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Diffstat (limited to 'src/modules/att_pos_estimator_ekf/KalmanNav.hpp')
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.hpp | 192 |
1 files changed, 0 insertions, 192 deletions
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp b/src/modules/att_pos_estimator_ekf/KalmanNav.hpp deleted file mode 100644 index a69bde1a6..000000000 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.hpp +++ /dev/null @@ -1,192 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. - * - * 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 KalmanNav.hpp - * - * kalman filter navigation code - */ - -#pragma once - -//#define MATRIX_ASSERT -//#define VECTOR_ASSERT - -#include <nuttx/config.h> - -#include <mathlib/mathlib.h> -#include <controllib/blocks.hpp> -#include <controllib/block/BlockParam.hpp> -#include <controllib/uorb/UOrbSubscription.hpp> -#include <controllib/uorb/UOrbPublication.hpp> - -#include <uORB/topics/vehicle_attitude.h> -#include <uORB/topics/vehicle_global_position.h> -#include <uORB/topics/vehicle_local_position.h> -#include <uORB/topics/sensor_combined.h> -#include <uORB/topics/vehicle_gps_position.h> -#include <uORB/topics/parameter_update.h> - -#include <drivers/drv_accel.h> -#include <drivers/drv_gyro.h> -#include <drivers/drv_mag.h> - -#include <drivers/drv_hrt.h> -#include <poll.h> -#include <unistd.h> - -/** - * Kalman filter navigation class - * http://en.wikipedia.org/wiki/Extended_Kalman_filter - * Discrete-time extended Kalman filter - */ -class KalmanNav : public control::SuperBlock -{ -public: - /** - * Constructor - */ - KalmanNav(SuperBlock *parent, const char *name); - - /** - * Deconstuctor - */ - - virtual ~KalmanNav() {}; - - math::Quaternion init(float ax, float ay, float az, float mx, float my, float mz); - - /** - * The main callback function for the class - */ - void update(); - - - /** - * Publication update - */ - virtual void updatePublications(); - - /** - * State prediction - * Continuous, non-linear - */ - int predictState(float dt); - - /** - * State covariance prediction - * Continuous, linear - */ - int predictStateCovariance(float dt); - - /** - * Attitude correction - */ - int correctAtt(); - - /** - * Position correction - */ - int correctPos(); - - /** - * Overloaded update parameters - */ - virtual void updateParams(); -protected: - // kalman filter - math::Matrix F; /**< Jacobian(f,x), where dx/dt = f(x,u) */ - math::Matrix G; /**< noise shaping matrix for gyro/accel */ - math::Matrix P; /**< state covariance matrix */ - math::Matrix P0; /**< initial state covariance matrix */ - math::Matrix V; /**< gyro/ accel noise matrix */ - math::Matrix HAtt; /**< attitude measurement matrix */ - math::Matrix RAtt; /**< attitude measurement noise matrix */ - math::Matrix HPos; /**< position measurement jacobian matrix */ - math::Matrix RPos; /**< position measurement noise matrix */ - // attitude - math::Dcm C_nb; /**< direction cosine matrix from body to nav frame */ - math::Quaternion q; /**< quaternion from body to nav frame */ - // subscriptions - control::UOrbSubscription<sensor_combined_s> _sensors; /**< sensors sub. */ - control::UOrbSubscription<vehicle_gps_position_s> _gps; /**< gps sub. */ - control::UOrbSubscription<parameter_update_s> _param_update; /**< parameter update sub. */ - // publications - control::UOrbPublication<vehicle_global_position_s> _pos; /**< position pub. */ - control::UOrbPublication<vehicle_local_position_s> _localPos; /**< local position pub. */ - control::UOrbPublication<vehicle_attitude_s> _att; /**< attitude pub. */ - // time stamps - uint64_t _pubTimeStamp; /**< output data publication time stamp */ - uint64_t _predictTimeStamp; /**< prediction time stamp */ - uint64_t _attTimeStamp; /**< attitude correction time stamp */ - uint64_t _outTimeStamp; /**< output time stamp */ - // frame count - uint16_t _navFrames; /**< navigation frames completed in output cycle */ - // miss counts - uint16_t _miss; /**< number of times fast prediction loop missed */ - // accelerations - float fN, fE, fD; /**< navigation frame acceleration */ - // states - enum {PHI = 0, THETA, PSI, VN, VE, VD, LAT, LON, ALT}; /**< state enumeration */ - float phi, theta, psi; /**< 3-2-1 euler angles */ - float vN, vE, vD; /**< navigation velocity, m/s */ - double lat, lon; /**< lat, lon radians */ - // parameters - float alt; /**< altitude, meters */ - double lat0, lon0; /**< reference latitude and longitude */ - float alt0; /**< refeerence altitude (ground height) */ - control::BlockParamFloat _vGyro; /**< gyro process noise */ - control::BlockParamFloat _vAccel; /**< accelerometer process noise */ - control::BlockParamFloat _rMag; /**< magnetometer measurement noise */ - control::BlockParamFloat _rGpsVel; /**< gps velocity measurement noise */ - control::BlockParamFloat _rGpsPos; /**< gps position measurement noise */ - control::BlockParamFloat _rGpsAlt; /**< gps altitude measurement noise */ - control::BlockParamFloat _rPressAlt; /**< press altitude measurement noise */ - control::BlockParamFloat _rAccel; /**< accelerometer measurement noise */ - control::BlockParamFloat _magDip; /**< magnetic inclination with level */ - control::BlockParamFloat _magDec; /**< magnetic declination, clockwise rotation */ - control::BlockParamFloat _g; /**< gravitational constant */ - control::BlockParamFloat _faultPos; /**< fault detection threshold for position */ - control::BlockParamFloat _faultAtt; /**< fault detection threshold for attitude */ - // status - bool _attitudeInitialized; - bool _positionInitialized; - uint16_t _attitudeInitCounter; - // accessors - int32_t getLatDegE7() { return int32_t(lat * 1.0e7 * M_RAD_TO_DEG); } - void setLatDegE7(int32_t val) { lat = val / 1.0e7 / M_RAD_TO_DEG; } - int32_t getLonDegE7() { return int32_t(lon * 1.0e7 * M_RAD_TO_DEG); } - void setLonDegE7(int32_t val) { lon = val / 1.0e7 / M_RAD_TO_DEG; } - int32_t getAltE3() { return int32_t(alt * 1.0e3); } - void setAltE3(int32_t val) { alt = double(val) / 1.0e3; } -}; |