diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator.cpp')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator.cpp | 33 |
1 files changed, 23 insertions, 10 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator.cpp b/src/modules/ekf_att_pos_estimator/estimator.cpp index 8ac2d6154..1ca34ec30 100644 --- a/src/modules/ekf_att_pos_estimator/estimator.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator.cpp @@ -158,7 +158,8 @@ AttPosEKF::AttPosEKF() : gpsHgt(0.0f), baroHgt(0.0f), GPSstatus(0), - VtasMeas(0.0f) + VtasMeas(0.0f), + magDeclination(0.0f) { velNED[0] = 0.0f; velNED[1] = 0.0f; @@ -2341,7 +2342,7 @@ int AttPosEKF::CheckAndBound() if (StatesNaN(&last_ekf_error)) { ekf_debug("re-initializing dynamic"); - InitializeDynamic(velNED); + InitializeDynamic(velNED, magDeclination); return 1; } @@ -2374,7 +2375,7 @@ int AttPosEKF::CheckAndBound() return 0; } -void AttPosEKF::AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float *initQuat) +void AttPosEKF::AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float declination, float *initQuat) { float initialRoll, initialPitch; float cosRoll, sinRoll, cosPitch, sinPitch; @@ -2394,6 +2395,8 @@ void AttPosEKF::AttitudeInit(float ax, float ay, float az, float mx, float my, f magY = my * cosRoll - mz * sinRoll; initialHdg = atan2f(-magY, magX); + /* true heading is the mag heading minus declination */ + initialHdg -= declination; cosRoll = cosf(initialRoll * 0.5f); sinRoll = sinf(initialRoll * 0.5f); @@ -2408,9 +2411,17 @@ void AttPosEKF::AttitudeInit(float ax, float ay, float az, float mx, float my, f initQuat[1] = sinRoll * cosPitch * cosHeading - cosRoll * sinPitch * sinHeading; initQuat[2] = cosRoll * sinPitch * cosHeading + sinRoll * cosPitch * sinHeading; initQuat[3] = cosRoll * cosPitch * sinHeading - sinRoll * sinPitch * cosHeading; + + /* normalize */ + float norm = sqrtf(initQuat[0]*initQuat[0] + initQuat[1]*initQuat[1] + initQuat[2]*initQuat[2] + initQuat[3]*initQuat[3]); + + initQuat[0] /= norm; + initQuat[1] /= norm; + initQuat[2] /= norm; + initQuat[3] /= norm; } -void AttPosEKF::InitializeDynamic(float (&initvelNED)[3]) +void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination) { // Clear the init flag @@ -2431,11 +2442,13 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3]) ZeroVariables(); + magDeclination = declination; + // Calculate initial filter quaternion states from raw measurements float initQuat[4]; Vector3f initMagXYZ; initMagXYZ = magData - magBias; - AttitudeInit(accel.x, accel.y, accel.z, initMagXYZ.x, initMagXYZ.y, initMagXYZ.z, initQuat); + AttitudeInit(accel.x, accel.y, accel.z, initMagXYZ.x, initMagXYZ.y, initMagXYZ.z, declination, initQuat); // Calculate initial Tbn matrix and rotate Mag measurements into NED // to set initial NED magnetic field states @@ -2451,9 +2464,9 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3]) magstate.q1 = initQuat[1]; magstate.q2 = initQuat[2]; magstate.q3 = initQuat[3]; - magstate.magN = magData.x; - magstate.magE = magData.y; - magstate.magD = magData.z; + magstate.magN = initMagNED.x; + magstate.magE = initMagNED.y; + magstate.magD = initMagNED.z; magstate.magXbias = magBias.x; magstate.magYbias = magBias.y; magstate.magZbias = magBias.z; @@ -2493,7 +2506,7 @@ void AttPosEKF::InitializeDynamic(float (&initvelNED)[3]) summedDelVel.z = 0.0f; } -void AttPosEKF::InitialiseFilter(float (&initvelNED)[3], double referenceLat, double referenceLon, float referenceHgt) +void AttPosEKF::InitialiseFilter(float (&initvelNED)[3], double referenceLat, double referenceLon, float referenceHgt, float declination) { //store initial lat,long and height latRef = referenceLat; @@ -2503,7 +2516,7 @@ void AttPosEKF::InitialiseFilter(float (&initvelNED)[3], double referenceLat, do memset(&last_ekf_error, 0, sizeof(last_ekf_error)); - InitializeDynamic(initvelNED); + InitializeDynamic(initvelNED, declination); } void AttPosEKF::ZeroVariables() |