/****************************************************************************
*
* Copyright (C) 2013 Anton Babushkin. All rights reserved.
* Author: Anton Babushkin <rk3dov@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file position_estimator_inav_main.c
* Model-identification based position estimator for multirotors
*/
#include <unistd.h>
#include <stdlib.h>
#include <stdio.h>
#include <stdbool.h>
#include <fcntl.h>
#include <float.h>
#include <string.h>
#include <nuttx/config.h>
#include <nuttx/sched.h>
#include <sys/prctl.h>
#include <termios.h>
#include <errno.h>
#include <limits.h>
#include <math.h>
#include <uORB/uORB.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/actuator_controls_effective.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/vehicle_local_position.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/optical_flow.h>
#include <mavlink/mavlink_log.h>
#include <poll.h>
#include <systemlib/err.h>
#include <geo/geo.h>
#include <systemlib/systemlib.h>
#include <drivers/drv_hrt.h>
#include "position_estimator_inav_params.h"
#include "inertial_filter.h"
static bool thread_should_exit = false; /**< Deamon exit flag */
static bool thread_running = false; /**< Deamon status flag */
static int position_estimator_inav_task; /**< Handle of deamon task / thread */
static bool verbose_mode = false;
static const hrt_abstime gps_timeout = 1000000; // GPS timeout = 1s
static const hrt_abstime flow_timeout = 1000000; // optical flow timeout = 1s
static const uint32_t updates_counter_len = 1000000;
static const uint32_t pub_interval = 4000; // limit publish rate to 250 Hz
__EXPORT int position_estimator_inav_main(int argc, char *argv[]);
int position_estimator_inav_thread_main(int argc, char *argv[]);
static void usage(const char *reason);
/**
* Print the correct usage.
*/
static void usage(const char *reason)
{
if (reason)
fprintf(stderr, "%s\n", reason);
fprintf(stderr,
"usage: position_estimator_inav {start|stop|status} [-v]\n\n");
exit(1);
}
/**
* The position_estimator_inav_thread only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
* The actual stack size should be set in the call
* to task_create().
*/
int position_estimator_inav_main(int argc, char *argv[])
{
if (argc < 1)
usage("missing command");
if (!strcmp(argv[1], "start")) {
if (thread_running) {
printf("position_estimator_inav already running\n");
/* this is not an error */
exit(0);
}
verbose_mode = false;
if (argc > 1)
if (!strcmp(argv[2], "-v"))
verbose_mode = true;
thread_should_exit = false;
position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",
SCHED_RR, SCHED_PRIORITY_MAX - 5, 4096,
position_estimator_inav_thread_main,
(argv) ? (const char **) &argv[2] : (const char **) NULL);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
thread_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
printf("\tposition_estimator_inav is running\n");
} else {
printf("\tposition_estimator_inav not started\n");
}
exit(0);
}
usage("unrecognized command");
exit(1);
}
/****************************************************************************
* main
****************************************************************************/
int position_estimator_inav_thread_main(int argc, char *argv[])
{
warnx("started.");
int mavlink_fd;
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
mavlink_log_info(mavlink_fd, "[inav] started");
/* initialize values */
float x_est[3] = { 0.0f, 0.0f, 0.0f };
float y_est[3] = { 0.0f, 0.0f, 0.0f };
float z_est[3] = { 0.0f, 0.0f, 0.0f };
int baro_init_cnt = 0;
int baro_init_num = 200;
float baro_alt0 = 0.0f; /* to determine while start up */
float alt_avg = 0.0f;
bool landed = true;
hrt_abstime landed_time = 0;
bool flag_armed = false;
uint32_t accel_counter = 0;
uint32_t baro_counter = 0;
/* declare and safely initialize all structs */
struct actuator_controls_effective_s actuator;
memset(&actuator, 0, sizeof(actuator));
struct actuator_armed_s armed;
memset(&armed, 0, sizeof(armed));
struct sensor_combined_s sensor;
memset(&sensor, 0, sizeof(sensor));
struct vehicle_gps_position_s gps;
memset(&gps, 0, sizeof(gps));
struct vehicle_attitude_s att;
memset(&att, 0, sizeof(att));
struct vehicle_local_position_s local_pos;
memset(&local_pos, 0, sizeof(local_pos));
struct optical_flow_s flow;
memset(&flow, 0, sizeof(flow));
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));
/* subscribe */
int parameter_update_sub = orb_subscribe(ORB_ID(parameter_update));
int actuator_sub = orb_subscribe(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE);
int armed_sub = orb_subscribe(ORB_ID(actuator_armed));
int sensor_combined_sub = orb_subscribe(ORB_ID(sensor_combined));
int vehicle_attitude_sub = orb_subscribe(ORB_ID(vehicle_attitude));
int optical_flow_sub = orb_subscribe(ORB_ID(optical_flow));
int vehicle_gps_position_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
/* advertise */
orb_advert_t vehicle_local_position_pub = orb_advertise(ORB_ID(vehicle_local_position), &local_pos);
orb_advert_t vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos);
struct position_estimator_inav_params params;
struct position_estimator_inav_param_handles pos_inav_param_handles;
/* initialize parameter handles */
parameters_init(&pos_inav_param_handles);
/* first parameters read at start up */
struct parameter_update_s param_update;
orb_copy(ORB_ID(parameter_update), parameter_update_sub, ¶m_update); /* read from param topic to clear updated flag */
/* first parameters update */
parameters_update(&pos_inav_param_handles, ¶ms);
struct pollfd fds_init[1] = {
{ .fd = sensor_combined_sub, .events = POLLIN },
};
/* wait for initial baro value */
bool wait_baro = true;
thread_running = true;
while (wait_baro && !thread_should_exit) {
int ret = poll(fds_init, 1, 1000);
if (ret < 0) {
/* poll error */
errx(1, "subscriptions poll error on init.");
} else if (ret > 0) {
if (fds_init[0].revents & POLLIN) {
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
if (wait_baro && sensor.baro_counter > baro_counter) {
baro_counter = sensor.baro_counter;
/* mean calculation over several measurements */
if (baro_init_cnt < baro_init_num) {
baro_alt0 += sensor.baro_alt_meter;
baro_init_cnt++;
} else {
wait_baro = false;
baro_alt0 /= (float) baro_init_cnt;
warnx("init baro: alt = %.3f", baro_alt0);
mavlink_log_info(mavlink_fd, "[inav] init baro: alt = %.3f", baro_alt0);
local_pos.ref_alt = baro_alt0;
local_pos.ref_timestamp = hrt_absolute_time();
local_pos.z_valid = true;
local_pos.v_z_valid = true;
local_pos.global_z = true;
}
}
}
}
}
bool ref_xy_inited = false;
hrt_abstime ref_xy_init_start = 0;
const hrt_abstime ref_xy_init_delay = 5000000; // wait for 5s after 3D fix
hrt_abstime t_prev = 0;
uint16_t accel_updates = 0;
uint16_t baro_updates = 0;
uint16_t gps_updates = 0;
uint16_t attitude_updates = 0;
uint16_t flow_updates = 0;
hrt_abstime updates_counter_start = hrt_absolute_time();
hrt_abstime pub_last = hrt_absolute_time();
/* acceleration in NED frame */
float accel_NED[3] = { 0.0f, 0.0f, -CONSTANTS_ONE_G };
/* store error when sensor updates, but correct on each time step to avoid jumps in estimated value */
float accel_corr[] = { 0.0f, 0.0f, 0.0f }; // N E D
float accel_bias[] = { 0.0f, 0.0f, 0.0f }; // body frame
float baro_corr = 0.0f; // D
float gps_corr[2][2] = {
{ 0.0f, 0.0f }, // N (pos, vel)
{ 0.0f, 0.0f }, // E (pos, vel)
};
float sonar_corr = 0.0f;
float sonar_corr_filtered = 0.0f;
float flow_corr[] = { 0.0f, 0.0f }; // X, Y
float sonar_prev = 0.0f;
hrt_abstime sonar_time = 0;
/* main loop */
struct pollfd fds[7] = {
{ .fd = parameter_update_sub, .events = POLLIN },
{ .fd = actuator_sub, .events = POLLIN },
{ .fd = armed_sub, .events = POLLIN },
{ .fd = vehicle_attitude_sub, .events = POLLIN },
{ .fd = sensor_combined_sub, .events = POLLIN },
{ .fd = optical_flow_sub, .events = POLLIN },
{ .fd = vehicle_gps_position_sub, .events = POLLIN }
};
if (!thread_should_exit) {
warnx("main loop started.");
}
while (!thread_should_exit) {
int ret = poll(fds, 7, 10); // wait maximal this 10 ms = 100 Hz minimum rate
hrt_abstime t = hrt_absolute_time();
if (ret < 0) {
/* poll error */
warnx("subscriptions poll error.");
thread_should_exit = true;
continue;
} else if (ret > 0) {
/* parameter update */
if (fds[0].revents & POLLIN) {
/* read from param to clear updated flag */
struct parameter_update_s update;
orb_copy(ORB_ID(parameter_update), parameter_update_sub,
&update);
/* update parameters */
parameters_update(&pos_inav_param_handles, ¶ms);
}
/* actuator */
if (fds[1].revents & POLLIN) {
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS_EFFECTIVE, actuator_sub, &actuator);
}
/* armed */
if (fds[2].revents & POLLIN) {
orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
}
/* vehicle attitude */
if (fds[3].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_attitude), vehicle_attitude_sub, &att);
attitude_updates++;
}
/* sensor combined */
if (fds[4].revents & POLLIN) {
orb_copy(ORB_ID(sensor_combined), sensor_combined_sub, &sensor);
if (sensor.accelerometer_counter > accel_counter) {
if (att.R_valid) {
/* correct accel bias, now only for Z */
sensor.accelerometer_m_s2[2] -= accel_bias[2];
/* transform acceleration vector from body frame to NED frame */
for (int i = 0; i < 3; i++) {
accel_NED[i] = 0.0f;
for (int j = 0; j < 3; j++) {
accel_NED[i] += att.R[i][j] * sensor.accelerometer_m_s2[j];
}
}
accel_corr[0] = accel_NED[0] - x_est[2];
accel_corr[1] = accel_NED[1] - y_est[2];
accel_corr[2] = accel_NED[2] + CONSTANTS_ONE_G - z_est[2];
} else {
memset(accel_corr, 0, sizeof(accel_corr));
}
accel_counter = sensor.accelerometer_counter;
accel_updates++;
}
if (sensor.baro_counter > baro_counter) {
baro_corr = - sensor.baro_alt_meter - z_est[0];
baro_counter = sensor.baro_counter;
baro_updates++;
}
}
/* optical flow */
if (fds[5].revents & POLLIN) {
orb_copy(ORB_ID(optical_flow), optical_flow_sub, &flow);
if (flow.ground_distance_m > 0.31f && flow.ground_distance_m < 4.0f && (flow.ground_distance_m != sonar_prev || t - sonar_time < 150000)) {
if (flow.ground_distance_m != sonar_prev) {
sonar_time = t;
sonar_prev = flow.ground_distance_m;
sonar_corr = -flow.ground_distance_m - z_est[0];
sonar_corr_filtered += (sonar_corr - sonar_corr_filtered) * params.sonar_filt;
if (fabsf(sonar_corr) > params.sonar_err) {
// correction is too large: spike or new ground level?
if (fabsf(sonar_corr - sonar_corr_filtered) > params.sonar_err) {
// spike detected, ignore
sonar_corr = 0.0f;
} else {
// new ground level
baro_alt0 += sonar_corr;
mavlink_log_info(mavlink_fd, "[inav] new home: alt = %.3f", baro_alt0);
local_pos.ref_alt = baro_alt0;
local_pos.ref_timestamp = hrt_absolute_time();
z_est[0] += sonar_corr;
sonar_corr = 0.0f;
sonar_corr_filtered = 0.0f;
}
}
}
} else {
sonar_corr = 0.0f;
}
flow_updates++;
}
/* vehicle GPS position */
if (fds[6].revents & POLLIN) {
orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub, &gps);
if (gps.fix_type >= 3 && t < gps.timestamp_position + gps_timeout && gps.eph_m < 4.0f) {
/* initialize reference position if needed */
if (!ref_xy_inited) {
if (ref_xy_init_start == 0) {
ref_xy_init_start = t;
} else if (t > ref_xy_init_start + ref_xy_init_delay) {
ref_xy_inited = true;
/* reference GPS position */
double lat = gps.lat * 1e-7;
double lon = gps.lon * 1e-7;
local_pos.ref_lat = gps.lat;
local_pos.ref_lon = gps.lon;
local_pos.ref_timestamp = t;
/* initialize projection */
map_projection_init(lat, lon);
warnx("init GPS: lat = %.10f, lon = %.10f", lat, lon);
mavlink_log_info(mavlink_fd, "[inav] init GPS: %.7f, %.7f", lat, lon);
}
}
if (ref_xy_inited) {
/* project GPS lat lon to plane */
float gps_proj[2];
map_projection_project(gps.lat * 1e-7, gps.lon * 1e-7, &(gps_proj[0]), &(gps_proj[1]));
/* calculate correction for position */
gps_corr[0][0] = gps_proj[0] - x_est[0];
gps_corr[1][0] = gps_proj[1] - y_est[0];
/* calculate correction for velocity */
if (gps.vel_ned_valid) {
gps_corr[0][1] = gps.vel_n_m_s - x_est[1];
gps_corr[1][1] = gps.vel_e_m_s - y_est[1];
} else {
gps_corr[0][1] = 0.0f;
gps_corr[1][1] = 0.0f;
}
}
} else {
/* no GPS lock */
memset(gps_corr, 0, sizeof(gps_corr));
ref_xy_init_start = 0;
}
gps_updates++;
}
}
/* end of poll return value check */
float dt = t_prev > 0 ? (t - t_prev) / 1000000.0f : 0.0f;
t_prev = t;
/* reset ground level on arm */
if (armed.armed && !flag_armed) {
baro_alt0 -= z_est[0];
z_est[0] = 0.0f;
local_pos.ref_alt = baro_alt0;
local_pos.ref_timestamp = hrt_absolute_time();
mavlink_log_info(mavlink_fd, "[inav] new home on arm: alt = %.3f", baro_alt0);
}
/* accel bias correction, now only for Z
* not strictly correct, but stable and works */
accel_bias[2] += (accel_NED[2] + CONSTANTS_ONE_G) * params.w_acc_bias * dt;
/* inertial filter prediction for altitude */
inertial_filter_predict(dt, z_est);
/* inertial filter correction for altitude */
baro_alt0 += sonar_corr * params.w_alt_sonar * dt;
inertial_filter_correct(baro_corr + baro_alt0, dt, z_est, 0, params.w_alt_baro);
inertial_filter_correct(sonar_corr, dt, z_est, 0, params.w_alt_sonar);
inertial_filter_correct(accel_corr[2], dt, z_est, 2, params.w_alt_acc);
bool gps_valid = ref_xy_inited && gps.fix_type >= 3 && t < gps.timestamp_position + gps_timeout;
bool flow_valid = false; // TODO implement opt flow
/* try to estimate xy even if no absolute position source available,
* if using optical flow velocity will be correct in this case */
bool can_estimate_xy = gps_valid || flow_valid;
if (can_estimate_xy) {
/* inertial filter prediction for position */
inertial_filter_predict(dt, x_est);
inertial_filter_predict(dt, y_est);
/* inertial filter correction for position */
inertial_filter_correct(accel_corr[0], dt, x_est, 2, params.w_pos_acc);
inertial_filter_correct(accel_corr[1], dt, y_est, 2, params.w_pos_acc);
if (gps_valid) {
inertial_filter_correct(gps_corr[0][0], dt, x_est, 0, params.w_pos_gps_p);
inertial_filter_correct(gps_corr[1][0], dt, y_est, 0, params.w_pos_gps_p);
if (gps.vel_ned_valid && t < gps.timestamp_velocity + gps_timeout) {
inertial_filter_correct(gps_corr[0][1], dt, x_est, 1, params.w_pos_gps_v);
inertial_filter_correct(gps_corr[1][1], dt, y_est, 1, params.w_pos_gps_v);
}
}
}
/* detect land */
alt_avg += (z_est[0] - alt_avg) * dt / params.land_t;
float alt_disp = z_est[0] - alt_avg;
alt_disp = alt_disp * alt_disp;
float land_disp2 = params.land_disp * params.land_disp;
/* get actual thrust output */
float thrust = armed.armed ? actuator.control_effective[3] : 0.0f;
if (landed) {
if (alt_disp > land_disp2 && thrust > params.land_thr) {
landed = false;
landed_time = 0;
}
} else {
if (alt_disp < land_disp2 && thrust < params.land_thr) {
if (landed_time == 0) {
landed_time = t; // land detected first time
} else {
if (t > landed_time + params.land_t * 1000000.0f) {
landed = true;
landed_time = 0;
}
}
} else {
landed_time = 0;
}
}
if (verbose_mode) {
/* print updates rate */
if (t > updates_counter_start + updates_counter_len) {
float updates_dt = (t - updates_counter_start) * 0.000001f;
warnx(
"updates rate: accelerometer = %.1f/s, baro = %.1f/s, gps = %.1f/s, attitude = %.1f/s, flow = %.1f/s",
accel_updates / updates_dt,
baro_updates / updates_dt,
gps_updates / updates_dt,
attitude_updates / updates_dt,
flow_updates / updates_dt);
updates_counter_start = t;
accel_updates = 0;
baro_updates = 0;
gps_updates = 0;
attitude_updates = 0;
flow_updates = 0;
}
}
if (t > pub_last + pub_interval) {
pub_last = t;
/* publish local position */
local_pos.timestamp = t;
local_pos.xy_valid = can_estimate_xy && gps_valid;
local_pos.v_xy_valid = can_estimate_xy;
local_pos.global_xy = local_pos.xy_valid && gps_valid; // will make sense when local position sources (e.g. vicon) will be implemented
local_pos.x = x_est[0];
local_pos.vx = x_est[1];
local_pos.y = y_est[0];
local_pos.vy = y_est[1];
local_pos.z = z_est[0];
local_pos.vz = z_est[1];
local_pos.landed = landed;
local_pos.yaw = att.yaw;
orb_publish(ORB_ID(vehicle_local_position), vehicle_local_position_pub, &local_pos);
/* publish global position */
global_pos.valid = local_pos.global_xy;
if (local_pos.global_xy) {
double est_lat, est_lon;
map_projection_reproject(local_pos.x, local_pos.y, &est_lat, &est_lon);
global_pos.lat = (int32_t)(est_lat * 1e7);
global_pos.lon = (int32_t)(est_lon * 1e7);
global_pos.time_gps_usec = gps.time_gps_usec;
}
/* set valid values even if position is not valid */
if (local_pos.v_xy_valid) {
global_pos.vx = local_pos.vx;
global_pos.vy = local_pos.vy;
}
if (local_pos.z_valid) {
global_pos.relative_alt = -local_pos.z;
}
if (local_pos.global_z) {
global_pos.alt = local_pos.ref_alt - local_pos.z;
}
if (local_pos.v_z_valid) {
global_pos.vz = local_pos.vz;
}
global_pos.yaw = local_pos.yaw;
global_pos.timestamp = t;
orb_publish(ORB_ID(vehicle_global_position), vehicle_global_position_pub, &global_pos);
}
flag_armed = armed.armed;
}
warnx("exiting.");
mavlink_log_info(mavlink_fd, "[inav] exiting");
thread_running = false;
return 0;
}