Added TeraRanger one sensor

1 files changed, 82 insertions, 52 deletions

diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
index ccc497323..e7805daa9 100644
--- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
@@ -58,6 +58,7 @@
 #include <drivers/drv_accel.h>
 #include <drivers/drv_mag.h>
 #include <drivers/drv_baro.h>
+#include <drivers/drv_range_finder.h>
 #ifdef SENSOR_COMBINED_SUB
 #include <uORB/topics/sensor_combined.h>
 #endif
@@ -96,7 +97,10 @@ extern "C" __EXPORT int ekf_att_pos_estimator_main(int argc, char *argv[]);
 
 __EXPORT uint32_t millis();
 
+__EXPORT uint64_t getMicros();
+
 static uint64_t IMUmsec = 0;
+static uint64_t IMUusec = 0;
 static const uint64_t FILTER_INIT_DELAY = 1 * 1000 * 1000;
 
 uint32_t millis()
@@ -104,6 +108,11 @@ uint32_t millis()
 	return IMUmsec;
 }
 
+uint64_t getMicros()
+{
+	return IMUusec;
+}
+
 class FixedwingEstimator
 {
 public:
@@ -171,6 +180,7 @@ private:
 #else
 	int		_sensor_combined_sub;
 #endif
+	int		_distance_sub;			/**< distance measurement */
 	int		_airspeed_sub;			/**< airspeed subscription */
 	int		_baro_sub;			/**< barometer subscription */
 	int		_gps_sub;			/**< GPS subscription */
@@ -196,7 +206,8 @@ private:
 	struct vehicle_global_position_s		_global_pos;		/**< global vehicle position */
 	struct vehicle_local_position_s			_local_pos;		/**< local vehicle position */
 	struct vehicle_gps_position_s			_gps;			/**< GPS position */
-	struct wind_estimate_s				_wind;			/**< Wind estimate */
+	struct wind_estimate_s				_wind;			/**< wind estimate */
+	struct range_finder_report			_distance;		/**< distance estimate */
 
 	struct gyro_scale				_gyro_offsets;
 	struct accel_scale				_accel_offsets;
@@ -226,6 +237,7 @@ private:
 	hrt_abstime					_filter_start_time;
 	hrt_abstime					_last_sensor_timestamp;
 	hrt_abstime					_last_run;
+	hrt_abstime					_distance_last_valid;
 	bool						_gyro_valid;
 	bool						_accel_valid;
 	bool						_mag_valid;
@@ -342,6 +354,7 @@ FixedwingEstimator::FixedwingEstimator() :
 #else
 	_sensor_combined_sub(-1),
 #endif
+	_distance_sub(-1),
 	_airspeed_sub(-1),
 	_baro_sub(-1),
 	_gps_sub(-1),
@@ -369,6 +382,7 @@ FixedwingEstimator::FixedwingEstimator() :
 	_local_pos({}),
 	_gps({}),
 	_wind({}),
+	_distance{},
 
 	_gyro_offsets({}),
 	_accel_offsets({}),
@@ -399,6 +413,7 @@ FixedwingEstimator::FixedwingEstimator() :
 	_filter_start_time(0),
 	_last_sensor_timestamp(0),
 	_last_run(0),
+	_distance_last_valid(0),
 	_gyro_valid(false),
 	_accel_valid(false),
 	_mag_valid(false),
@@ -549,6 +564,7 @@ FixedwingEstimator::parameters_update()
 		_ekf->gyroProcessNoise = _parameters.gyro_pnoise;
         	_ekf->accelProcessNoise = _parameters.acc_pnoise;
 		_ekf->airspeedMeasurementSigma = _parameters.eas_noise;
+		_ekf->rngFinderPitch = 0.0f; // XXX base on SENS_BOARD_Y_OFF
 	}
 
 	return OK;
@@ -581,12 +597,12 @@ FixedwingEstimator::check_filter_state()
 
 	const char* const feedback[] = { 0,
 					"NaN in states, resetting",
-					"stale IMU data, resetting",
+					"stale sensor data, resetting",
 					"got initial position lock",
 					"excessive gyro offsets",
-					"GPS velocity divergence",
+					"velocity diverted, check accel config",
 					"excessive covariances",
-					"unknown condition"};
+					"unknown condition, resetting"};
 
 	// Print out error condition
 	if (check) {
@@ -597,8 +613,11 @@ FixedwingEstimator::check_filter_state()
 			warn_index = max_warn_index;
 		}
 
-		warnx("reset: %s", feedback[warn_index]);
-		mavlink_log_critical(_mavlink_fd, "[ekf] re-init: %s", feedback[warn_index]);
+		// Do not warn about accel offset if we have no position updates
+		if (!(warn_index == 5 && _ekf->staticMode)) {
+			warnx("reset: %s", feedback[warn_index]);
+			mavlink_log_critical(_mavlink_fd, "[ekf check] %s", feedback[warn_index]);
+		}
 	}
 
 	struct estimator_status_report rep;
@@ -630,10 +649,10 @@ FixedwingEstimator::check_filter_state()
 		rep.health_flags |= (((uint8_t)ekf_report.posHealth)	<< 1);
 		rep.health_flags |= (((uint8_t)ekf_report.hgtHealth)	<< 2);
 		rep.health_flags |= (((uint8_t)!ekf_report.gyroOffsetsExcessive)	<< 3);
-		// rep.health_flags |= (((uint8_t)ekf_report.onGround)	<< 4);
-		// rep.health_flags |= (((uint8_t)ekf_report.staticMode)	<< 5);
-		// rep.health_flags |= (((uint8_t)ekf_report.useCompass)	<< 6);
-		// rep.health_flags |= (((uint8_t)ekf_report.useAirspeed)	<< 7);
+		rep.health_flags |= (((uint8_t)ekf_report.onGround)	<< 4);
+		rep.health_flags |= (((uint8_t)ekf_report.staticMode)	<< 5);
+		rep.health_flags |= (((uint8_t)ekf_report.useCompass)	<< 6);
+		rep.health_flags |= (((uint8_t)ekf_report.useAirspeed)	<< 7);
 
 		rep.timeout_flags |= (((uint8_t)ekf_report.velTimeout)	<< 0);
 		rep.timeout_flags |= (((uint8_t)ekf_report.posTimeout)	<< 1);
@@ -704,6 +723,7 @@ FixedwingEstimator::task_main()
 	/*
 	 * do subscriptions
 	 */
+	_distance_sub = orb_subscribe(ORB_ID(sensor_range_finder));
 	_baro_sub = orb_subscribe(ORB_ID(sensor_baro0));
 	_airspeed_sub = orb_subscribe(ORB_ID(airspeed));
 	_gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
@@ -753,6 +773,7 @@ FixedwingEstimator::task_main()
 	bool newHgtData = false;
 	bool newAdsData = false;
 	bool newDataMag = false;
+	bool newRangeData = false;
 
 	float posNED[3] = {0.0f, 0.0f, 0.0f}; // North, East Down position (m)
 
@@ -765,7 +786,7 @@ FixedwingEstimator::task_main()
 
 	while (!_task_should_exit) {
 
-		/* wait for up to 500ms for data */
+		/* wait for up to 100ms for data */
 		int pret = poll(&fds[0], (sizeof(fds) / sizeof(fds[0])), 100);
 
 		/* timed out - periodic check for _task_should_exit, etc. */
@@ -850,7 +871,8 @@ FixedwingEstimator::task_main()
 			}
 
 			_last_sensor_timestamp = _gyro.timestamp;
-			IMUmsec = _gyro.timestamp / 1e3f;
+			IMUmsec = _gyro.timestamp / 1e3;
+			IMUusec = _gyro.timestamp;
 
 			float deltaT = (_gyro.timestamp - _last_run) / 1e6f;
 			_last_run = _gyro.timestamp;
@@ -914,7 +936,8 @@ FixedwingEstimator::task_main()
 
 			// Copy gyro and accel
 			_last_sensor_timestamp = _sensor_combined.timestamp;
-			IMUmsec = _sensor_combined.timestamp / 1e3f;
+			IMUmsec = _sensor_combined.timestamp / 1e3;
+			IMUusec = _sensor_combined.timestamp;
 
 			float deltaT = (_sensor_combined.timestamp - _last_run) / 1e6f;
 
@@ -994,8 +1017,6 @@ FixedwingEstimator::task_main()
 
 			if (gps_updated) {
 
-				last_gps = _gps.timestamp_position;
-
 				orb_copy(ORB_ID(vehicle_gps_position), _gps_sub, &_gps);
 				perf_count(_perf_gps);
 
@@ -1008,11 +1029,17 @@ FixedwingEstimator::task_main()
 					_gps_start_time = hrt_absolute_time();
 
 					/* check if we had a GPS outage for a long time */
-					if (hrt_elapsed_time(&last_gps) > 5 * 1000 * 1000) {
+					float gps_elapsed = hrt_elapsed_time(&last_gps) / 1e6f;
+
+					const float pos_reset_threshold = 5.0f; // seconds
+
+					/* timeout of 5 seconds */
+					if (gps_elapsed > pos_reset_threshold) {
 						_ekf->ResetPosition();
 						_ekf->ResetVelocity();
 						_ekf->ResetStoredStates();
 					}
+					_ekf->updateDtGpsFilt(math::constrain((_gps.timestamp_position - last_gps) / 1e6f, 0.01f, pos_reset_threshold));
 
 					/* fuse GPS updates */
 
@@ -1044,6 +1071,8 @@ FixedwingEstimator::task_main()
 
 					newDataGps = true;
 
+					last_gps = _gps.timestamp_position;
+
 				}
 
 			}
@@ -1052,8 +1081,15 @@ FixedwingEstimator::task_main()
 			orb_check(_baro_sub, &baro_updated);
 
 			if (baro_updated) {
+
+				hrt_abstime baro_last = _baro.timestamp;
+
 				orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro);
 
+				float baro_elapsed = (_baro.timestamp - baro_last) / 1e6f;
+
+				_ekf->updateDtHgtFilt(math::constrain(baro_elapsed, 0.001f, 0.1f));
+
 				_ekf->baroHgt = _baro.altitude;
 
 				if (!_baro_init) {
@@ -1114,6 +1150,19 @@ FixedwingEstimator::task_main()
 				newDataMag = false;
 			}
 
+			orb_check(_distance_sub, &newRangeData);
+
+			if (newRangeData) {
+				orb_copy(ORB_ID(sensor_range_finder), _distance_sub, &_distance);
+
+				if (_distance.valid) {
+					_ekf->rngMea = _distance.distance;
+					_distance_last_valid = _distance.timestamp;
+				} else {
+					newRangeData = false;
+				}
+			}
+
 			/*
 			 *    CHECK IF ITS THE RIGHT TIME TO RUN THINGS ALREADY
 			 */
@@ -1197,6 +1246,7 @@ FixedwingEstimator::task_main()
 				} else if (_ekf->statesInitialised) {
 
 					// We're apparently initialized in this case now
+					// check (and reset the filter as needed)
 					int check = check_filter_state();
 
 					if (check) {
@@ -1206,21 +1256,7 @@ FixedwingEstimator::task_main()
 
 					// Run the strapdown INS equations every IMU update
 					_ekf->UpdateStrapdownEquationsNED();
-	#if 0
-					// debug code - could be tunred into a filter mnitoring/watchdog function
-					float tempQuat[4];
-
-					for (uint8_t j = 0; j <= 3; j++) tempQuat[j] = states[j];
-
-					quat2eul(eulerEst, tempQuat);
 
-					for (uint8_t j = 0; j <= 2; j++) eulerDif[j] = eulerEst[j] - ahrsEul[j];
-
-					if (eulerDif[2] > pi) eulerDif[2] -= 2 * pi;
-
-					if (eulerDif[2] < -pi) eulerDif[2] += 2 * pi;
-
-	#endif
 					// store the predicted states for subsequent use by measurement fusion
 					_ekf->StoreStates(IMUmsec);
 					// Check if on ground - status is used by covariance prediction
@@ -1334,6 +1370,13 @@ FixedwingEstimator::task_main()
 						_ekf->fuseVtasData = false;
 					}
 
+					if (newRangeData) {
+						_ekf->fuseRngData = true;
+						_ekf->useRangeFinder = true;
+						_ekf->RecallStates(_ekf->statesAtRngTime, (IMUmsec - 100.0f));
+						_ekf->GroundEKF();
+					}
+
 
 					// Output results
 					math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]);
@@ -1447,6 +1490,10 @@ FixedwingEstimator::task_main()
 							_global_pos.vel_d = _local_pos.vz;
 						}
 
+						/* terrain altitude */
+						_global_pos.terrain_alt = _ekf->hgtRef - _ekf->flowStates[1];
+						_global_pos.terrain_alt_valid = (_distance_last_valid > 0) &&
+						(hrt_elapsed_time(&_distance_last_valid) < 20 * 1000 * 1000);
 
 						_global_pos.yaw = _local_pos.yaw;
 
@@ -1467,27 +1514,10 @@ FixedwingEstimator::task_main()
 
 						if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
 							_wind.timestamp = _global_pos.timestamp;
-							_wind.windspeed_north = _ekf->states[14];
-							_wind.windspeed_east = _ekf->states[15];
-							_wind.covariance_north = 0.0f; // XXX get form filter
-							_wind.covariance_east = 0.0f;
-
-							/* lazily publish the wind estimate only once available */
-							if (_wind_pub > 0) {
-								/* publish the wind estimate */
-								orb_publish(ORB_ID(wind_estimate), _wind_pub, &_wind);
-
-							} else {
-								/* advertise and publish */
-								_wind_pub = orb_advertise(ORB_ID(wind_estimate), &_wind);
-							}
-
-						}
-
-						if (hrt_elapsed_time(&_wind.timestamp) > 99000) {
-							_wind.timestamp = _global_pos.timestamp;
-							_wind.windspeed_north = _ekf->states[14];
-							_wind.windspeed_east = _ekf->states[15];
+							_wind.windspeed_north = _ekf->windSpdFiltNorth;
+							_wind.windspeed_east = _ekf->windSpdFiltEast;
+							// XXX we need to do something smart about the covariance here
+							// but we default to the estimate covariance for now
 							_wind.covariance_north = _ekf->P[14][14];
 							_wind.covariance_east = _ekf->P[15][15];
 
@@ -1530,7 +1560,7 @@ FixedwingEstimator::start()
 	_estimator_task = task_spawn_cmd("ekf_att_pos_estimator",
 					 SCHED_DEFAULT,
 					 SCHED_PRIORITY_MAX - 40,
-					 5000,
+					 7500,
 					 (main_t)&FixedwingEstimator::task_main_trampoline,
 					 nullptr);