_main(int argc, char *argv[]) attitude_estimator_ekf_task = task_spawn_cmd("attitude_estimator_ekf", SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, - 12400, + 14000, attitude_estimator_ekf_thread_main, (argv) ? (const char **)&argv[2] : (const char **)NULL); exit(0); @@ -139,10 +139,12 @@ int attitude_estimator_ekf_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (thread_running) { - printf("\tattitude_estimator_ekf app is running\n"); + warnx("running"); + exit(0); } else { - printf("\tattitude_estimator_ekf app not started\n"); + warnx("not started"); + exit(1); } exit(0); @@ -214,27 +216,26 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds memset(&raw, 0, sizeof(raw)); struct vehicle_attitude_s att; memset(&att, 0, sizeof(att)); - struct vehicle_status_s state; - memset(&state, 0, sizeof(state)); + struct vehicle_control_mode_s control_mode; + memset(&control_mode, 0, sizeof(control_mode)); uint64_t last_data = 0; uint64_t last_measurement = 0; /* subscribe to raw data */ int sub_raw = orb_subscribe(ORB_ID(sensor_combined)); - /* rate-limit raw data updates to 200Hz */ - orb_set_interval(sub_raw, 4); + /* rate-limit raw data updates to 333 Hz (sensors app publishes at 200, so this is just paranoid) */ + orb_set_interval(sub_raw, 3); /* subscribe to param changes */ int sub_params = orb_subscribe(ORB_ID(parameter_update)); - /* subscribe to system state*/ - int sub_state = orb_subscribe(ORB_ID(vehicle_status)); + /* subscribe to control mode*/ + int sub_control_mode = orb_subscribe(ORB_ID(vehicle_control_mode)); /* advertise attitude */ orb_advert_t pub_att = orb_advertise(ORB_ID(vehicle_attitude), &att); - int loopcounter = 0; int printcounter = 0; @@ -281,9 +282,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds /* XXX this is seriously bad - should be an emergency */ } else if (ret == 0) { /* check if we're in HIL - not getting sensor data is fine then */ - orb_copy(ORB_ID(vehicle_status), sub_state, &state); + orb_copy(ORB_ID(vehicle_control_mode), sub_control_mode, &control_mode); - if (!state.flag_hil_enabled) { + if (!control_mode.flag_system_hil_enabled) { fprintf(stderr, "[att ekf] WARNING: Not getting sensors - sensor app running?\n"); } @@ -307,18 +308,20 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds orb_copy(ORB_ID(sensor_combined), sub_raw, &raw); if (!initialized) { + // XXX disabling init for now + initialized = true; - gyro_offsets[0] += raw.gyro_rad_s[0]; - gyro_offsets[1] += raw.gyro_rad_s[1]; - gyro_offsets[2] += raw.gyro_rad_s[2]; - offset_count++; + // gyro_offsets[0] += raw.gyro_rad_s[0]; + // gyro_offsets[1] += raw.gyro_rad_s[1]; + // gyro_offsets[2] += raw.gyro_rad_s[2]; + // offset_count++; - if (hrt_absolute_time() - start_time > 3000000LL) { - initialized = true; - gyro_offsets[0] /= offset_count; - gyro_offsets[1] /= offset_count; - gyro_offsets[2] /= offset_count; - } + // if (hrt_absolute_time() - start_time > 3000000LL) { + // initialized = true; + // gyro_offsets[0] /= offset_count; + // gyro_offsets[1] /= offset_count; + // gyro_offsets[2] /= offset_count; + // } } else { @@ -382,7 +385,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds static bool const_initialized = false; /* initialize with good values once we have a reasonable dt estimate */ - if (!const_initialized && dt < 0.05f && dt > 0.005f) { + if (!const_initialized && dt < 0.05f && dt > 0.001f) { dt = 0.005f; parameters_update(&ekf_param_handles, &ekf_params); @@ -422,7 +425,8 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds continue; } - if (last_data > 0 && raw.timestamp - last_data > 12000) printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data); + if (last_data > 0 && raw.timestamp - last_data > 12000) + printf("[attitude estimator ekf] sensor data missed! (%llu)\n", raw.timestamp - last_data); last_data = raw.timestamp; |