diff options
-rw-r--r-- | src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp | 47 |
1 files changed, 38 insertions, 9 deletions
diff --git a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp index 19333accd..9d00f1d17 100644 --- a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_main.cpp @@ -319,7 +319,7 @@ FixedwingEstimator::FixedwingEstimator() : _ekf(nullptr) { - _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); + last_run = hrt_absolute_time(); _parameter_handles.vel_delay_ms = param_find("PE_VEL_DELAY_MS"); _parameter_handles.pos_delay_ms = param_find("PE_POS_DELAY_MS"); @@ -461,6 +461,7 @@ float dt = 0.0f; // time lapsed since last covariance prediction void FixedwingEstimator::task_main() { + _mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); _ekf = new AttPosEKF(); @@ -600,17 +601,23 @@ FixedwingEstimator::task_main() last_run = _gyro.timestamp; /* guard against too large deltaT's */ - if (deltaT > 1.0f) + if (!isfinite(deltaT) || deltaT > 1.0f || deltaT < 0.000001f) { deltaT = 0.01f; + warnx("TS fail"); + } // Always store data, independent of init status /* fill in last data set */ _ekf->dtIMU = deltaT; - _ekf->angRate.x = _gyro.x; - _ekf->angRate.y = _gyro.y; - _ekf->angRate.z = _gyro.z; + if (isfinite(_gyro.x) && + isfinite(_gyro.y) && + isfinite(_gyro.z)) { + _ekf->angRate.x = _gyro.x; + _ekf->angRate.y = _gyro.y; + _ekf->angRate.z = _gyro.z; + } _ekf->accel.x = _accel.x; _ekf->accel.y = _accel.y; @@ -643,16 +650,22 @@ FixedwingEstimator::task_main() last_run = _sensor_combined.timestamp; /* guard against too large deltaT's */ - if (deltaT > 1.0f || deltaT < 0.000001f) + if (!isfinite(deltaT) || deltaT > 1.0f || deltaT < 0.000001f) { deltaT = 0.01f; + warnx("TS fail"); + } // Always store data, independent of init status /* fill in last data set */ _ekf->dtIMU = deltaT; - _ekf->angRate.x = _sensor_combined.gyro_rad_s[0]; - _ekf->angRate.y = _sensor_combined.gyro_rad_s[1]; - _ekf->angRate.z = _sensor_combined.gyro_rad_s[2]; + if (isfinite(_sensor_combined.gyro_rad_s[0]) && + isfinite(_sensor_combined.gyro_rad_s[1]) && + isfinite(_sensor_combined.gyro_rad_s[2])) { + _ekf->angRate.x = _sensor_combined.gyro_rad_s[0]; + _ekf->angRate.y = _sensor_combined.gyro_rad_s[1]; + _ekf->angRate.z = _sensor_combined.gyro_rad_s[2]; + } _ekf->accel.x = _sensor_combined.accelerometer_m_s2[0]; _ekf->accel.y = _sensor_combined.accelerometer_m_s2[1]; @@ -725,6 +738,21 @@ FixedwingEstimator::task_main() _ekf->gpsLat = math::radians(_gps.lat / (double)1e7); _ekf->gpsLon = math::radians(_gps.lon / (double)1e7) - M_PI; _ekf->gpsHgt = _gps.alt / 1e3f; + + // if (_gps.s_variance_m_s > 0.25f && _gps.s_variance_m_s < 100.0f * 100.0f) { + // _ekf->vneSigma = sqrtf(_gps.s_variance_m_s); + // } else { + // _ekf->vneSigma = _parameters.velne_noise; + // } + + // if (_gps.p_variance_m > 0.25f && _gps.p_variance_m < 100.0f * 100.0f) { + // _ekf->posNeSigma = sqrtf(_gps.p_variance_m); + // } else { + // _ekf->posNeSigma = _parameters.posne_noise; + // } + + // warnx("vel: %8.4f pos: %8.4f", _gps.s_variance_m_s, _gps.p_variance_m); + newDataGps = true; } @@ -851,6 +879,7 @@ FixedwingEstimator::task_main() } else { _estimator_status_pub = orb_advertise(ORB_ID(estimator_status), &rep); } + } |