diff options
Diffstat (limited to 'src/modules/attitude_estimator_ekf')
3 files changed, 24 insertions, 22 deletions
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 66a949af1..35dc39ec6 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -65,6 +65,7 @@ #include <drivers/drv_hrt.h> #include <lib/mathlib/mathlib.h> +#include <lib/geo/geo.h> #include <systemlib/systemlib.h> #include <systemlib/perf_counter.h> @@ -287,6 +288,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds float gyro_offsets[3] = { 0.0f, 0.0f, 0.0f }; + /* magnetic declination, in radians */ + float mag_decl = 0.0f; + /* rotation matrix for magnetic declination */ math::Matrix<3, 3> R_decl; R_decl.identity(); @@ -325,9 +329,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds /* update parameters */ parameters_update(&ekf_param_handles, &ekf_params); - - /* update mag declination rotation matrix */ - R_decl.from_euler(0.0f, 0.0f, ekf_params.mag_decl); } /* only run filter if sensor values changed */ @@ -340,6 +341,13 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds orb_check(sub_gps, &gps_updated); if (gps_updated) { orb_copy(ORB_ID(vehicle_gps_position), sub_gps, &gps); + + if (gps.eph < 20.0f && hrt_elapsed_time(&gps.timestamp_position) < 1000000) { + mag_decl = math::radians(get_mag_declination(gps.lat / 1e7f, gps.lon / 1e7f)); + + /* update mag declination rotation matrix */ + R_decl.from_euler(0.0f, 0.0f, mag_decl); + } } bool global_pos_updated; @@ -393,7 +401,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds hrt_abstime vel_t = 0; bool vel_valid = false; - if (ekf_params.acc_comp == 1 && gps.fix_type >= 3 && gps.eph_m < 10.0f && gps.vel_ned_valid && hrt_absolute_time() < gps.timestamp_velocity + 500000) { + if (ekf_params.acc_comp == 1 && gps.fix_type >= 3 && gps.eph < 10.0f && gps.vel_ned_valid && hrt_absolute_time() < gps.timestamp_velocity + 500000) { vel_valid = true; if (gps_updated) { vel_t = gps.timestamp_velocity; @@ -402,7 +410,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds vel(2) = gps.vel_d_m_s; } - } else if (ekf_params.acc_comp == 2 && gps.eph_m < 5.0f && global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) { + } else if (ekf_params.acc_comp == 2 && gps.eph < 5.0f && global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) { vel_valid = true; if (global_pos_updated) { vel_t = global_pos.timestamp; @@ -469,7 +477,15 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds parameters_update(&ekf_param_handles, &ekf_params); /* update mag declination rotation matrix */ - R_decl.from_euler(0.0f, 0.0f, ekf_params.mag_decl); + if (gps.eph < 20.0f && hrt_elapsed_time(&gps.timestamp_position) < 1000000) { + mag_decl = math::radians(get_mag_declination(gps.lat / 1e7f, gps.lon / 1e7f)); + + } else { + mag_decl = ekf_params.mag_decl; + } + + /* update mag declination rotation matrix */ + R_decl.from_euler(0.0f, 0.0f, mag_decl); x_aposteriori_k[0] = z_k[0]; x_aposteriori_k[1] = z_k[1]; @@ -515,7 +531,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds att.roll = euler[0]; att.pitch = euler[1]; - att.yaw = euler[2] + ekf_params.mag_decl; + att.yaw = euler[2] + mag_decl; att.rollspeed = x_aposteriori[0]; att.pitchspeed = x_aposteriori[1]; diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 3ff3d9922..bc0e3b93a 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -61,11 +61,6 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f); /* offset estimation - UNUSED */ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f); -/* offsets in roll, pitch and yaw of sensor plane and body */ -PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f); -PARAM_DEFINE_FLOAT(ATT_PITCH_OFF3, 0.0f); -PARAM_DEFINE_FLOAT(ATT_YAW_OFF3, 0.0f); - /* magnetic declination, in degrees */ PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f); @@ -85,10 +80,6 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h) h->r2 = param_find("EKF_ATT_V4_R2"); h->r3 = param_find("EKF_ATT_V4_R3"); - h->roll_off = param_find("ATT_ROLL_OFF3"); - h->pitch_off = param_find("ATT_PITCH_OFF3"); - h->yaw_off = param_find("ATT_YAW_OFF3"); - h->mag_decl = param_find("ATT_MAG_DECL"); h->acc_comp = param_find("ATT_ACC_COMP"); @@ -109,12 +100,8 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru param_get(h->r2, &(p->r[2])); param_get(h->r3, &(p->r[3])); - param_get(h->roll_off, &(p->roll_off)); - param_get(h->pitch_off, &(p->pitch_off)); - param_get(h->yaw_off, &(p->yaw_off)); - param_get(h->mag_decl, &(p->mag_decl)); - p->mag_decl *= M_PI / 180.0f; + p->mag_decl *= M_PI_F / 180.0f; param_get(h->acc_comp, &(p->acc_comp)); diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h index 74a141609..5985541ca 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h @@ -54,7 +54,6 @@ struct attitude_estimator_ekf_params { struct attitude_estimator_ekf_param_handles { param_t r0, r1, r2, r3; param_t q0, q1, q2, q3, q4; - param_t roll_off, pitch_off, yaw_off; param_t mag_decl; param_t acc_comp; }; |