diff options
Diffstat (limited to 'src/modules/fw_att_pos_estimator/estimator.h')
| -rw-r--r-- | src/modules/fw_att_pos_estimator/estimator.h | 235 |
1 files changed, 0 insertions, 235 deletions
diff --git a/src/modules/fw_att_pos_estimator/estimator.h b/src/modules/fw_att_pos_estimator/estimator.h deleted file mode 100644 index c5a5e9d8d..000000000 --- a/src/modules/fw_att_pos_estimator/estimator.h +++ /dev/null @@ -1,235 +0,0 @@ -#include <math.h> -#include <stdint.h> - -#pragma once - -#define GRAVITY_MSS 9.80665f -#define deg2rad 0.017453292f -#define rad2deg 57.295780f -#define pi 3.141592657f -#define earthRate 0.000072921f -#define earthRadius 6378145.0f -#define earthRadiusInv 1.5678540e-7f - -class Vector3f -{ -private: -public: - float x; - float y; - float z; - - float length(void) const; - Vector3f zero(void) const; -}; - -class Mat3f -{ -private: -public: - Vector3f x; - Vector3f y; - Vector3f z; - - Mat3f(); - - Mat3f transpose(void) const; -}; - -Vector3f operator*(float sclIn1, Vector3f vecIn1); -Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2); -Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2); -Vector3f operator*( Mat3f matIn, Vector3f vecIn); -Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2); -Vector3f operator*(Vector3f vecIn1, float sclIn1); - -void swap_var(float &d1, float &d2); - -const unsigned int n_states = 21; -const unsigned int data_buffer_size = 50; - -extern uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored -extern Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad) -extern Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s) -extern Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad) -extern Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s) -extern float accNavMag; // magnitude of navigation accel (- used to adjust GPS obs variance (m/s^2) -extern Vector3f earthRateNED; // earths angular rate vector in NED (rad/s) -extern Vector3f angRate; // angular rate vector in XYZ body axes measured by the IMU (rad/s) -extern Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2) -extern Vector3f dVelIMU; -extern Vector3f dAngIMU; - -extern float P[n_states][n_states]; // covariance matrix -extern float Kfusion[n_states]; // Kalman gains -extern float states[n_states]; // state matrix -extern float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps - -extern Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad) -extern Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s) -extern Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad) -extern Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s) - -extern float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec) - -extern bool onGround; // boolean true when the flight vehicle is on the ground (not flying) -extern bool useAirspeed; // boolean true if airspeed data is being used -extern bool useCompass; // boolean true if magnetometer data is being used -extern uint8_t fusionModeGPS ; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity -extern float innovVelPos[6]; // innovation output -extern float varInnovVelPos[6]; // innovation variance output - -extern bool fuseVelData; // this boolean causes the posNE and velNED obs to be fused -extern bool fusePosData; // this boolean causes the posNE and velNED obs to be fused -extern bool fuseHgtData; // this boolean causes the hgtMea obs to be fused -extern bool fuseMagData; // boolean true when magnetometer data is to be fused - -extern float velNED[3]; // North, East, Down velocity obs (m/s) -extern float posNE[2]; // North, East position obs (m) -extern float hgtMea; // measured height (m) -extern float posNED[3]; // North, East Down position (m) - -extern float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements -extern float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements -extern float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement - -extern float innovMag[3]; // innovation output -extern float varInnovMag[3]; // innovation variance output -extern Vector3f magData; // magnetometer flux radings in X,Y,Z body axes -extern float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time -extern float innovVtas; // innovation output -extern float varInnovVtas; // innovation variance output -extern bool fuseVtasData; // boolean true when airspeed data is to be fused -extern float VtasMeas; // true airspeed measurement (m/s) -extern float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time -extern float latRef; // WGS-84 latitude of reference point (rad) -extern float lonRef; // WGS-84 longitude of reference point (rad) -extern float hgtRef; // WGS-84 height of reference point (m) -extern Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes -extern uint8_t covSkipCount; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction -extern float EAS2TAS; // ratio f true to equivalent airspeed - -// GPS input data variables -extern float gpsCourse; -extern float gpsVelD; -extern float gpsLat; -extern float gpsLon; -extern float gpsHgt; -extern uint8_t GPSstatus; - -// Baro input -extern float baroHgt; - -extern bool statesInitialised; -extern bool numericalProtection; - -const float covTimeStepMax = 0.07f; // maximum time allowed between covariance predictions -const float covDelAngMax = 0.02f; // maximum delta angle between covariance predictions - -extern bool staticMode; - -enum GPS_FIX { - GPS_FIX_NOFIX = 0, - GPS_FIX_2D = 2, - GPS_FIX_3D = 3 -}; - -struct ekf_status_report { - bool velHealth; - bool posHealth; - bool hgtHealth; - bool velTimeout; - bool posTimeout; - bool hgtTimeout; - uint32_t velFailTime; - uint32_t posFailTime; - uint32_t hgtFailTime; - float states[n_states]; - bool statesNaN; - bool covarianceNaN; - bool kalmanGainsNaN; -}; - -void UpdateStrapdownEquationsNED(); - -void CovariancePrediction(float dt); - -void FuseVelposNED(); - -void FuseMagnetometer(); - -void FuseAirspeed(); - -void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last); - -void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last); - -float sq(float valIn); - -void quatNorm(float (&quatOut)[4], const float quatIn[4]); - -// store staes along with system time stamp in msces -void StoreStates(uint64_t timestamp_ms); - -/** - * Recall the state vector. - * - * Recalls the vector stored at closest time to the one specified by msec - * - * @return zero on success, integer indicating the number of invalid states on failure. - * Does only copy valid states, if the statesForFusion vector was initialized - * correctly by the caller, the result can be safely used, but is a mixture - * time-wise where valid states were updated and invalid remained at the old - * value. - */ -int RecallStates(float statesForFusion[n_states], uint64_t msec); - -void ResetStoredStates(); - -void quat2Tbn(Mat3f &Tbn, const float (&quat)[4]); - -void calcEarthRateNED(Vector3f &omega, float latitude); - -void eul2quat(float (&quat)[4], const float (&eul)[3]); - -void quat2eul(float (&eul)[3], const float (&quat)[4]); - -void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD); - -void calcposNED(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef); - -void calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef); - -void OnGroundCheck(); - -void CovarianceInit(); - -void InitialiseFilter(float (&initvelNED)[3]); - -float ConstrainFloat(float val, float min, float max); - -void ConstrainVariances(); - -void ConstrainStates(); - -void ForceSymmetry(); - -int CheckAndBound(); - -void ResetPosition(); - -void ResetVelocity(); - -void ZeroVariables(); - -void GetFilterState(struct ekf_status_report *state); - -void GetLastErrorState(struct ekf_status_report *last_error); - -bool StatesNaN(struct ekf_status_report *err_report); -void FillErrorReport(struct ekf_status_report *err); - -void InitializeDynamic(float (&initvelNED)[3]); - -uint32_t millis(); - |