diff options
author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-06 15:47:34 +0200 |
---|---|---|
committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-06 15:47:34 +0200 |
commit | 1492323f0327916435d806c2af1e0c8296278c9d (patch) | |
tree | d53e2768c326ec6a2cbcfd896550c446ba93fab3 /src/modules/position_estimator_inav/position_estimator_inav_main.c | |
parent | 2669f7f3af65921d4abbf3850cd62e48f2eeeec7 (diff) | |
parent | bd88951f6ce609bc5ba364bfa3d19ae61e444964 (diff) | |
download | px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.tar.gz px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.tar.bz2 px4-firmware-1492323f0327916435d806c2af1e0c8296278c9d.zip |
Merged master into uavcan
Diffstat (limited to 'src/modules/position_estimator_inav/position_estimator_inav_main.c')
-rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 259 |
1 files changed, 173 insertions, 86 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 368424853..05eae047c 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -49,6 +49,7 @@ #include <sys/prctl.h> #include <termios.h> #include <math.h> +#include <float.h> #include <uORB/uORB.h> #include <uORB/topics/parameter_update.h> #include <uORB/topics/actuator_controls.h> @@ -71,19 +72,20 @@ #include "inertial_filter.h" #define MIN_VALID_W 0.00001f +#define PUB_INTERVAL 10000 // limit publish rate to 100 Hz +#define EST_BUF_SIZE 250000 / PUB_INTERVAL // buffer size is 0.5s 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_topic_timeout = 1000000; // GPS topic timeout = 1s +static const hrt_abstime gps_topic_timeout = 500000; // GPS topic timeout = 0.5s static const hrt_abstime flow_topic_timeout = 1000000; // optical flow topic timeout = 1s static const hrt_abstime sonar_timeout = 150000; // sonar timeout = 150ms static const hrt_abstime sonar_valid_timeout = 1000000; // estimate sonar distance during this time after sonar loss static const hrt_abstime xy_src_timeout = 2000000; // estimate position during this time after position sources loss static const uint32_t updates_counter_len = 1000000; -static const uint32_t pub_interval = 10000; // limit publish rate to 100 Hz static const float max_flow = 1.0f; // max flow value that can be used, rad/s __EXPORT int position_estimator_inav_main(int argc, char *argv[]); @@ -92,6 +94,16 @@ int position_estimator_inav_thread_main(int argc, char *argv[]); static void usage(const char *reason); +static inline int min(int val1, int val2) +{ + return (val1 < val2) ? val1 : val2; +} + +static inline int max(int val1, int val2) +{ + return (val1 > val2) ? val1 : val2; +} + /** * Print the correct usage. */ @@ -135,7 +147,7 @@ int position_estimator_inav_main(int argc, char *argv[]) thread_should_exit = false; position_estimator_inav_task = task_spawn_cmd("position_estimator_inav", - SCHED_RR, SCHED_PRIORITY_MAX - 5, 4096, + SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 5000, position_estimator_inav_thread_main, (argv) ? (const char **) &argv[2] : (const char **) NULL); exit(0); @@ -168,15 +180,21 @@ int position_estimator_inav_main(int argc, char *argv[]) exit(1); } -void write_debug_log(const char *msg, float dt, float x_est[3], float y_est[3], float z_est[3], float x_est_prev[3], float y_est_prev[3], float z_est_prev[3], float corr_acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v) +static void write_debug_log(const char *msg, float dt, float x_est[2], float y_est[2], float z_est[2], float x_est_prev[2], float y_est_prev[2], float z_est_prev[2], float acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v) { FILE *f = fopen("/fs/microsd/inav.log", "a"); if (f) { char *s = malloc(256); - unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f %.5f] y_est=[%.5f %.5f %.5f] z_est=[%.5f %.5f %.5f] x_est_prev=[%.5f %.5f %.5f] y_est_prev=[%.5f %.5f %.5f] z_est_prev=[%.5f %.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], x_est[2], y_est[0], y_est[1], y_est[2], z_est[0], z_est[1], z_est[2], x_est_prev[0], x_est_prev[1], x_est_prev[2], y_est_prev[0], y_est_prev[1], y_est_prev[2], z_est_prev[0], z_est_prev[1], z_est_prev[2]); + unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f] y_est=[%.5f %.5f] z_est=[%.5f %.5f] x_est_prev=[%.5f %.5f] y_est_prev=[%.5f %.5f] z_est_prev=[%.5f %.5f]\n", + hrt_absolute_time(), msg, (double)dt, + (double)x_est[0], (double)x_est[1], (double)y_est[0], (double)y_est[1], (double)z_est[0], (double)z_est[1], + (double)x_est_prev[0], (double)x_est_prev[1], (double)y_est_prev[0], (double)y_est_prev[1], (double)z_est_prev[0], (double)z_est_prev[1]); fwrite(s, 1, n, f); - n = snprintf(s, 256, "\tacc_corr=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n", corr_acc[0], corr_acc[1], corr_acc[2], corr_gps[0][0], corr_gps[1][0], corr_gps[2][0], corr_gps[0][1], corr_gps[1][1], corr_gps[2][1], w_xy_gps_p, w_xy_gps_v); + n = snprintf(s, 256, "\tacc=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n", + (double)acc[0], (double)acc[1], (double)acc[2], + (double)corr_gps[0][0], (double)corr_gps[1][0], (double)corr_gps[2][0], (double)corr_gps[0][1], (double)corr_gps[1][1], (double)corr_gps[2][1], + (double)w_xy_gps_p, (double)w_xy_gps_v); fwrite(s, 1, n, f); free(s); } @@ -195,11 +213,27 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); mavlink_log_info(mavlink_fd, "[inav] started"); - 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 }; + float x_est[2] = { 0.0f, 0.0f }; // pos, vel + float y_est[2] = { 0.0f, 0.0f }; // pos, vel + float z_est[2] = { 0.0f, 0.0f }; // pos, vel - float x_est_prev[3], y_est_prev[3], z_est_prev[3]; + float est_buf[EST_BUF_SIZE][3][2]; // estimated position buffer + float R_buf[EST_BUF_SIZE][3][3]; // rotation matrix buffer + float R_gps[3][3]; // rotation matrix for GPS correction moment + memset(est_buf, 0, sizeof(est_buf)); + memset(R_buf, 0, sizeof(R_buf)); + memset(R_gps, 0, sizeof(R_gps)); + int buf_ptr = 0; + + static const float min_eph_epv = 2.0f; // min EPH/EPV, used for weight calculation + static const float max_eph_epv = 20.0f; // max EPH/EPV acceptable for estimation + + float eph = max_eph_epv; + float epv = 1.0f; + + float eph_flow = 1.0f; + + float x_est_prev[2], y_est_prev[2], z_est_prev[2]; memset(x_est_prev, 0, sizeof(x_est_prev)); memset(y_est_prev, 0, sizeof(y_est_prev)); memset(z_est_prev, 0, sizeof(z_est_prev)); @@ -234,11 +268,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) hrt_abstime t_prev = 0; - /* 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 corr_acc[] = { 0.0f, 0.0f, 0.0f }; // N E D + float acc[] = { 0.0f, 0.0f, 0.0f }; // N E D float acc_bias[] = { 0.0f, 0.0f, 0.0f }; // body frame float corr_baro = 0.0f; // D float corr_gps[3][2] = { @@ -254,14 +285,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float corr_flow[] = { 0.0f, 0.0f }; // N E float w_flow = 0.0f; - static float min_eph_epv = 2.0f; // min EPH/EPV, used for weight calculation - static float max_eph_epv = 10.0f; // max EPH/EPV acceptable for estimation - float sonar_prev = 0.0f; hrt_abstime flow_prev = 0; // time of last flow measurement hrt_abstime sonar_time = 0; // time of last sonar measurement (not filtered) hrt_abstime sonar_valid_time = 0; // time of last sonar measurement used for correction (filtered) - hrt_abstime xy_src_time = 0; // time of last available position data bool gps_valid = false; // GPS is valid bool sonar_valid = false; // sonar is valid @@ -338,14 +365,16 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* mean calculation over several measurements */ if (baro_init_cnt < baro_init_num) { - baro_offset += sensor.baro_alt_meter; - baro_init_cnt++; + if (isfinite(sensor.baro_alt_meter)) { + baro_offset += sensor.baro_alt_meter; + baro_init_cnt++; + } } else { wait_baro = false; baro_offset /= (float) baro_init_cnt; - warnx("baro offs: %.2f", baro_offset); - mavlink_log_info(mavlink_fd, "[inav] baro offs: %.2f", baro_offset); + warnx("baro offs: %.2f", (double)baro_offset); + mavlink_log_info(mavlink_fd, "[inav] baro offs: %.2f", (double)baro_offset); local_pos.z_valid = true; local_pos.v_z_valid = true; } @@ -415,19 +444,17 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* transform acceleration vector from body frame to NED frame */ for (int i = 0; i < 3; i++) { - accel_NED[i] = 0.0f; + acc[i] = 0.0f; for (int j = 0; j < 3; j++) { - accel_NED[i] += att.R[i][j] * sensor.accelerometer_m_s2[j]; + acc[i] += att.R[i][j] * sensor.accelerometer_m_s2[j]; } } - corr_acc[0] = accel_NED[0] - x_est[2]; - corr_acc[1] = accel_NED[1] - y_est[2]; - corr_acc[2] = accel_NED[2] + CONSTANTS_ONE_G - z_est[2]; + acc[2] += CONSTANTS_ONE_G; } else { - memset(corr_acc, 0, sizeof(corr_acc)); + memset(acc, 0, sizeof(acc)); } accel_timestamp = sensor.accelerometer_timestamp; @@ -451,7 +478,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float flow_dt = flow_prev > 0 ? (flow.flow_timestamp - flow_prev) * 1e-6f : 0.1f; flow_prev = flow.flow_timestamp; - if (flow.ground_distance_m > 0.31f && flow.ground_distance_m < 4.0f && att.R[2][2] > 0.7 && flow.ground_distance_m != sonar_prev) { + if ((flow.ground_distance_m > 0.31f) && + (flow.ground_distance_m < 4.0f) && + (att.R[2][2] > 0.7f) && + (fabsf(flow.ground_distance_m - sonar_prev) > FLT_EPSILON)) { + sonar_time = t; sonar_prev = flow.ground_distance_m; corr_sonar = flow.ground_distance_m + surface_offset + z_est[0]; @@ -473,7 +504,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) sonar_valid_time = t; sonar_valid = true; local_pos.surface_bottom_timestamp = t; - mavlink_log_info(mavlink_fd, "[inav] new surface level: %.2f", surface_offset); + mavlink_log_info(mavlink_fd, "[inav] new surface level: %.2f", (double)surface_offset); } } else { @@ -486,7 +517,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float flow_q = flow.quality / 255.0f; float dist_bottom = - z_est[0] - surface_offset; - if (dist_bottom > 0.3f && flow_q > params.flow_q_min && (t < sonar_valid_time + sonar_valid_timeout) && att.R[2][2] > 0.7) { + if (dist_bottom > 0.3f && flow_q > params.flow_q_min && (t < sonar_valid_time + sonar_valid_timeout) && att.R[2][2] > 0.7f) { /* distance to surface */ float flow_dist = dist_bottom / att.R[2][2]; /* check if flow if too large for accurate measurements */ @@ -533,6 +564,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) w_flow *= 0.05f; } + /* under ideal conditions, on 1m distance assume EPH = 10cm */ + eph_flow = 0.1f / w_flow; + flow_valid = true; } else { @@ -592,13 +626,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* hysteresis for GPS quality */ if (gps_valid) { - if (gps.eph_m > max_eph_epv * 1.5f || gps.epv_m > max_eph_epv * 1.5f || gps.fix_type < 3) { + if (gps.eph > max_eph_epv || gps.epv > max_eph_epv || gps.fix_type < 3) { gps_valid = false; mavlink_log_info(mavlink_fd, "[inav] GPS signal lost"); } } else { - if (gps.eph_m < max_eph_epv && gps.epv_m < max_eph_epv && gps.fix_type >= 3) { + if (gps.eph < max_eph_epv * 0.7f && gps.epv < max_eph_epv * 0.7f && gps.fix_type >= 3) { gps_valid = true; reset_est = true; mavlink_log_info(mavlink_fd, "[inav] GPS signal found"); @@ -617,27 +651,22 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } else if (t > ref_init_start + ref_init_delay) { ref_inited = true; - /* update baro offset */ - baro_offset -= z_est[0]; /* set position estimate to (0, 0, 0), use GPS velocity for XY */ x_est[0] = 0.0f; x_est[1] = gps.vel_n_m_s; - x_est[2] = accel_NED[0]; y_est[0] = 0.0f; y_est[1] = gps.vel_e_m_s; - z_est[0] = 0.0f; - y_est[2] = accel_NED[1]; local_pos.ref_lat = lat; local_pos.ref_lon = lon; - local_pos.ref_alt = alt; + local_pos.ref_alt = alt + z_est[0]; local_pos.ref_timestamp = t; /* initialize projection */ map_projection_init(&ref, lat, lon); - warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt); - mavlink_log_info(mavlink_fd, "[inav] init ref: lat=%.7f, lon=%.7f, alt=%.2f", lat, lon, alt); + warnx("init ref: lat=%.7f, lon=%.7f, alt=%.2f", (double)lat, (double)lon, (double)alt); + mavlink_log_info(mavlink_fd, "[inav] init ref: %.7f, %.7f, %.2f", (double)lat, (double)lon, (double)alt); } } @@ -650,22 +679,26 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (reset_est) { x_est[0] = gps_proj[0]; x_est[1] = gps.vel_n_m_s; - x_est[2] = accel_NED[0]; y_est[0] = gps_proj[1]; y_est[1] = gps.vel_e_m_s; - y_est[2] = accel_NED[1]; + } + + /* calculate index of estimated values in buffer */ + int est_i = buf_ptr - 1 - min(EST_BUF_SIZE - 1, max(0, (int)(params.delay_gps * 1000000.0f / PUB_INTERVAL))); + if (est_i < 0) { + est_i += EST_BUF_SIZE; } /* calculate correction for position */ - corr_gps[0][0] = gps_proj[0] - x_est[0]; - corr_gps[1][0] = gps_proj[1] - y_est[0]; - corr_gps[2][0] = local_pos.ref_alt - alt - z_est[0]; + corr_gps[0][0] = gps_proj[0] - est_buf[est_i][0][0]; + corr_gps[1][0] = gps_proj[1] - est_buf[est_i][1][0]; + corr_gps[2][0] = local_pos.ref_alt - alt - est_buf[est_i][2][0]; /* calculate correction for velocity */ if (gps.vel_ned_valid) { - corr_gps[0][1] = gps.vel_n_m_s - x_est[1]; - corr_gps[1][1] = gps.vel_e_m_s - y_est[1]; - corr_gps[2][1] = gps.vel_d_m_s - z_est[1]; + corr_gps[0][1] = gps.vel_n_m_s - est_buf[est_i][0][1]; + corr_gps[1][1] = gps.vel_e_m_s - est_buf[est_i][1][1]; + corr_gps[2][1] = gps.vel_d_m_s - est_buf[est_i][2][1]; } else { corr_gps[0][1] = 0.0f; @@ -673,8 +706,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) corr_gps[2][1] = 0.0f; } - w_gps_xy = min_eph_epv / fmaxf(min_eph_epv, gps.eph_m); - w_gps_z = min_eph_epv / fmaxf(min_eph_epv, gps.epv_m); + /* save rotation matrix at this moment */ + memcpy(R_gps, R_buf[est_i], sizeof(R_gps)); + + w_gps_xy = min_eph_epv / fmaxf(min_eph_epv, gps.eph); + w_gps_z = min_eph_epv / fmaxf(min_eph_epv, gps.epv); } } else { @@ -712,18 +748,21 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) dt = fmaxf(fminf(0.02, dt), 0.002); // constrain dt from 2 to 20 ms t_prev = t; + /* increase EPH/EPV on each step */ + if (eph < max_eph_epv) { + eph *= 1.0f + dt; + } + if (epv < max_eph_epv) { + epv += 0.005f * dt; // add 1m to EPV each 200s (baro drift) + } + /* use GPS if it's valid and reference position initialized */ bool use_gps_xy = ref_inited && gps_valid && params.w_xy_gps_p > MIN_VALID_W; bool use_gps_z = ref_inited && gps_valid && params.w_z_gps_p > MIN_VALID_W; /* use flow if it's valid and (accurate or no GPS available) */ bool use_flow = flow_valid && (flow_accurate || !use_gps_xy); - /* try to estimate position during some time after position sources lost */ - if (use_gps_xy || use_flow) { - xy_src_time = t; - } - - bool can_estimate_xy = (t < xy_src_time + xy_src_timeout); + bool can_estimate_xy = (eph < max_eph_epv) || use_gps_xy || use_flow; bool dist_bottom_valid = (t < sonar_valid_time + sonar_valid_timeout); @@ -755,7 +794,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) corr_baro += offs_corr; } - /* accelerometer bias correction */ + /* accelerometer bias correction for GPS (use buffered rotation matrix) */ float accel_bias_corr[3] = { 0.0f, 0.0f, 0.0f }; if (use_gps_xy) { @@ -769,6 +808,24 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) accel_bias_corr[2] -= corr_gps[2][0] * w_z_gps_p * w_z_gps_p; } + /* transform error vector from NED frame to body frame */ + for (int i = 0; i < 3; i++) { + float c = 0.0f; + + for (int j = 0; j < 3; j++) { + c += R_gps[j][i] * accel_bias_corr[j]; + } + + if (isfinite(c)) { + acc_bias[i] += c * params.w_acc_bias * dt; + } + } + + /* accelerometer bias correction for flow and baro (assume that there is no delay) */ + accel_bias_corr[0] = 0.0f; + accel_bias_corr[1] = 0.0f; + accel_bias_corr[2] = 0.0f; + if (use_flow) { accel_bias_corr[0] -= corr_flow[0] * params.w_xy_flow; accel_bias_corr[1] -= corr_flow[1] * params.w_xy_flow; @@ -784,26 +841,31 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) c += att.R[j][i] * accel_bias_corr[j]; } - acc_bias[i] += c * params.w_acc_bias * dt; + if (isfinite(c)) { + acc_bias[i] += c * params.w_acc_bias * dt; + } } /* inertial filter prediction for altitude */ - inertial_filter_predict(dt, z_est); + inertial_filter_predict(dt, z_est, acc[2]); - if (!(isfinite(z_est[0]) && isfinite(z_est[1]) && isfinite(z_est[2]))) { - write_debug_log("BAD ESTIMATE AFTER Z PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v); + if (!(isfinite(z_est[0]) && isfinite(z_est[1]))) { + write_debug_log("BAD ESTIMATE AFTER Z PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v); memcpy(z_est, z_est_prev, sizeof(z_est)); } /* inertial filter correction for altitude */ inertial_filter_correct(corr_baro, dt, z_est, 0, params.w_z_baro); - inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p); - inertial_filter_correct(corr_acc[2], dt, z_est, 2, params.w_z_acc); - if (!(isfinite(z_est[0]) && isfinite(z_est[1]) && isfinite(z_est[2]))) { - write_debug_log("BAD ESTIMATE AFTER Z CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v); + if (use_gps_z) { + epv = fminf(epv, gps.epv); + + inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p); + } + + if (!(isfinite(z_est[0]) && isfinite(z_est[1]))) { + write_debug_log("BAD ESTIMATE AFTER Z CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v); memcpy(z_est, z_est_prev, sizeof(z_est)); - memset(corr_acc, 0, sizeof(corr_acc)); memset(corr_gps, 0, sizeof(corr_gps)); corr_baro = 0; @@ -813,25 +875,26 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (can_estimate_xy) { /* inertial filter prediction for position */ - inertial_filter_predict(dt, x_est); - inertial_filter_predict(dt, y_est); + inertial_filter_predict(dt, x_est, acc[0]); + inertial_filter_predict(dt, y_est, acc[1]); - if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(x_est[2]) && isfinite(y_est[0]) && isfinite(y_est[1]) && isfinite(y_est[2]))) { - write_debug_log("BAD ESTIMATE AFTER PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v); + if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(y_est[0]) && isfinite(y_est[1]))) { + write_debug_log("BAD ESTIMATE AFTER PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v); memcpy(x_est, x_est_prev, sizeof(x_est)); memcpy(y_est, y_est_prev, sizeof(y_est)); } /* inertial filter correction for position */ - inertial_filter_correct(corr_acc[0], dt, x_est, 2, params.w_xy_acc); - inertial_filter_correct(corr_acc[1], dt, y_est, 2, params.w_xy_acc); - if (use_flow) { + eph = fminf(eph, eph_flow); + inertial_filter_correct(corr_flow[0], dt, x_est, 1, params.w_xy_flow * w_flow); inertial_filter_correct(corr_flow[1], dt, y_est, 1, params.w_xy_flow * w_flow); } if (use_gps_xy) { + eph = fminf(eph, gps.eph); + inertial_filter_correct(corr_gps[0][0], dt, x_est, 0, w_xy_gps_p); inertial_filter_correct(corr_gps[1][0], dt, y_est, 0, w_xy_gps_p); @@ -841,11 +904,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } } - if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(x_est[2]) && isfinite(y_est[0]) && isfinite(y_est[1]) && isfinite(y_est[2]))) { - write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v); + if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(y_est[0]) && isfinite(y_est[1]))) { + write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v); memcpy(x_est, x_est_prev, sizeof(x_est)); memcpy(y_est, y_est_prev, sizeof(y_est)); - memset(corr_acc, 0, sizeof(corr_acc)); memset(corr_gps, 0, sizeof(corr_gps)); memset(corr_flow, 0, sizeof(corr_flow)); @@ -853,6 +915,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) memcpy(x_est_prev, x_est, sizeof(x_est)); memcpy(y_est_prev, y_est, sizeof(y_est)); } + } else { + /* gradually reset xy velocity estimates */ + inertial_filter_correct(-x_est[1], dt, x_est, 1, params.w_xy_res_v); + inertial_filter_correct(-y_est[1], dt, y_est, 1, params.w_xy_res_v); } /* detect land */ @@ -868,6 +934,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) landed = false; landed_time = 0; } + /* reset xy velocity estimates when landed */ + x_est[1] = 0.0f; + y_est[1] = 0.0f; } else { if (alt_disp2 < land_disp2 && thrust < params.land_thr) { @@ -892,11 +961,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) 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); + (double)(accel_updates / updates_dt), + (double)(baro_updates / updates_dt), + (double)(gps_updates / updates_dt), + (double)(attitude_updates / updates_dt), + (double)(flow_updates / updates_dt)); updates_counter_start = t; accel_updates = 0; baro_updates = 0; @@ -906,8 +975,25 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } } - if (t > pub_last + pub_interval) { + if (t > pub_last + PUB_INTERVAL) { pub_last = t; + + /* push current estimate to buffer */ + est_buf[buf_ptr][0][0] = x_est[0]; + est_buf[buf_ptr][0][1] = x_est[1]; + est_buf[buf_ptr][1][0] = y_est[0]; + est_buf[buf_ptr][1][1] = y_est[1]; + est_buf[buf_ptr][2][0] = z_est[0]; + est_buf[buf_ptr][2][1] = z_est[1]; + + /* push current rotation matrix to buffer */ + memcpy(R_buf[buf_ptr], att.R, sizeof(att.R)); + + buf_ptr++; + if (buf_ptr >= EST_BUF_SIZE) { + buf_ptr = 0; + } + /* publish local position */ local_pos.xy_valid = can_estimate_xy; local_pos.v_xy_valid = can_estimate_xy; @@ -922,6 +1008,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) local_pos.landed = landed; local_pos.yaw = att.yaw; local_pos.dist_bottom_valid = dist_bottom_valid; + local_pos.eph = eph; + local_pos.epv = epv; if (local_pos.dist_bottom_valid) { local_pos.dist_bottom = -z_est[0] - surface_offset; @@ -950,9 +1038,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) global_pos.yaw = local_pos.yaw; - // TODO implement dead-reckoning - global_pos.eph = gps.eph_m; - global_pos.epv = gps.epv_m; + global_pos.eph = eph; + global_pos.epv = epv; if (vehicle_global_position_pub < 0) { vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos); |