diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 54 |
1 files changed, 33 insertions, 21 deletions
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 e34cce078..87a20a775 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 @@ -97,7 +97,10 @@ extern "C" __EXPORT int ekf_att_pos_estimator_main(int argc, char *argv[]); __EXPORT uint32_t millis(); +__EXPORT uint64_t getMicros(); + static uint64_t IMUmsec = 0; +static uint64_t IMUusec = 0; static const uint64_t FILTER_INIT_DELAY = 1 * 1000 * 1000; uint32_t millis() @@ -105,6 +108,11 @@ uint32_t millis() return IMUmsec; } +uint64_t getMicros() +{ + return IMUusec; +} + class FixedwingEstimator { public: @@ -859,7 +867,8 @@ FixedwingEstimator::task_main() } _last_sensor_timestamp = _gyro.timestamp; - IMUmsec = _gyro.timestamp / 1e3f; + IMUmsec = _gyro.timestamp / 1e3; + IMUusec = _gyro.timestamp; float deltaT = (_gyro.timestamp - _last_run) / 1e6f; _last_run = _gyro.timestamp; @@ -923,7 +932,8 @@ FixedwingEstimator::task_main() // Copy gyro and accel _last_sensor_timestamp = _sensor_combined.timestamp; - IMUmsec = _sensor_combined.timestamp / 1e3f; + IMUmsec = _sensor_combined.timestamp / 1e3; + IMUusec = _sensor_combined.timestamp; float deltaT = (_sensor_combined.timestamp - _last_run) / 1e6f; @@ -1003,8 +1013,6 @@ FixedwingEstimator::task_main() if (gps_updated) { - last_gps = _gps.timestamp_position; - orb_copy(ORB_ID(vehicle_gps_position), _gps_sub, &_gps); perf_count(_perf_gps); @@ -1017,11 +1025,17 @@ FixedwingEstimator::task_main() _gps_start_time = hrt_absolute_time(); /* check if we had a GPS outage for a long time */ - if (hrt_elapsed_time(&last_gps) > 5 * 1000 * 1000) { + float gps_elapsed = hrt_elapsed_time(&last_gps) / 1e6f; + + const float pos_reset_threshold = 5.0f; // seconds + + /* timeout of 5 seconds */ + if (gps_elapsed > pos_reset_threshold) { _ekf->ResetPosition(); _ekf->ResetVelocity(); _ekf->ResetStoredStates(); } + _ekf->updateDtGpsFilt(math::constrain((_gps.timestamp_position - last_gps) / 1e6f, 0.01f, pos_reset_threshold)); /* fuse GPS updates */ @@ -1053,6 +1067,8 @@ FixedwingEstimator::task_main() newDataGps = true; + last_gps = _gps.timestamp_position; + } } @@ -1061,8 +1077,15 @@ FixedwingEstimator::task_main() orb_check(_baro_sub, &baro_updated); if (baro_updated) { + + hrt_abstime baro_last = _baro.timestamp; + orb_copy(ORB_ID(sensor_baro0), _baro_sub, &_baro); + float baro_elapsed = (_baro.timestamp - baro_last) / 1e6f; + + _ekf->updateDtHgtFilt(math::constrain(baro_elapsed, 0.001f, 0.1)); + _ekf->baroHgt = _baro.altitude; if (!_baro_init) { @@ -1219,6 +1242,7 @@ FixedwingEstimator::task_main() } else if (_ekf->statesInitialised) { // We're apparently initialized in this case now + // check (and reset the filter as needed) int check = check_filter_state(); if (check) { @@ -1228,21 +1252,7 @@ FixedwingEstimator::task_main() // 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 <= 3; j++) tempQuat[j] = states[j]; - - quat2eul(eulerEst, tempQuat); - for (uint8_t j = 0; j <= 2; j++) eulerDif[j] = eulerEst[j] - ahrsEul[j]; - - if (eulerDif[2] > pi) eulerDif[2] -= 2 * pi; - - if (eulerDif[2] < -pi) eulerDif[2] += 2 * pi; - - #endif // store the predicted states for subsequent use by measurement fusion _ekf->StoreStates(IMUmsec); // Check if on ground - status is used by covariance prediction @@ -1500,8 +1510,10 @@ FixedwingEstimator::task_main() 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.windspeed_north = _ekf->windSpdFiltNorth; + _wind.windspeed_east = _ekf->windSpdFiltEast; + // XXX we need to do something smart about the covariance here + // but we default to the estimate covariance for now _wind.covariance_north = _ekf->P[14][14]; _wind.covariance_east = _ekf->P[15][15]; |