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/**
* @file fw_att_pos_estimator_main.cpp
* Implementation of the attitude and position estimator.
*
*/
#include <nuttx/config.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <fcntl.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <time.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_accel.h>
#include <drivers/drv_mag.h>
#include <arch/board/board.h>
#include <uORB/uORB.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/mission.h>
#include <systemlib/param/param.h>
#include <systemlib/err.h>
#include <geo/geo.h>
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <mathlib/mathlib.h>
#include "../../../InertialNav/code/estimator.h"
/**
* estimator app start / stop handling function
*
* @ingroup apps
*/
extern "C" __EXPORT int fw_att_pos_estimator_main(int argc, char *argv[]);
__EXPORT uint32_t millis();
static uint64_t last_run = 0;
uint32_t millis()
{
return last_run / 1e3;
}
class FixedwingEstimator
{
public:
/**
* Constructor
*/
FixedwingEstimator();
/**
* Destructor, also kills the sensors task.
*/
~FixedwingEstimator();
/**
* Start the sensors task.
*
* @return OK on success.
*/
int start();
private:
bool _task_should_exit; /**< if true, sensor task should exit */
int _estimator_task; /**< task handle for sensor task */
int _gyro_sub; /**< gyro sensor subscription */
int _accel_sub; /**< accel sensor subscription */
int _mag_sub; /**< mag sensor subscription */
int _attitude_sub; /**< raw rc channels data subscription */
int _airspeed_sub; /**< airspeed subscription */
int _gps_sub; /**< GPS subscription */
int _vstatus_sub; /**< vehicle status subscription */
int _params_sub; /**< notification of parameter updates */
int _manual_control_sub; /**< notification of manual control updates */
int _mission_sub;
orb_advert_t _att_pub; /**< vehicle attitude */
orb_advert_t _global_pos_pub; /**< global position */
struct vehicle_attitude_s _att; /**< vehicle attitude */
struct vehicle_attitude_setpoint_s _att_sp; /**< vehicle attitude setpoint */
struct manual_control_setpoint_s _manual; /**< r/c channel data */
struct gyro_report _gyro;
struct accel_report _accel;
struct mag_report _mag;
struct airspeed_s _airspeed; /**< airspeed */
struct vehicle_status_s _vstatus; /**< vehicle status */
struct vehicle_global_position_s _global_pos; /**< global vehicle position */
struct vehicle_gps_position_s _gps; /**< GPS position */
struct gyro_scale _gyro_offsets;
struct accel_scale _accel_offsets;
struct mag_scale _mag_offsets;
perf_counter_t _loop_perf; /**< loop performance counter */
bool _initialized;
struct {
float throttle_cruise;
uint32_t vel_delay_ms;
uint32_t pos_delay_ms;
uint32_t height_delay_ms;
uint32_t mag_delay_ms;
uint32_t tas_delay_ms;
} _parameters; /**< local copies of interesting parameters */
struct {
param_t throttle_cruise;
} _parameter_handles; /**< handles for interesting parameters */
/**
* Update our local parameter cache.
*/
int parameters_update();
/**
* Update control outputs
*
*/
void control_update();
/**
* Check for changes in vehicle status.
*/
void vehicle_status_poll();
/**
* Shim for calling task_main from task_create.
*/
static void task_main_trampoline(int argc, char *argv[]);
/**
* Main sensor collection task.
*/
void task_main() __attribute__((noreturn));
};
namespace estimator
{
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
FixedwingEstimator *g_estimator;
}
FixedwingEstimator::FixedwingEstimator() :
_task_should_exit(false),
_estimator_task(-1),
/* subscriptions */
_gyro_sub(-1),
_accel_sub(-1),
_mag_sub(-1),
_airspeed_sub(-1),
_gps_sub(-1),
_vstatus_sub(-1),
_params_sub(-1),
_manual_control_sub(-1),
/* publications */
_att_pub(-1),
_global_pos_pub(-1),
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "fw_att_pos_estimator")),
/* states */
_initialized(false)
{
_parameter_handles.throttle_cruise = param_find("NAV_DUMMY");
/* fetch initial parameter values */
parameters_update();
/* get offsets */
int fd, res;
fd = open(GYRO_DEVICE_PATH, O_RDONLY);
if (fd > 0) {
res = ioctl(fd, GYROIOCGSCALE, (long unsigned int)&_gyro_offsets);
close(fd);
}
fd = open(ACCEL_DEVICE_PATH, O_RDONLY);
if (fd > 0) {
res = ioctl(fd, ACCELIOCGSCALE, (long unsigned int)&_accel_offsets);
close(fd);
}
fd = open(MAG_DEVICE_PATH, O_RDONLY);
if (fd > 0) {
res = ioctl(fd, MAGIOCGSCALE, (long unsigned int)&_mag_offsets);
close(fd);
}
}
FixedwingEstimator::~FixedwingEstimator()
{
if (_estimator_task != -1) {
/* task wakes up every 100ms or so at the longest */
_task_should_exit = true;
/* wait for a second for the task to quit at our request */
unsigned i = 0;
do {
/* wait 20ms */
usleep(20000);
/* if we have given up, kill it */
if (++i > 50) {
task_delete(_estimator_task);
break;
}
} while (_estimator_task != -1);
}
estimator::g_estimator = nullptr;
}
int
FixedwingEstimator::parameters_update()
{
// XXX NEED TO GET HANDLES FIRST! NEEDS PARAM INIT
//param_get(_parameter_handles.throttle_cruise, &(_parameters.throttle_cruise));
_parameters.vel_delay_ms = 230;
_parameters.pos_delay_ms = 210;
_parameters.height_delay_ms = 350;
_parameters.mag_delay_ms = 30;
_parameters.tas_delay_ms = 210;
return OK;
}
void
FixedwingEstimator::vehicle_status_poll()
{
bool vstatus_updated;
/* Check HIL state if vehicle status has changed */
orb_check(_vstatus_sub, &vstatus_updated);
if (vstatus_updated) {
orb_copy(ORB_ID(vehicle_status), _vstatus_sub, &_vstatus);
}
}
void
FixedwingEstimator::task_main_trampoline(int argc, char *argv[])
{
estimator::g_estimator->task_main();
}
void
FixedwingEstimator::task_main()
{
/* inform about start */
warnx("Initializing..");
fflush(stdout);
/*
* do subscriptions
*/
_gyro_sub = orb_subscribe(ORB_ID(sensor_gyro));
_accel_sub = orb_subscribe(ORB_ID(sensor_accel));
_mag_sub = orb_subscribe(ORB_ID(sensor_mag));
_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
_vstatus_sub = orb_subscribe(ORB_ID(vehicle_status));
_params_sub = orb_subscribe(ORB_ID(parameter_update));
_manual_control_sub = orb_subscribe(ORB_ID(manual_control_setpoint));
/* rate limit vehicle status updates to 5Hz */
orb_set_interval(_vstatus_sub, 200);
/* rate limit gyro updates to 50 Hz */
/* XXX remove this!, BUT increase the data buffer size! */
orb_set_interval(_gyro_sub, 17);
parameters_update();
Vector3f lastAngRate;
Vector3f lastAccel;
/* wakeup source(s) */
struct pollfd fds[2];
/* Setup of loop */
fds[0].fd = _params_sub;
fds[0].events = POLLIN;
fds[1].fd = _gyro_sub;
fds[1].events = POLLIN;
while (!_task_should_exit) {
/* wait for up to 500ms for data */
int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
/* timed out - periodic check for _task_should_exit, etc. */
if (pret == 0)
continue;
/* this is undesirable but not much we can do - might want to flag unhappy status */
if (pret < 0) {
warn("poll error %d, %d", pret, errno);
continue;
}
perf_begin(_loop_perf);
/* check vehicle status for changes to publication state */
vehicle_status_poll();
/* only update parameters if they changed */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), _params_sub, &update);
/* update parameters from storage */
parameters_update();
}
/* only run estimator if gyro updated */
if (fds[1].revents & POLLIN) {
/* load local copies */
orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &_gyro);
orb_copy(ORB_ID(sensor_accel), _accel_sub, &_accel);
float IMUmsec = _gyro.timestamp / 1e3;
float deltaT = (_gyro.timestamp - last_run) / 1000000.0f;
last_run = _gyro.timestamp / 1e6 ;
/* guard against too large deltaT's */
if (deltaT > 1.0f)
deltaT = 0.01f;
dt = deltaT;
if (_initialized) {
/* fill in last data set */
dtIMU = dt;
angRate.x = _gyro.x;
angRate.y = _gyro.y;
angRate.z = _gyro.z;
accel.x = _accel.x;
accel.y = _accel.y;
accel.z = _accel.z;
dAngIMU = 0.5f * (angRate + lastAngRate) * dtIMU;
lastAngRate = angRate;
dVelIMU = 0.5f * (accel + lastAccel) * dtIMU;
lastAccel = accel;
/* predict states and covariances */
/* run the strapdown INS every sensor update */
UpdateStrapdownEquationsNED();
/* store the predictions */
StoreStates();
/* evaluate if on ground */
OnGroundCheck();
/* prepare the delta angles and time used by the covariance prediction */
summedDelAng = summedDelAng + correctedDelAng;
summedDelVel = summedDelVel + correctedDelVel;
dt += dtIMU;
/* predict the covairance if the total delta angle has exceeded the threshold
* or the time limit will be exceeded on the next measurement update
*/
if ((dt >= (covTimeStepMax - dtIMU)) || (summedDelAng.length() > covDelAngMax)) {
CovariancePrediction();
summedDelAng = summedDelAng.zero();
summedDelVel = summedDelVel.zero();
dt = 0.0f;
}
}
bool gps_updated;
orb_check(_gps_sub, &gps_updated);
if (gps_updated) {
orb_copy(ORB_ID(vehicle_gps_position), _gps_sub, &_gps);
if (_gps.fix_type > 2) {
/* fuse GPS updates */
//_gps.timestamp / 1e3;
GPSstatus = _gps.fix_type;
gpsCourse = _gps.cog_rad;
gpsGndSpd = sqrtf(_gps.vel_n_m_s * _gps.vel_n_m_s + _gps.vel_e_m_s * _gps.vel_e_m_s);
gpsVelD = _gps.vel_d_m_s;
gpsLat = math::radians(_gps.lat / (double)1e7);
gpsLon = math::radians(_gps.lon / (double)1e7);
gpsHgt = _gps.alt / 1e3f;
newDataGps = true;
if (!_initialized) {
InitialiseFilter();
continue;
}
/* convert GPS measurements to horizontal NE, altitude and 3D velocity NED */
calcvelNED(velNED, gpsCourse, gpsGndSpd, gpsVelD);
calcposNED(posNED, gpsLat, gpsLon, gpsHgt, latRef, lonRef, hgtRef);
posNE[0] = posNED[0];
posNE[1] = posNED[1];
hgtMea = -posNED[2];
/* set flags for further processing */
fuseVelData = true;
fusePosData = true;
fuseHgtData = true;
/* recall states after adjusting for delays */
RecallStates(statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms));
RecallStates(statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms));
RecallStates(statesAtHgtTime, (IMUmsec - _parameters.height_delay_ms));
/* run the actual fusion */
FuseVelposNED();
} else {
/* do not fuse anything, we got no position / vel update */
fuseVelData = false;
fusePosData = false;
fuseHgtData = false;
newDataGps = true;
}
} else {
newDataGps = false;
}
bool mag_updated;
orb_check(_mag_sub, &mag_updated);
if (mag_updated) {
orb_copy(ORB_ID(sensor_mag), _mag_sub, &_mag);
if (_initialized) {
magData.x = _mag.x;
magBias.x = -_mag_offsets.x_offset;
magData.y = _mag.y;
magBias.y = -_mag_offsets.y_offset;
magData.z = _mag.z;
magBias.z = -_mag_offsets.z_offset;
fuseMagData = true;
RecallStates(statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms));
FuseMagnetometer();
}
} else {
fuseMagData = false;
}
bool airspeed_updated;
orb_check(_airspeed_sub, &airspeed_updated);
if (airspeed_updated) {
orb_copy(ORB_ID(airspeed), _airspeed_sub, &_airspeed);
if (_initialized && _airspeed.true_airspeed_m_s > 8.0f /* XXX magic number */) {
VtasMeas = _airspeed.true_airspeed_m_s;
fuseVtasData = true;
RecallStates(statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data
FuseAirspeed();
}
} else {
fuseVtasData = false;
}
/* lazily publish the attitude only once available */
if (_att_pub > 0) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_attitude), _att_pub, &_att);
} else {
/* advertise and publish */
_att_pub = orb_advertise(ORB_ID(vehicle_attitude), &_att);
}
/* lazily publish the position only once available */
if (_global_pos_pub > 0) {
/* publish the attitude setpoint */
orb_publish(ORB_ID(vehicle_global_position), _global_pos_pub, &_global_pos);
} else {
/* advertise and publish */
_global_pos_pub = orb_advertise(ORB_ID(vehicle_global_position), &_global_pos);
}
}
perf_end(_loop_perf);
}
warnx("exiting.\n");
_estimator_task = -1;
_exit(0);
}
int
FixedwingEstimator::start()
{
ASSERT(_estimator_task == -1);
/* start the task */
_estimator_task = task_spawn_cmd("fw_att_pos_estimator",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
12048,
(main_t)&FixedwingEstimator::task_main_trampoline,
nullptr);
if (_estimator_task < 0) {
warn("task start failed");
return -errno;
}
return OK;
}
int fw_att_pos_estimator_main(int argc, char *argv[])
{
if (argc < 1)
errx(1, "usage: fw_att_pos_estimator {start|stop|status}");
if (!strcmp(argv[1], "start")) {
if (estimator::g_estimator != nullptr)
errx(1, "already running");
estimator::g_estimator = new FixedwingEstimator;
if (estimator::g_estimator == nullptr)
errx(1, "alloc failed");
if (OK != estimator::g_estimator->start()) {
delete estimator::g_estimator;
estimator::g_estimator = nullptr;
err(1, "start failed");
}
exit(0);
}
if (!strcmp(argv[1], "stop")) {
if (estimator::g_estimator == nullptr)
errx(1, "not running");
delete estimator::g_estimator;
estimator::g_estimator = nullptr;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (estimator::g_estimator) {
errx(0, "running");
} else {
errx(1, "not running");
}
}
warnx("unrecognized command");
return 1;
}