Exposed measurement noise covariance and process noise covariance as MAVLink parameters for attitude EKF

1 files changed, 131 insertions, 0 deletions

diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c
new file mode 100644
index 000000000..d95c56368
--- /dev/null
+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c
@@ -0,0 +1,131 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Tobias Naegeli <naegelit@student.ethz.ch>
+ *           Lorenz Meier <lm@inf.ethz.ch>
+ *
+ * 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 attitude_estimator_ekf_params.c
+ * 
+ * Parameters for EKF filter
+ */
+
+#include "attitude_estimator_ekf_params.h"
+
+/* Extended Kalman Filter covariances */
+
+/* gyro process noise */
+PARAM_DEFINE_FLOAT(EKF_ATT_Q0, 1e1f);
+PARAM_DEFINE_FLOAT(EKF_ATT_Q1, 1e1f);
+PARAM_DEFINE_FLOAT(EKF_ATT_Q2, 1e1f);
+/* gyro offsets process noise */
+PARAM_DEFINE_FLOAT(EKF_ATT_Q3, 1e-4f);
+PARAM_DEFINE_FLOAT(EKF_ATT_Q4, 1e-4f);
+PARAM_DEFINE_FLOAT(EKF_ATT_Q5, 1e-4f);
+/* accelerometer process noise */
+PARAM_DEFINE_FLOAT(EKF_ATT_Q6, 1e-1f);
+PARAM_DEFINE_FLOAT(EKF_ATT_Q7, 1e-1f);
+PARAM_DEFINE_FLOAT(EKF_ATT_Q8, 1e-1f);
+/* magnetometer process noise */
+PARAM_DEFINE_FLOAT(EKF_ATT_Q9, 1e-1f);
+PARAM_DEFINE_FLOAT(EKF_ATT_Q10, 1e-1f);
+PARAM_DEFINE_FLOAT(EKF_ATT_Q11, 1e-1f);
+
+/* gyro measurement noise */
+PARAM_DEFINE_FLOAT(EKF_ATT_R0, 1e-2f);
+PARAM_DEFINE_FLOAT(EKF_ATT_R1, 1e-2f);
+PARAM_DEFINE_FLOAT(EKF_ATT_R2, 1e-2f);
+/* accelerometer measurement noise */
+PARAM_DEFINE_FLOAT(EKF_ATT_R3, 1e-1f);
+PARAM_DEFINE_FLOAT(EKF_ATT_R4, 1e-1f);
+PARAM_DEFINE_FLOAT(EKF_ATT_R5, 1e-1f);
+/* magnetometer measurement noise */
+PARAM_DEFINE_FLOAT(EKF_ATT_R6, 1e-1f);
+PARAM_DEFINE_FLOAT(EKF_ATT_R7, 1e-1f);
+PARAM_DEFINE_FLOAT(EKF_ATT_R8, 1e-1f);
+
+int parameters_init(struct attitude_estimator_ekf_param_handles *h)
+{
+	/* PID parameters */
+	h->q0 	=	param_find("EKF_ATT_Q0");
+	h->q1 	=	param_find("EKF_ATT_Q1");
+	h->q2 	=	param_find("EKF_ATT_Q2");
+	h->q3 	=	param_find("EKF_ATT_Q3");
+	h->q4 	=	param_find("EKF_ATT_Q4");
+	h->q5 	=	param_find("EKF_ATT_Q5");
+	h->q6 	=	param_find("EKF_ATT_Q6");
+	h->q7 	=	param_find("EKF_ATT_Q7");
+	h->q8 	=	param_find("EKF_ATT_Q8");
+	h->q9 	=	param_find("EKF_ATT_Q9");
+	h->q10 	=	param_find("EKF_ATT_Q10");
+	h->q11 	=	param_find("EKF_ATT_Q11");
+
+	h->r0 	=	param_find("EKF_ATT_R0");
+	h->r1 	=	param_find("EKF_ATT_R1");
+	h->r2 	=	param_find("EKF_ATT_R2");
+	h->r3 	=	param_find("EKF_ATT_R3");
+	h->r4 	=	param_find("EKF_ATT_R4");
+	h->r5 	=	param_find("EKF_ATT_R5");
+	h->r6 	=	param_find("EKF_ATT_R6");
+	h->r7 	=	param_find("EKF_ATT_R7");
+	h->r8 	=	param_find("EKF_ATT_R8");
+
+	return OK;
+}
+
+int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p)
+{
+	param_get(h->q0, &(p->q[0]));
+	param_get(h->q1, &(p->q[1]));
+	param_get(h->q2, &(p->q[2]));
+	param_get(h->q3, &(p->q[3]));
+	param_get(h->q4, &(p->q[4]));
+	param_get(h->q5, &(p->q[5]));
+	param_get(h->q6, &(p->q[6]));
+	param_get(h->q7, &(p->q[7]));
+	param_get(h->q8, &(p->q[8]));
+	param_get(h->q9, &(p->q[9]));
+	param_get(h->q10, &(p->q[10]));
+	param_get(h->q11, &(p->q[11]));
+
+	param_get(h->r0, &(p->r[0]));
+	param_get(h->r1, &(p->r[1]));
+	param_get(h->r2, &(p->r[2]));
+	param_get(h->r3, &(p->r[3]));
+	param_get(h->r4, &(p->r[4]));
+	param_get(h->r5, &(p->r[5]));
+	param_get(h->r6, &(p->r[6]));
+	param_get(h->r7, &(p->r[7]));
+	param_get(h->r8, &(p->r[8]));
+
+	return OK;
+}