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path: root/src/modules/position_estimator_inav/position_estimator_inav_main.c
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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.c91
1 files changed, 48 insertions, 43 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 368424853..d7503e42d 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -135,7 +135,7 @@ int position_estimator_inav_main(int argc, char *argv[])
thread_should_exit = false;
position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",
- SCHED_RR, SCHED_PRIORITY_MAX - 5, 4096,
+ SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 4000,
position_estimator_inav_thread_main,
(argv) ? (const char **) &argv[2] : (const char **) NULL);
exit(0);
@@ -168,15 +168,15 @@ int position_estimator_inav_main(int argc, char *argv[])
exit(1);
}
-void write_debug_log(const char *msg, float dt, float x_est[3], float y_est[3], float z_est[3], float x_est_prev[3], float y_est_prev[3], float z_est_prev[3], float corr_acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v)
+void write_debug_log(const char *msg, float dt, float x_est[2], float y_est[2], float z_est[2], float x_est_prev[2], float y_est_prev[2], float z_est_prev[2], float acc[3], float corr_gps[3][2], float w_xy_gps_p, float w_xy_gps_v)
{
FILE *f = fopen("/fs/microsd/inav.log", "a");
if (f) {
char *s = malloc(256);
- unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f %.5f] y_est=[%.5f %.5f %.5f] z_est=[%.5f %.5f %.5f] x_est_prev=[%.5f %.5f %.5f] y_est_prev=[%.5f %.5f %.5f] z_est_prev=[%.5f %.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], x_est[2], y_est[0], y_est[1], y_est[2], z_est[0], z_est[1], z_est[2], x_est_prev[0], x_est_prev[1], x_est_prev[2], y_est_prev[0], y_est_prev[1], y_est_prev[2], z_est_prev[0], z_est_prev[1], z_est_prev[2]);
+ unsigned n = snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f] y_est=[%.5f %.5f] z_est=[%.5f %.5f] x_est_prev=[%.5f %.5f] y_est_prev=[%.5f %.5f] z_est_prev=[%.5f %.5f]\n", hrt_absolute_time(), msg, dt, x_est[0], x_est[1], y_est[0], y_est[1], z_est[0], z_est[1], x_est_prev[0], x_est_prev[1], y_est_prev[0], y_est_prev[1], z_est_prev[0], z_est_prev[1]);
fwrite(s, 1, n, f);
- n = snprintf(s, 256, "\tacc_corr=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n", corr_acc[0], corr_acc[1], corr_acc[2], corr_gps[0][0], corr_gps[1][0], corr_gps[2][0], corr_gps[0][1], corr_gps[1][1], corr_gps[2][1], w_xy_gps_p, w_xy_gps_v);
+ n = snprintf(s, 256, "\tacc=[%.5f %.5f %.5f] gps_pos_corr=[%.5f %.5f %.5f] gps_vel_corr=[%.5f %.5f %.5f] w_xy_gps_p=%.5f w_xy_gps_v=%.5f\n", acc[0], acc[1], acc[2], corr_gps[0][0], corr_gps[1][0], corr_gps[2][0], corr_gps[0][1], corr_gps[1][1], corr_gps[2][1], w_xy_gps_p, w_xy_gps_v);
fwrite(s, 1, n, f);
free(s);
}
@@ -195,11 +195,14 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
mavlink_log_info(mavlink_fd, "[inav] started");
- float x_est[3] = { 0.0f, 0.0f, 0.0f };
- float y_est[3] = { 0.0f, 0.0f, 0.0f };
- float z_est[3] = { 0.0f, 0.0f, 0.0f };
+ float x_est[2] = { 0.0f, 0.0f }; // pos, vel
+ float y_est[2] = { 0.0f, 0.0f }; // pos, vel
+ float z_est[2] = { 0.0f, 0.0f }; // pos, vel
- float x_est_prev[3], y_est_prev[3], z_est_prev[3];
+ float eph = 1.0;
+ float epv = 1.0;
+
+ float x_est_prev[2], y_est_prev[2], z_est_prev[2];
memset(x_est_prev, 0, sizeof(x_est_prev));
memset(y_est_prev, 0, sizeof(y_est_prev));
memset(z_est_prev, 0, sizeof(z_est_prev));
@@ -238,7 +241,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
float accel_NED[3] = { 0.0f, 0.0f, -CONSTANTS_ONE_G };
/* store error when sensor updates, but correct on each time step to avoid jumps in estimated value */
- float corr_acc[] = { 0.0f, 0.0f, 0.0f }; // N E D
+ float acc[] = { 0.0f, 0.0f, 0.0f }; // N E D
float acc_bias[] = { 0.0f, 0.0f, 0.0f }; // body frame
float corr_baro = 0.0f; // D
float corr_gps[3][2] = {
@@ -338,8 +341,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* mean calculation over several measurements */
if (baro_init_cnt < baro_init_num) {
- baro_offset += sensor.baro_alt_meter;
- baro_init_cnt++;
+ if (isfinite(sensor.baro_alt_meter)) {
+ baro_offset += sensor.baro_alt_meter;
+ baro_init_cnt++;
+ }
} else {
wait_baro = false;
@@ -415,19 +420,17 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* transform acceleration vector from body frame to NED frame */
for (int i = 0; i < 3; i++) {
- accel_NED[i] = 0.0f;
+ acc[i] = 0.0f;
for (int j = 0; j < 3; j++) {
- accel_NED[i] += att.R[i][j] * sensor.accelerometer_m_s2[j];
+ acc[i] += att.R[i][j] * sensor.accelerometer_m_s2[j];
}
}
- corr_acc[0] = accel_NED[0] - x_est[2];
- corr_acc[1] = accel_NED[1] - y_est[2];
- corr_acc[2] = accel_NED[2] + CONSTANTS_ONE_G - z_est[2];
+ acc[2] += CONSTANTS_ONE_G;
} else {
- memset(corr_acc, 0, sizeof(corr_acc));
+ memset(acc, 0, sizeof(acc));
}
accel_timestamp = sensor.accelerometer_timestamp;
@@ -535,6 +538,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
flow_valid = true;
+ eph = fminf(eph, 0.1 / att.R[2][2] / flow_q * fmaxf(1.0f, flow_dist)); // under ideal conditions, on 1m distance assume EPH = 10cm
+
} else {
w_flow = 0.0f;
flow_valid = false;
@@ -623,11 +628,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* set position estimate to (0, 0, 0), use GPS velocity for XY */
x_est[0] = 0.0f;
x_est[1] = gps.vel_n_m_s;
- x_est[2] = accel_NED[0];
y_est[0] = 0.0f;
y_est[1] = gps.vel_e_m_s;
z_est[0] = 0.0f;
- y_est[2] = accel_NED[1];
local_pos.ref_lat = lat;
local_pos.ref_lon = lon;
@@ -650,10 +653,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (reset_est) {
x_est[0] = gps_proj[0];
x_est[1] = gps.vel_n_m_s;
- x_est[2] = accel_NED[0];
y_est[0] = gps_proj[1];
y_est[1] = gps.vel_e_m_s;
- y_est[2] = accel_NED[1];
}
/* calculate correction for position */
@@ -673,6 +674,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
corr_gps[2][1] = 0.0f;
}
+ eph = fminf(eph, gps.eph_m);
+ epv = fminf(epv, gps.epv_m);
+
w_gps_xy = min_eph_epv / fmaxf(min_eph_epv, gps.eph_m);
w_gps_z = min_eph_epv / fmaxf(min_eph_epv, gps.epv_m);
}
@@ -712,6 +716,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
dt = fmaxf(fminf(0.02, dt), 0.002); // constrain dt from 2 to 20 ms
t_prev = t;
+ /* increase EPH/EPV on each step */
+ eph *= 1.0 + dt;
+ epv += 0.005 * dt; // add 1m to EPV each 200s (baro drift)
+
/* use GPS if it's valid and reference position initialized */
bool use_gps_xy = ref_inited && gps_valid && params.w_xy_gps_p > MIN_VALID_W;
bool use_gps_z = ref_inited && gps_valid && params.w_z_gps_p > MIN_VALID_W;
@@ -723,7 +731,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
xy_src_time = t;
}
- bool can_estimate_xy = (t < xy_src_time + xy_src_timeout);
+ bool can_estimate_xy = eph < max_eph_epv * 1.5;
bool dist_bottom_valid = (t < sonar_valid_time + sonar_valid_timeout);
@@ -784,26 +792,26 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
c += att.R[j][i] * accel_bias_corr[j];
}
- acc_bias[i] += c * params.w_acc_bias * dt;
+ if (isfinite(c)) {
+ acc_bias[i] += c * params.w_acc_bias * dt;
+ }
}
/* inertial filter prediction for altitude */
- inertial_filter_predict(dt, z_est);
+ inertial_filter_predict(dt, z_est, acc[2]);
- if (!(isfinite(z_est[0]) && isfinite(z_est[1]) && isfinite(z_est[2]))) {
- write_debug_log("BAD ESTIMATE AFTER Z PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
+ if (!(isfinite(z_est[0]) && isfinite(z_est[1]))) {
+ write_debug_log("BAD ESTIMATE AFTER Z PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
memcpy(z_est, z_est_prev, sizeof(z_est));
}
/* inertial filter correction for altitude */
inertial_filter_correct(corr_baro, dt, z_est, 0, params.w_z_baro);
inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p);
- inertial_filter_correct(corr_acc[2], dt, z_est, 2, params.w_z_acc);
- if (!(isfinite(z_est[0]) && isfinite(z_est[1]) && isfinite(z_est[2]))) {
- write_debug_log("BAD ESTIMATE AFTER Z CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
+ if (!(isfinite(z_est[0]) && isfinite(z_est[1]))) {
+ write_debug_log("BAD ESTIMATE AFTER Z CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
memcpy(z_est, z_est_prev, sizeof(z_est));
- memset(corr_acc, 0, sizeof(corr_acc));
memset(corr_gps, 0, sizeof(corr_gps));
corr_baro = 0;
@@ -813,19 +821,16 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (can_estimate_xy) {
/* inertial filter prediction for position */
- inertial_filter_predict(dt, x_est);
- inertial_filter_predict(dt, y_est);
+ inertial_filter_predict(dt, x_est, acc[0]);
+ inertial_filter_predict(dt, y_est, acc[1]);
- if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(x_est[2]) && isfinite(y_est[0]) && isfinite(y_est[1]) && isfinite(y_est[2]))) {
- write_debug_log("BAD ESTIMATE AFTER PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
+ if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(y_est[0]) && isfinite(y_est[1]))) {
+ write_debug_log("BAD ESTIMATE AFTER PREDICTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
memcpy(x_est, x_est_prev, sizeof(x_est));
memcpy(y_est, y_est_prev, sizeof(y_est));
}
/* inertial filter correction for position */
- inertial_filter_correct(corr_acc[0], dt, x_est, 2, params.w_xy_acc);
- inertial_filter_correct(corr_acc[1], dt, y_est, 2, params.w_xy_acc);
-
if (use_flow) {
inertial_filter_correct(corr_flow[0], dt, x_est, 1, params.w_xy_flow * w_flow);
inertial_filter_correct(corr_flow[1], dt, y_est, 1, params.w_xy_flow * w_flow);
@@ -841,11 +846,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
}
}
- if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(x_est[2]) && isfinite(y_est[0]) && isfinite(y_est[1]) && isfinite(y_est[2]))) {
- write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
+ if (!(isfinite(x_est[0]) && isfinite(x_est[1]) && isfinite(y_est[0]) && isfinite(y_est[1]))) {
+ write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, x_est_prev, y_est_prev, z_est_prev, acc, corr_gps, w_xy_gps_p, w_xy_gps_v);
memcpy(x_est, x_est_prev, sizeof(x_est));
memcpy(y_est, y_est_prev, sizeof(y_est));
- memset(corr_acc, 0, sizeof(corr_acc));
memset(corr_gps, 0, sizeof(corr_gps));
memset(corr_flow, 0, sizeof(corr_flow));
@@ -922,6 +926,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
local_pos.landed = landed;
local_pos.yaw = att.yaw;
local_pos.dist_bottom_valid = dist_bottom_valid;
+ local_pos.eph = eph;
+ local_pos.epv = epv;
if (local_pos.dist_bottom_valid) {
local_pos.dist_bottom = -z_est[0] - surface_offset;
@@ -950,9 +956,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
global_pos.yaw = local_pos.yaw;
- // TODO implement dead-reckoning
- global_pos.eph = gps.eph_m;
- global_pos.epv = gps.epv_m;
+ global_pos.eph = eph;
+ global_pos.epv = epv;
if (vehicle_global_position_pub < 0) {
vehicle_global_position_pub = orb_advertise(ORB_ID(vehicle_global_position), &global_pos);
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-09 23:01:33 +0000