diff options
Diffstat (limited to 'src/modules/position_estimator_inav/position_estimator_inav_main.c')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 31 |
1 files changed, 12 insertions, 19 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index af04bb0bc..bf4f7ae97 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -202,8 +202,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) bool landed = true; hrt_abstime landed_time = 0; - bool flag_armed = false; - uint32_t accel_counter = 0; uint32_t baro_counter = 0; @@ -329,6 +327,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) mavlink_log_info(mavlink_fd, "[inav] baro offs: %.2f", baro_offset); local_pos.z_valid = true; local_pos.v_z_valid = true; + global_pos.baro_valid = true; } } } @@ -379,17 +378,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (updated) { orb_copy(ORB_ID(actuator_armed), armed_sub, &armed); - - /* reset ground level on arm */ - if (armed.armed && !flag_armed) { - flag_armed = armed.armed; - baro_offset -= z_est[0]; - corr_baro = 0.0f; - local_pos.ref_alt -= z_est[0]; - local_pos.ref_timestamp = t; - z_est[0] = 0.0f; - alt_avg = 0.0f; - } } /* sensor combined */ @@ -539,13 +527,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (gps.fix_type >= 3) { /* hysteresis for GPS quality */ if (gps_valid) { - if (gps.eph_m > 10.0f || gps.epv_m > 10.0f) { + if (gps.eph_m > 10.0f || gps.epv_m > 20.0f) { gps_valid = false; mavlink_log_info(mavlink_fd, "[inav] GPS signal lost"); } } else { - if (gps.eph_m < 5.0f && gps.epv_m < 5.0f) { + if (gps.eph_m < 5.0f && gps.epv_m < 10.0f) { gps_valid = true; mavlink_log_info(mavlink_fd, "[inav] GPS signal found"); } @@ -601,8 +589,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) corr_gps[2][1] = 0.0f; } - w_gps_xy = 1.0f / fmaxf(1.0f, gps.eph_m); - w_gps_z = 1.0f / fmaxf(1.0f, gps.epv_m); + w_gps_xy = 2.0f / fmaxf(2.0f, gps.eph_m); + w_gps_z = 4.0f / fmaxf(4.0f, gps.epv_m); } } else { @@ -637,6 +625,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } float dt = t_prev > 0 ? (t - t_prev) / 1000000.0f : 0.0f; + dt = fmaxf(fminf(0.02, dt), 0.005); t_prev = t; /* use GPS if it's valid and reference position initialized */ @@ -679,7 +668,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (use_gps_z) { float offs_corr = corr_gps[2][0] * w_z_gps_p * dt; baro_offset += offs_corr; - baro_counter += offs_corr; + corr_baro += offs_corr; } /* accelerometer bias correction */ @@ -835,7 +824,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) orb_publish(ORB_ID(vehicle_local_position), vehicle_local_position_pub, &local_pos); /* publish global position */ - global_pos.valid = local_pos.xy_global; + global_pos.global_valid = local_pos.xy_global; if (local_pos.xy_global) { double est_lat, est_lon; @@ -855,6 +844,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) global_pos.alt = local_pos.ref_alt - local_pos.z; } + if (local_pos.z_valid) { + global_pos.baro_alt = baro_offset - local_pos.z; + } + if (local_pos.v_z_valid) { global_pos.vel_d = local_pos.vz; } |