diff options
-rw-r--r-- | ROMFS/px4fmu_common/init.d/rcS | 9 | ||||
-rw-r--r-- | src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 673 | ||||
-rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator.cpp | 34 | ||||
-rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator.h | 8 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2.c | 27 | ||||
-rw-r--r-- | src/modules/sdlog2/sdlog2_messages.h | 29 | ||||
-rw-r--r-- | src/modules/uORB/topics/estimator_status.h | 6 |
7 files changed, 438 insertions, 348 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 6d06f897a..f70e0ed77 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -428,11 +428,10 @@ then # sh /etc/init.d/rc.sensors - if [ $HIL == no ] - then - echo "[init] Start logging" - sh /etc/init.d/rc.logging - fi + # + # Start logging in all modes, including HIL + # + sh /etc/init.d/rc.logging if [ $GPS == yes ] then 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 abe272e56..d3a195d7e 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 @@ -135,6 +135,11 @@ public: */ int trip_nan(); + /** + * Enable logging. + */ + int enable_logging(bool enable); + private: bool _task_should_exit; /**< if true, sensor task should exit */ @@ -202,6 +207,7 @@ private: bool _gyro_valid; bool _accel_valid; bool _mag_valid; + bool _ekf_logging; ///< log EKF state int _mavlink_fd; @@ -360,6 +366,7 @@ FixedwingEstimator::FixedwingEstimator() : _gyro_valid(false), _accel_valid(false), _mag_valid(false), + _ekf_logging(true), _mavlink_fd(-1), _ekf(nullptr), _velocity_xy_filtered(0.0f), @@ -455,6 +462,14 @@ FixedwingEstimator::~FixedwingEstimator() } int +FixedwingEstimator::enable_logging(bool logging) +{ + _ekf_logging = logging; + + return 0; +} + +int FixedwingEstimator::parameters_update() { @@ -584,6 +599,11 @@ FixedwingEstimator::task_main() bool newAdsData = false; bool newDataMag = false; + float posNED[3] = {0.0f, 0.0f, 0.0f}; // North, East Down position (m) + _gps.vel_n_m_s = 0.0f; + _gps.vel_e_m_s = 0.0f; + _gps.vel_d_m_s = 0.0f; + while (!_task_should_exit) { /* wait for up to 500ms for data */ @@ -933,8 +953,15 @@ FixedwingEstimator::task_main() newDataMag = false; } + /* + * CHECK IF ITS THE RIGHT TIME TO RUN THINGS ALREADY + */ + if (hrt_elapsed_time(&_filter_start_time) < FILTER_INIT_DELAY) { + continue; + } - /** + + /* * CHECK IF THE INPUT DATA IS SANE */ int check = _ekf->CheckAndBound(); @@ -966,6 +993,13 @@ FixedwingEstimator::task_main() mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str); break; } + case 4: + { + const char* str = "excessive gyro offsets"; + warnx("%s", str); + mavlink_log_info(_mavlink_fd, "%s%s", ekfname, str); + break; + } default: { @@ -980,38 +1014,15 @@ FixedwingEstimator::task_main() warnx("NUMERIC ERROR IN FILTER"); } - // If non-zero, we got a filter reset - if (check) { - - struct ekf_status_report ekf_report; - - _ekf->GetLastErrorState(&ekf_report); - - struct estimator_status_report rep; - memset(&rep, 0, sizeof(rep)); - rep.timestamp = hrt_absolute_time(); - - rep.states_nan = ekf_report.statesNaN; - rep.covariance_nan = ekf_report.covarianceNaN; - rep.kalman_gain_nan = ekf_report.kalmanGainsNaN; - - // Copy all states or at least all that we can fit - unsigned i = 0; - unsigned ekf_n_states = (sizeof(ekf_report.states) / sizeof(ekf_report.states[0])); - unsigned max_states = (sizeof(rep.states) / sizeof(rep.states[0])); - rep.n_states = (ekf_n_states < max_states) ? ekf_n_states : max_states; + struct estimator_status_report rep; + memset(&rep, 0, sizeof(rep)); - while ((i < ekf_n_states) && (i < max_states)) { + struct ekf_status_report ekf_report; - rep.states[i] = ekf_report.states[i]; - i++; - } + // If non-zero, we got a filter reset + if (check > 0 && check != 3) { - if (_estimator_status_pub > 0) { - orb_publish(ORB_ID(estimator_status), _estimator_status_pub, &rep); - } else { - _estimator_status_pub = orb_advertise(ORB_ID(estimator_status), &rep); - } + _ekf->GetLastErrorState(&ekf_report); /* set sensors to de-initialized state */ _gyro_valid = false; @@ -1020,37 +1031,80 @@ FixedwingEstimator::task_main() _baro_init = false; _gps_initialized = false; + _initialized = false; last_sensor_timestamp = hrt_absolute_time(); last_run = last_sensor_timestamp; _ekf->ZeroVariables(); + _ekf->statesInitialised = false; _ekf->dtIMU = 0.01f; // Let the system re-initialize itself continue; + } else if (_ekf_logging) { + _ekf->GetFilterState(&ekf_report); + } + + if (_ekf_logging || check) { + rep.timestamp = hrt_absolute_time(); + + rep.nan_flags |= (((uint8_t)ekf_report.angNaN) << 0); + rep.nan_flags |= (((uint8_t)ekf_report.summedDelVelNaN) << 1); + rep.nan_flags |= (((uint8_t)ekf_report.KHNaN) << 2); + rep.nan_flags |= (((uint8_t)ekf_report.KHPNaN) << 3); + rep.nan_flags |= (((uint8_t)ekf_report.PNaN) << 4); + rep.nan_flags |= (((uint8_t)ekf_report.covarianceNaN) << 5); + rep.nan_flags |= (((uint8_t)ekf_report.kalmanGainsNaN) << 6); + rep.nan_flags |= (((uint8_t)ekf_report.statesNaN) << 7); + + rep.health_flags |= (((uint8_t)ekf_report.velHealth) << 0); + rep.health_flags |= (((uint8_t)ekf_report.posHealth) << 1); + rep.health_flags |= (((uint8_t)ekf_report.hgtHealth) << 2); + + rep.timeout_flags |= (((uint8_t)ekf_report.velTimeout) << 0); + rep.timeout_flags |= (((uint8_t)ekf_report.posTimeout) << 1); + rep.timeout_flags |= (((uint8_t)ekf_report.hgtTimeout) << 2); + + // Copy all states or at least all that we can fit + unsigned ekf_n_states = (sizeof(ekf_report.states) / sizeof(ekf_report.states[0])); + unsigned max_states = (sizeof(rep.states) / sizeof(rep.states[0])); + rep.n_states = (ekf_n_states < max_states) ? ekf_n_states : max_states; + + for (unsigned i = 0; i < rep.n_states; i++) { + rep.states[i] = ekf_report.states[i]; + } + + if (_estimator_status_pub > 0) { + orb_publish(ORB_ID(estimator_status), _estimator_status_pub, &rep); + } else { + _estimator_status_pub = orb_advertise(ORB_ID(estimator_status), &rep); + } } /** * PART TWO: EXECUTE THE FILTER + * + * We run the filter only once all data has been fetched **/ - if ((hrt_elapsed_time(&_filter_start_time) > FILTER_INIT_DELAY) && _baro_init && _gyro_valid && _accel_valid && _mag_valid) { + if (_baro_init && _gyro_valid && _accel_valid && _mag_valid) { float initVelNED[3]; + /* Initialize the filter first */ if (!_gps_initialized && _gps.fix_type > 2 && _gps.eph < _parameters.pos_stddev_threshold && _gps.epv < _parameters.pos_stddev_threshold) { - initVelNED[0] = _gps.vel_n_m_s; - initVelNED[1] = _gps.vel_e_m_s; - initVelNED[2] = _gps.vel_d_m_s; - // GPS is in scaled integers, convert double lat = _gps.lat / 1.0e7; double lon = _gps.lon / 1.0e7; float gps_alt = _gps.alt / 1e3f; + initVelNED[0] = _gps.vel_n_m_s; + initVelNED[1] = _gps.vel_e_m_s; + initVelNED[2] = _gps.vel_d_m_s; + // Set up height correctly orb_copy(ORB_ID(sensor_baro), _baro_sub, &_baro); _baro_gps_offset = _baro_ref - _baro.altitude; @@ -1077,10 +1131,13 @@ FixedwingEstimator::task_main() map_projection_init(&_pos_ref, lat, lon); mavlink_log_info(_mavlink_fd, "[ekf] ref: LA %.4f,LO %.4f,ALT %.2f", lat, lon, (double)gps_alt); + + #if 0 warnx("HOME/REF: LA %8.4f,LO %8.4f,ALT %8.2f V: %8.4f %8.4f %8.4f", lat, lon, (double)gps_alt, (double)_ekf->velNED[0], (double)_ekf->velNED[1], (double)_ekf->velNED[2]); warnx("BARO: %8.4f m / ref: %8.4f m / gps offs: %8.4f m", (double)_ekf->baroHgt, (double)_baro_ref, (double)_baro_gps_offset); warnx("GPS: eph: %8.4f, epv: %8.4f, declination: %8.4f", (double)_gps.eph, (double)_gps.epv, (double)math::degrees(declination)); + #endif _gps_initialized = true; @@ -1089,298 +1146,284 @@ FixedwingEstimator::task_main() initVelNED[0] = 0.0f; initVelNED[1] = 0.0f; initVelNED[2] = 0.0f; - _ekf->posNED[0] = 0.0f; - _ekf->posNED[1] = 0.0f; - _ekf->posNED[2] = 0.0f; - - _ekf->posNE[0] = _ekf->posNED[0]; - _ekf->posNE[1] = _ekf->posNED[1]; + _ekf->posNE[0] = posNED[0]; + _ekf->posNE[1] = posNED[1]; _local_pos.ref_alt = _baro_ref; _baro_gps_offset = 0.0f; _ekf->InitialiseFilter(initVelNED, 0.0, 0.0, 0.0f, 0.0f); - } - } + } else if (_ekf->statesInitialised) { - // If valid IMU data and states initialised, predict states and covariances - if (_ekf->statesInitialised) { - // 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]; + // We're apparently initialized in this case now - for (uint8_t j = 0; j <= 3; j++) tempQuat[j] = states[j]; - quat2eul(eulerEst, tempQuat); + // 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 <= 2; j++) eulerDif[j] = eulerEst[j] - ahrsEul[j]; + for (uint8_t j = 0; j <= 3; j++) tempQuat[j] = states[j]; - if (eulerDif[2] > pi) eulerDif[2] -= 2 * pi; + quat2eul(eulerEst, tempQuat); - if (eulerDif[2] < -pi) eulerDif[2] += 2 * pi; + for (uint8_t j = 0; j <= 2; j++) eulerDif[j] = eulerEst[j] - ahrsEul[j]; -#endif - // store the predicted states for subsequent use by measurement fusion - _ekf->StoreStates(IMUmsec); - // Check if on ground - status is used by covariance prediction - _ekf->OnGroundCheck(); - // sum delta angles and time used by covariance prediction - _ekf->summedDelAng = _ekf->summedDelAng + _ekf->correctedDelAng; - _ekf->summedDelVel = _ekf->summedDelVel + _ekf->dVelIMU; - dt += _ekf->dtIMU; - - // perform a covariance prediction if the total delta angle has exceeded the limit - // or the time limit will be exceeded at the next IMU update - if ((dt >= (_ekf->covTimeStepMax - _ekf->dtIMU)) || (_ekf->summedDelAng.length() > _ekf->covDelAngMax)) { - _ekf->CovariancePrediction(dt); - _ekf->summedDelAng.zero(); - _ekf->summedDelVel.zero(); - dt = 0.0f; - } + if (eulerDif[2] > pi) eulerDif[2] -= 2 * pi; - _initialized = true; - } - - // Fuse GPS Measurements - if (newDataGps && _gps_initialized) { - // Convert GPS measurements to Pos NE, hgt and Vel NED - _ekf->velNED[0] = _gps.vel_n_m_s; - _ekf->velNED[1] = _gps.vel_e_m_s; - _ekf->velNED[2] = _gps.vel_d_m_s; - _ekf->calcposNED(_ekf->posNED, _ekf->gpsLat, _ekf->gpsLon, _ekf->gpsHgt, _ekf->latRef, _ekf->lonRef, _ekf->hgtRef); - - _ekf->posNE[0] = _ekf->posNED[0]; - _ekf->posNE[1] = _ekf->posNED[1]; - // set fusion flags - _ekf->fuseVelData = true; - _ekf->fusePosData = true; - // recall states stored at time of measurement after adjusting for delays - _ekf->RecallStates(_ekf->statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms)); - _ekf->RecallStates(_ekf->statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms)); - // run the fusion step - _ekf->FuseVelposNED(); - - } else if (_ekf->statesInitialised) { - // Convert GPS measurements to Pos NE, hgt and Vel NED - _ekf->velNED[0] = 0.0f; - _ekf->velNED[1] = 0.0f; - _ekf->velNED[2] = 0.0f; - _ekf->posNED[0] = 0.0f; - _ekf->posNED[1] = 0.0f; - _ekf->posNED[2] = 0.0f; - - _ekf->posNE[0] = _ekf->posNED[0]; - _ekf->posNE[1] = _ekf->posNED[1]; - // set fusion flags - _ekf->fuseVelData = true; - _ekf->fusePosData = true; - // recall states stored at time of measurement after adjusting for delays - _ekf->RecallStates(_ekf->statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms)); - _ekf->RecallStates(_ekf->statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms)); - // run the fusion step - _ekf->FuseVelposNED(); - - } else { - _ekf->fuseVelData = false; - _ekf->fusePosData = false; - } - - if (newHgtData && _ekf->statesInitialised) { - // Could use a blend of GPS and baro alt data if desired - _ekf->hgtMea = 1.0f * (_ekf->baroHgt - _baro_ref); - _ekf->fuseHgtData = true; - // recall states stored at time of measurement after adjusting for delays - _ekf->RecallStates(_ekf->statesAtHgtTime, (IMUmsec - _parameters.height_delay_ms)); - // run the fusion step - _ekf->FuseVelposNED(); - - } else { - _ekf->fuseHgtData = false; - } + if (eulerDif[2] < -pi) eulerDif[2] += 2 * pi; - // Fuse Magnetometer Measurements - if (newDataMag && _ekf->statesInitialised) { - _ekf->fuseMagData = true; - _ekf->RecallStates(_ekf->statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms)); // Assume 50 msec avg delay for magnetometer data - - } else { - _ekf->fuseMagData = false; - } - - if (_ekf->statesInitialised) _ekf->FuseMagnetometer(); - - // Fuse Airspeed Measurements - if (newAdsData && _ekf->statesInitialised && _ekf->VtasMeas > 8.0f) { - _ekf->fuseVtasData = true; - _ekf->RecallStates(_ekf->statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data - _ekf->FuseAirspeed(); - - } else { - _ekf->fuseVtasData = false; - } + #endif + // store the predicted states for subsequent use by measurement fusion + _ekf->StoreStates(IMUmsec); + // Check if on ground - status is used by covariance prediction + _ekf->OnGroundCheck(); + // sum delta angles and time used by covariance prediction + _ekf->summedDelAng = _ekf->summedDelAng + _ekf->correctedDelAng; + _ekf->summedDelVel = _ekf->summedDelVel + _ekf->dVelIMU; + dt += _ekf->dtIMU; + + // perform a covariance prediction if the total delta angle has exceeded the limit + // or the time limit will be exceeded at the next IMU update + if ((dt >= (_ekf->covTimeStepMax - _ekf->dtIMU)) || (_ekf->summedDelAng.length() > _ekf->covDelAngMax)) { + _ekf->CovariancePrediction(dt); + _ekf->summedDelAng.zero(); + _ekf->summedDelVel.zero(); + dt = 0.0f; + } - // Publish results - if (_initialized && (check == OK)) { - - - - // State vector: - // 0-3: quaternions (q0, q1, q2, q3) - // 4-6: Velocity - m/sec (North, East, Down) - // 7-9: Position - m (North, East, Down) - // 10-12: Delta Angle bias - rad (X,Y,Z) - // 13-14: Wind Vector - m/sec (North,East) - // 15-17: Earth Magnetic Field Vector - milligauss (North, East, Down) - // 18-20: Body Magnetic Field Vector - milligauss (X,Y,Z) - - math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]); - math::Matrix<3, 3> R = q.to_dcm(); - math::Vector<3> euler = R.to_euler(); - - for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) - _att.R[i][j] = R(i, j); - - _att.timestamp = last_sensor_timestamp; - _att.q[0] = _ekf->states[0]; - _att.q[1] = _ekf->states[1]; - _att.q[2] = _ekf->states[2]; - _att.q[3] = _ekf->states[3]; - _att.q_valid = true; - _att.R_valid = true; - - _att.timestamp = last_sensor_timestamp; - _att.roll = euler(0); - _att.pitch = euler(1); - _att.yaw = euler(2); - - _att.rollspeed = _ekf->angRate.x - _ekf->states[10]; - _att.pitchspeed = _ekf->angRate.y - _ekf->states[11]; - _att.yawspeed = _ekf->angRate.z - _ekf->states[12]; - // gyro offsets - _att.rate_offsets[0] = _ekf->states[10]; - _att.rate_offsets[1] = _ekf->states[11]; - _att.rate_offsets[2] = _ekf->states[12]; - - /* lazily publish the attitude only once available */ - if (_att_pub > 0) { - /* publish the attitude setpoint */ - orb_publish(ORB_ID(vehicle_attitude), _att_pub, &_att); + _initialized = true; + + // Fuse GPS Measurements + if (newDataGps && _gps_initialized) { + // Convert GPS measurements to Pos NE, hgt and Vel NED + _ekf->velNED[0] = _gps.vel_n_m_s; + _ekf->velNED[1] = _gps.vel_e_m_s; + _ekf->velNED[2] = _gps.vel_d_m_s; + _ekf->calcposNED(posNED, _ekf->gpsLat, _ekf->gpsLon, _ekf->gpsHgt, _ekf->latRef, _ekf->lonRef, _ekf->hgtRef); + + _ekf->posNE[0] = posNED[0]; + _ekf->posNE[1] = posNED[1]; + // set fusion flags + _ekf->fuseVelData = true; + _ekf->fusePosData = true; + // recall states stored at time of measurement after adjusting for delays + _ekf->RecallStates(_ekf->statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms)); + _ekf->RecallStates(_ekf->statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms)); + // run the fusion step + _ekf->FuseVelposNED(); + + } else if (_ekf->statesInitialised) { + // Convert GPS measurements to Pos NE, hgt and Vel NED + _ekf->velNED[0] = 0.0f; + _ekf->velNED[1] = 0.0f; + _ekf->velNED[2] = 0.0f; + + _ekf->posNE[0] = 0.0f; + _ekf->posNE[1] = 0.0f; + // set fusion flags + _ekf->fuseVelData = true; + _ekf->fusePosData = true; + // recall states stored at time of measurement after adjusting for delays + _ekf->RecallStates(_ekf->statesAtVelTime, (IMUmsec - _parameters.vel_delay_ms)); + _ekf->RecallStates(_ekf->statesAtPosTime, (IMUmsec - _parameters.pos_delay_ms)); + // run the fusion step + _ekf->FuseVelposNED(); - } else { - /* advertise and publish */ - _att_pub = orb_advertise(ORB_ID(vehicle_attitude), &_att); - } - } + } else { + _ekf->fuseVelData = false; + _ekf->fusePosData = false; + } - if (_gps_initialized) { - _local_pos.timestamp = last_sensor_timestamp; - _local_pos.x = _ekf->states[7]; - _local_pos.y = _ekf->states[8]; - // XXX need to announce change of Z reference somehow elegantly - _local_pos.z = _ekf->states[9] - _baro_gps_offset; - - _local_pos.vx = _ekf->states[4]; - _local_pos.vy = _ekf->states[5]; - _local_pos.vz = _ekf->states[6]; - - _local_pos.xy_valid = _gps_initialized; - _local_pos.z_valid = true; - _local_pos.v_xy_valid = _gps_initialized; - _local_pos.v_z_valid = true; - _local_pos.xy_global = true; - - _local_pos.z_global = false; - _local_pos.yaw = _att.yaw; - - _velocity_xy_filtered = 0.95f*_velocity_xy_filtered + 0.05f*sqrtf(_local_pos.vx*_local_pos.vx + _local_pos.vy*_local_pos.vy); - _velocity_z_filtered = 0.95f*_velocity_z_filtered + 0.05f*fabsf(_local_pos.vz); - _airspeed_filtered = 0.95*_airspeed_filtered + + 0.05*_airspeed.true_airspeed_m_s; - - - /* crude land detector for fixedwing only, - * TODO: adapt so that it works for both, maybe move to another location - */ - if (_velocity_xy_filtered < 5 - && _velocity_z_filtered < 10 - && _airspeed_filtered < 10) { - _local_pos.landed = true; - } else { - _local_pos.landed = false; - } + if (newHgtData && _ekf->statesInitialised) { + // Could use a blend of GPS and baro alt data if desired + _ekf->hgtMea = 1.0f * (_ekf->baroHgt - _baro_ref); + _ekf->fuseHgtData = true; + // recall states stored at time of measurement after adjusting for delays + _ekf->RecallStates(_ekf->statesAtHgtTime, (IMUmsec - _parameters.height_delay_ms)); + // run the fusion step + _ekf->FuseVelposNED(); - /* lazily publish the local position only once available */ - if (_local_pos_pub > 0) { - /* publish the attitude setpoint */ - orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &_local_pos); + } else { + _ekf->fuseHgtData = false; + } - } else { - /* advertise and publish */ - _local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &_local_pos); - } + // Fuse Magnetometer Measurements + if (newDataMag && _ekf->statesInitialised) { + _ekf->fuseMagData = true; + _ekf->RecallStates(_ekf->statesAtMagMeasTime, (IMUmsec - _parameters.mag_delay_ms)); // Assume 50 msec avg delay for magnetometer data - _global_pos.timestamp = _local_pos.timestamp; + } else { + _ekf->fuseMagData = false; + } - if (_local_pos.xy_global) { - double est_lat, est_lon; - map_projection_reproject(&_pos_ref, _local_pos.x, _local_pos.y, &est_lat, &est_lon); - _global_pos.lat = est_lat; - _global_pos.lon = est_lon; - _global_pos.time_gps_usec = _gps.time_gps_usec; - _global_pos.eph = _gps.eph; - _global_pos.epv = _gps.epv; - } + if (_ekf->statesInitialised) _ekf->FuseMagnetometer(); - if (_local_pos.v_xy_valid) { - _global_pos.vel_n = _local_pos.vx; - _global_pos.vel_e = _local_pos.vy; - } else { - _global_pos.vel_n = 0.0f; - _global_pos.vel_e = 0.0f; - } + // Fuse Airspeed Measurements + if (newAdsData && _ekf->statesInitialised && _ekf->VtasMeas > 8.0f) { + _ekf->fuseVtasData = true; + _ekf->RecallStates(_ekf->statesAtVtasMeasTime, (IMUmsec - _parameters.tas_delay_ms)); // assume 100 msec avg delay for airspeed data + _ekf->FuseAirspeed(); - /* local pos alt is negative, change sign and add alt offsets */ - _global_pos.alt = _local_pos.ref_alt + _baro_gps_offset + (-_local_pos.z); + } else { + _ekf->fuseVtasData = false; + } - if (_local_pos.v_z_valid) { - _global_pos.vel_d = _local_pos.vz; - } - _global_pos.yaw = _local_pos.yaw; + // Output results + math::Quaternion q(_ekf->states[0], _ekf->states[1], _ekf->states[2], _ekf->states[3]); + math::Matrix<3, 3> R = q.to_dcm(); + math::Vector<3> euler = R.to_euler(); + + for (int i = 0; i < 3; i++) for (int j = 0; j < 3; j++) + _att.R[i][j] = R(i, j); + + _att.timestamp = last_sensor_timestamp; + _att.q[0] = _ekf->states[0]; + _att.q[1] = _ekf->states[1]; + _att.q[2] = _ekf->states[2]; + _att.q[3] = _ekf->states[3]; + _att.q_valid = true; + _att.R_valid = true; + + _att.timestamp = last_sensor_timestamp; + _att.roll = euler(0); + _att.pitch = euler(1); + _att.yaw = euler(2); + + _att.rollspeed = _ekf->angRate.x - _ekf->states[10]; + _att.pitchspeed = _ekf->angRate.y - _ekf->states[11]; + _att.yawspeed = _ekf->angRate.z - _ekf->states[12]; + // gyro offsets + _att.rate_offsets[0] = _ekf->states[10]; + _att.rate_offsets[1] = _ekf->states[11]; + _att.rate_offsets[2] = _ekf->states[12]; + + /* lazily publish the attitude only once available */ + if (_att_pub > 0) { + /* publish the attitude setpoint */ + orb_publish(ORB_ID(vehicle_attitude), _att_pub, &_att); - _global_pos.eph = _gps.eph; - _global_pos.epv = _gps.epv; + } else { + /* advertise and publish */ + _att_pub = orb_advertise(ORB_ID(vehicle_attitude), &_att); + } - _global_pos.timestamp = _local_pos.timestamp; + if (_gps_initialized) { + _local_pos.timestamp = last_sensor_timestamp; + _local_pos.x = _ekf->states[7]; + _local_pos.y = _ekf->states[8]; + // XXX need to announce change of Z reference somehow elegantly + _local_pos.z = _ekf->states[9] - _baro_gps_offset; + + _local_pos.vx = _ekf->states[4]; + _local_pos.vy = _ekf->states[5]; + _local_pos.vz = _ekf->states[6]; + + _local_pos.xy_valid = _gps_initialized; + _local_pos.z_valid = true; + _local_pos.v_xy_valid = _gps_initialized; + _local_pos.v_z_valid = true; + _local_pos.xy_global = true; + + _velocity_xy_filtered = 0.95f*_velocity_xy_filtered + 0.05f*sqrtf(_local_pos.vx*_local_pos.vx + _local_pos.vy*_local_pos.vy); + _velocity_z_filtered = 0.95f*_velocity_z_filtered + 0.05f*fabsf(_local_pos.vz); + _airspeed_filtered = 0.95f*_airspeed_filtered + + 0.05f*_airspeed.true_airspeed_m_s; + + + /* crude land detector for fixedwing only, + * TODO: adapt so that it works for both, maybe move to another location + */ + if (_velocity_xy_filtered < 5 + && _velocity_z_filtered < 10 + && _airspeed_filtered < 10) { + _local_pos.landed = true; + } else { + _local_pos.landed = false; + } + + _local_pos.z_global = false; + _local_pos.yaw = _att.yaw; + + /* lazily publish the local position only once available */ + if (_local_pos_pub > 0) { + /* publish the attitude setpoint */ + orb_publish(ORB_ID(vehicle_local_position), _local_pos_pub, &_local_pos); + + } else { + /* advertise and publish */ + _local_pos_pub = orb_advertise(ORB_ID(vehicle_local_position), &_local_pos); + } + + _global_pos.timestamp = _local_pos.timestamp; + + if (_local_pos.xy_global) { + double est_lat, est_lon; + map_projection_reproject(&_pos_ref, _local_pos.x, _local_pos.y, &est_lat, &est_lon); + _global_pos.lat = est_lat; + _global_pos.lon = est_lon; + _global_pos.time_gps_usec = _gps.time_gps_usec; + _global_pos.eph = _gps.eph; + _global_pos.epv = _gps.epv; + } + + if (_local_pos.v_xy_valid) { + _global_pos.vel_n = _local_pos.vx; + _global_pos.vel_e = _local_pos.vy; + } else { + _global_pos.vel_n = 0.0f; + _global_pos.vel_e = 0.0f; + } + + /* local pos alt is negative, change sign and add alt offsets */ + _global_pos.alt = _local_pos.ref_alt + _baro_gps_offset + (-_local_pos.z); + + if (_local_pos.v_z_valid) { + _global_pos.vel_d = _local_pos.vz; + } + + + _global_pos.yaw = _local_pos.yaw; + + _global_pos.eph = _gps.eph; + _global_pos.epv = _gps.epv; + + _global_pos.timestamp = _local_pos.timestamp; + + /* lazily publish the global position only once available */ + if (_global_pos_pub > 0) { + /* publish the global position */ + 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); + } + + 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); + } + + } - /* lazily publish the global position only once available */ - if (_global_pos_pub > 0) { - /* publish the global position */ - 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); } - 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); - } - } } } @@ -1430,23 +1473,24 @@ FixedwingEstimator::print_status() // 4-6: Velocity - m/sec (North, East, Down) // 7-9: Position - m (North, East, Down) // 10-12: Delta Angle bias - rad (X,Y,Z) - // 13-14: Wind Vector - m/sec (North,East) - // 15-17: Earth Magnetic Field Vector - gauss (North, East, Down) - // 18-20: Body Magnetic Field Vector - gauss (X,Y,Z) + // 13: Accelerometer offset + // 14-15: Wind Vector - m/sec (North,East) + // 16-18: Earth Magnetic Field Vector - gauss (North, East, Down) + // 19-21: Body Magnetic Field Vector - gauss (X,Y,Z) printf("dtIMU: %8.6f IMUmsec: %d\n", (double)_ekf->dtIMU, (int)IMUmsec); printf("ref alt: %8.6f\n", (double)_local_pos.ref_alt); printf("dvel: %8.6f %8.6f %8.6f accel: %8.6f %8.6f %8.6f\n", (double)_ekf->dVelIMU.x, (double)_ekf->dVelIMU.y, (double)_ekf->dVelIMU.z, (double)_ekf->accel.x, (double)_ekf->accel.y, (double)_ekf->accel.z); printf("dang: %8.4f %8.4f %8.4f dang corr: %8.4f %8.4f %8.4f\n" , (double)_ekf->dAngIMU.x, (double)_ekf->dAngIMU.y, (double)_ekf->dAngIMU.z, (double)_ekf->correctedDelAng.x, (double)_ekf->correctedDelAng.y, (double)_ekf->correctedDelAng.z); - printf("states (quat) [1-4]: %8.4f, %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[0], (double)_ekf->states[1], (double)_ekf->states[2], (double)_ekf->states[3]); - printf("states (vel m/s) [5-7]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[4], (double)_ekf->states[5], (double)_ekf->states[6]); - printf("states (pos m) [8-10]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[7], (double)_ekf->states[8], (double)_ekf->states[9]); - printf("states (delta ang) [11-13]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[10], (double)_ekf->states[11], (double)_ekf->states[12]); - printf("states (accel offs) [14]: %8.4f\n", (double)_ekf->states[13]); - printf("states (wind) [15-16]: %8.4f, %8.4f\n", (double)_ekf->states[14], (double)_ekf->states[15]); - printf("states (earth mag) [17-19]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[16], (double)_ekf->states[17], (double)_ekf->states[18]); - printf("states (body mag) [20-22]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[19], (double)_ekf->states[20], (double)_ekf->states[21]); - printf("states (terrain) [23]: %8.4f\n", (double)_ekf->states[22]); + printf("states (quat) [0-3]: %8.4f, %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[0], (double)_ekf->states[1], (double)_ekf->states[2], (double)_ekf->states[3]); + printf("states (vel m/s) [4-6]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[4], (double)_ekf->states[5], (double)_ekf->states[6]); + printf("states (pos m) [7-9]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[7], (double)_ekf->states[8], (double)_ekf->states[9]); + printf("states (delta ang) [10-12]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[10], (double)_ekf->states[11], (double)_ekf->states[12]); + printf("states (accel offs) [13]: %8.4f\n", (double)_ekf->states[13]); + printf("states (wind) [14-15]: %8.4f, %8.4f\n", (double)_ekf->states[14], (double)_ekf->states[15]); + printf("states (earth mag) [16-18]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[16], (double)_ekf->states[17], (double)_ekf->states[18]); + printf("states (body mag) [19-21]: %8.4f, %8.4f, %8.4f\n", (double)_ekf->states[19], (double)_ekf->states[20], (double)_ekf->states[21]); + printf("states (terrain) [22]: %8.4f\n", (double)_ekf->states[22]); printf("states: %s %s %s %s %s %s %s %s %s %s\n", (_ekf->statesInitialised) ? "INITIALIZED" : "NON_INIT", (_ekf->onGround) ? "ON_GROUND" : "AIRBORNE", @@ -1512,7 +1556,7 @@ int FixedwingEstimator::trip_nan() { int ekf_att_pos_estimator_main(int argc, char *argv[]) { if (argc < 1) - errx(1, "usage: ekf_att_pos_estimator {start|stop|status}"); + errx(1, "usage: ekf_att_pos_estimator {start|stop|status|logging}"); if (!strcmp(argv[1], "start")) { @@ -1566,6 +1610,17 @@ int ekf_att_pos_estimator_main(int argc, char *argv[]) } } + if (!strcmp(argv[1], "logging")) { + if (estimator::g_estimator) { + int ret = estimator::g_estimator->enable_logging(true); + + exit(ret); + + } else { + errx(1, "not running"); + } + } + warnx("unrecognized command"); return 1; } diff --git a/src/modules/ekf_att_pos_estimator/estimator.cpp b/src/modules/ekf_att_pos_estimator/estimator.cpp index 1320b4668..89e137adc 100644 --- a/src/modules/ekf_att_pos_estimator/estimator.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator.cpp @@ -145,7 +145,7 @@ AttPosEKF::AttPosEKF() * instead to allow clean in-air re-initialization. */ { - + memset(&last_ekf_error, 0, sizeof(last_ekf_error)); ZeroVariables(); InitialiseParameters(); } @@ -2283,21 +2283,21 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) { // check all integrators if (!isfinite(summedDelAng.x) || !isfinite(summedDelAng.y) || !isfinite(summedDelAng.z)) { - err_report->statesNaN = true; + err_report->angNaN = true; ekf_debug("summedDelAng NaN: x: %f y: %f z: %f", (double)summedDelAng.x, (double)summedDelAng.y, (double)summedDelAng.z); err = true; goto out; } // delta angles if (!isfinite(correctedDelAng.x) || !isfinite(correctedDelAng.y) || !isfinite(correctedDelAng.z)) { - err_report->statesNaN = true; + err_report->angNaN = true; ekf_debug("correctedDelAng NaN: x: %f y: %f z: %f", (double)correctedDelAng.x, (double)correctedDelAng.y, (double)correctedDelAng.z); err = true; goto out; } // delta angles if (!isfinite(summedDelVel.x) || !isfinite(summedDelVel.y) || !isfinite(summedDelVel.z)) { - err_report->statesNaN = true; + err_report->summedDelVelNaN = true; ekf_debug("summedDelVel NaN: x: %f y: %f z: %f", (double)summedDelVel.x, (double)summedDelVel.y, (double)summedDelVel.z); err = true; goto out; @@ -2308,7 +2308,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) { for (unsigned j = 0; j < n_states; j++) { if (!isfinite(KH[i][j])) { - err_report->covarianceNaN = true; + err_report->KHNaN = true; err = true; ekf_debug("KH NaN"); goto out; @@ -2316,7 +2316,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) { if (!isfinite(KHP[i][j])) { - err_report->covarianceNaN = true; + err_report->KHPNaN = true; err = true; ekf_debug("KHP NaN"); goto out; @@ -2382,7 +2382,7 @@ int AttPosEKF::CheckAndBound() // Reset the filter if the IMU data is too old if (dtIMU > 0.3f) { - + FillErrorReport(&last_ekf_error); ResetVelocity(); ResetPosition(); ResetHeight(); @@ -2397,6 +2397,7 @@ int AttPosEKF::CheckAndBound() // Check if we switched between states if (currStaticMode != staticMode) { + FillErrorReport(&last_ekf_error); ResetVelocity(); ResetPosition(); ResetHeight(); @@ -2405,6 +2406,15 @@ int AttPosEKF::CheckAndBound() return 3; } + // Reset the filter if gyro offsets are excessive + if (fabs(states[10]) > 1.0f || fabsf(states[11]) > 1.0f || fabsf(states[12]) > 1.0f) { + + InitializeDynamic(velNED, magDeclination); + + // that's all we can do here, return + return 4; + } + return 0; } @@ -2527,12 +2537,12 @@ void AttPosEKF::InitialiseFilter(float (&initvelNED)[3], double referenceLat, do // we are at reference altitude, so measurement must be zero hgtMea = 0.0f; + posNE[0] = 0.0f; + posNE[1] = 0.0f; // the baro offset must be this difference now baroHgtOffset = baroHgt - referenceHgt; - memset(&last_ekf_error, 0, sizeof(last_ekf_error)); - InitializeDynamic(initvelNED, declination); } @@ -2600,6 +2610,12 @@ void AttPosEKF::ZeroVariables() void AttPosEKF::GetFilterState(struct ekf_status_report *state) { + + // Copy states + for (unsigned i = 0; i < n_states; i++) { + current_ekf_state.states[i] = states[i]; + } + memcpy(state, ¤t_ekf_state, sizeof(*state)); } diff --git a/src/modules/ekf_att_pos_estimator/estimator.h b/src/modules/ekf_att_pos_estimator/estimator.h index e821089f2..401462923 100644 --- a/src/modules/ekf_att_pos_estimator/estimator.h +++ b/src/modules/ekf_att_pos_estimator/estimator.h @@ -66,9 +66,14 @@ struct ekf_status_report { uint32_t posFailTime; uint32_t hgtFailTime; float states[n_states]; - bool statesNaN; + bool angNaN; + bool summedDelVelNaN; + bool KHNaN; + bool KHPNaN; + bool PNaN; bool covarianceNaN; bool kalmanGainsNaN; + bool statesNaN; }; class AttPosEKF { @@ -200,7 +205,6 @@ public: float hgtMea; // measured height (m) float baroHgtOffset; ///< the baro (weather) offset from normalized altitude float rngMea; // Ground distance - float posNED[3]; // North, East Down position (m) float innovMag[3]; // innovation output float varInnovMag[3]; // innovation variance output diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c index c8d19af01..ab4857c11 100644 --- a/src/modules/sdlog2/sdlog2.c +++ b/src/modules/sdlog2/sdlog2.c @@ -976,7 +976,8 @@ int sdlog2_thread_main(int argc, char *argv[]) struct log_BATT_s log_BATT; struct log_DIST_s log_DIST; struct log_TELE_s log_TELE; - struct log_ESTM_s log_ESTM; + struct log_EST0_s log_EST0; + struct log_EST1_s log_EST1; struct log_PWR_s log_PWR; struct log_VICN_s log_VICN; struct log_GS0A_s log_GS0A; @@ -1489,15 +1490,21 @@ int sdlog2_thread_main(int argc, char *argv[]) /* --- ESTIMATOR STATUS --- */ if (copy_if_updated(ORB_ID(estimator_status), subs.estimator_status_sub, &buf.estimator_status)) { - log_msg.msg_type = LOG_ESTM_MSG; - unsigned maxcopy = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_ESTM.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_ESTM.s); - memset(&(log_msg.body.log_ESTM.s), 0, sizeof(log_msg.body.log_ESTM.s)); - memcpy(&(log_msg.body.log_ESTM.s), buf.estimator_status.states, maxcopy); - log_msg.body.log_ESTM.n_states = buf.estimator_status.n_states; - log_msg.body.log_ESTM.states_nan = buf.estimator_status.states_nan; - log_msg.body.log_ESTM.covariance_nan = buf.estimator_status.covariance_nan; - log_msg.body.log_ESTM.kalman_gain_nan = buf.estimator_status.kalman_gain_nan; - LOGBUFFER_WRITE_AND_COUNT(ESTM); + log_msg.msg_type = LOG_EST0_MSG; + unsigned maxcopy0 = (sizeof(buf.estimator_status.states) < sizeof(log_msg.body.log_EST0.s)) ? sizeof(buf.estimator_status.states) : sizeof(log_msg.body.log_EST0.s); + memset(&(log_msg.body.log_EST0.s), 0, sizeof(log_msg.body.log_EST0.s)); + memcpy(&(log_msg.body.log_EST0.s), buf.estimator_status.states, maxcopy0); + log_msg.body.log_EST0.n_states = buf.estimator_status.n_states; + log_msg.body.log_EST0.nan_flags = buf.estimator_status.nan_flags; + log_msg.body.log_EST0.health_flags = buf.estimator_status.health_flags; + log_msg.body.log_EST0.timeout_flags = buf.estimator_status.timeout_flags; + LOGBUFFER_WRITE_AND_COUNT(EST0); + + log_msg.msg_type = LOG_EST1_MSG; + unsigned maxcopy1 = ((sizeof(buf.estimator_status.states) - maxcopy0) < sizeof(log_msg.body.log_EST1.s)) ? (sizeof(buf.estimator_status.states) - maxcopy0) : sizeof(log_msg.body.log_EST1.s); + memset(&(log_msg.body.log_EST1.s), 0, sizeof(log_msg.body.log_EST1.s)); + memcpy(&(log_msg.body.log_EST1.s), buf.estimator_status.states + maxcopy0, maxcopy1); + LOGBUFFER_WRITE_AND_COUNT(EST1); } /* --- TECS STATUS --- */ diff --git a/src/modules/sdlog2/sdlog2_messages.h b/src/modules/sdlog2/sdlog2_messages.h index a874351b3..9a26e1c51 100644 --- a/src/modules/sdlog2/sdlog2_messages.h +++ b/src/modules/sdlog2/sdlog2_messages.h @@ -288,15 +288,7 @@ struct log_TELE_s { uint8_t txbuf; }; -/* --- ESTM - ESTIMATOR STATUS --- */ -#define LOG_ESTM_MSG 23 -struct log_ESTM_s { - float s[10]; - uint8_t n_states; - uint8_t states_nan; - uint8_t covariance_nan; - uint8_t kalman_gain_nan; -}; +// ID 23 available /* --- PWR - ONBOARD POWER SYSTEM --- */ #define LOG_PWR_MSG 24 @@ -375,6 +367,22 @@ struct log_WIND_s { float cov_y; }; +/* --- EST0 - ESTIMATOR STATUS --- */ +#define LOG_EST0_MSG 32 +struct log_EST0_s { + float s[12]; + uint8_t n_states; + uint8_t nan_flags; + uint8_t health_flags; + uint8_t timeout_flags; +}; + +/* --- EST1 - ESTIMATOR STATUS --- */ +#define LOG_EST1_MSG 33 +struct log_EST1_s { + float s[16]; +}; + /********** SYSTEM MESSAGES, ID > 0x80 **********/ /* --- TIME - TIME STAMP --- */ @@ -423,7 +431,8 @@ static const struct log_format_s log_formats[] = { LOG_FORMAT(BATT, "ffff", "V,VFilt,C,Discharged"), LOG_FORMAT(DIST, "ffB", "Bottom,BottomRate,Flags"), LOG_FORMAT(TELE, "BBBBHHB", "RSSI,RemRSSI,Noise,RemNoise,RXErr,Fixed,TXBuf"), - LOG_FORMAT(ESTM, "ffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,nStat,statNaN,covNaN,kGainNaN"), + LOG_FORMAT(EST0, "ffffffffffffBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,nStat,fNaN,fHealth,fTOut"), + LOG_FORMAT(EST1, "ffffffffffffffff", "s12,s13,s14,s15,s16,s17,s18,s19,s20,s21,s22,s23,s24,s25,s26,s27"), LOG_FORMAT(PWR, "fffBBBBB", "Periph5V,Servo5V,RSSI,UsbOk,BrickOk,ServoOk,PeriphOC,HipwrOC"), LOG_FORMAT(VICN, "ffffff", "X,Y,Z,Roll,Pitch,Yaw"), LOG_FORMAT(GS0A, "BBBBBBBBBBBBBBBB", "s0,s1,s2,s3,s4,s5,s6,s7,s8,s9,s10,s11,s12,s13,s14,s15"), diff --git a/src/modules/uORB/topics/estimator_status.h b/src/modules/uORB/topics/estimator_status.h index 5530cdb21..7f26b505b 100644 --- a/src/modules/uORB/topics/estimator_status.h +++ b/src/modules/uORB/topics/estimator_status.h @@ -64,9 +64,9 @@ struct estimator_status_report { uint64_t timestamp; /**< Timestamp in microseconds since boot */ float states[32]; /**< Internal filter states */ float n_states; /**< Number of states effectively used */ - bool states_nan; /**< If set to true, one of the states is NaN */ - bool covariance_nan; /**< If set to true, the covariance matrix went NaN */ - bool kalman_gain_nan; /**< If set to true, the Kalman gain matrix went NaN */ + uint8_t nan_flags; /**< Bitmask to indicate NaN states */ + uint8_t health_flags; /**< Bitmask to indicate sensor health states (vel, pos, hgt) */ + uint8_t timeout_flags; /**< Bitmask to indicate timeout flags (vel, pos, hgt) */ }; |