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 | 34 |
1 files changed, 21 insertions, 13 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 e045ce4cc..d6d03367b 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -42,14 +42,11 @@ #include <stdio.h> #include <stdbool.h> #include <fcntl.h> -#include <float.h> #include <string.h> #include <nuttx/config.h> #include <nuttx/sched.h> #include <sys/prctl.h> #include <termios.h> -#include <errno.h> -#include <limits.h> #include <math.h> #include <uORB/uORB.h> #include <uORB/topics/parameter_update.h> @@ -170,12 +167,13 @@ void write_debug_log(const char *msg, float dt, float x_est[3], float y_est[3], FILE *f = fopen("/fs/microsd/inav.log", "a"); if (f) { char *s = malloc(256); - snprintf(s, 256, "%llu %s\n\tdt=%.5f x_est=[%.5f %.5f %.5f] y_est=[%.5f %.5f %.5f] z_est=[%.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]); - fputs(f, s); - 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); - fputs(f, s); + 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]\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]); + 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); + fwrite(s, 1, n, f); free(s); } + fsync(fileno(f)); fclose(f); } @@ -527,13 +525,13 @@ 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"); } @@ -589,8 +587,8 @@ 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 { @@ -711,6 +709,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) 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); + float x_est_prev[3], y_est_prev[3]; + + memcpy(x_est_prev, x_est, sizeof(x_est)); + memcpy(y_est_prev, y_est, sizeof(y_est)); + if (can_estimate_xy) { /* inertial filter prediction for position */ inertial_filter_predict(dt, x_est); @@ -718,7 +721,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (!isfinite(x_est[0]) || !isfinite(y_est[0])) { write_debug_log("BAD ESTIMATE AFTER PREDICTION", dt, x_est, y_est, z_est, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v); - thread_should_exit = true; + memcpy(x_est, x_est_prev, sizeof(x_est)); + memcpy(y_est, y_est_prev, sizeof(y_est)); } /* inertial filter correction for position */ @@ -742,7 +746,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (!isfinite(x_est[0]) || !isfinite(y_est[0])) { write_debug_log("BAD ESTIMATE AFTER CORRECTION", dt, x_est, y_est, z_est, corr_acc, corr_gps, w_xy_gps_p, w_xy_gps_v); - thread_should_exit = true; + 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)); } } |