diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/drivers/gps/ubx.cpp | 14 | ||||
-rw-r--r-- | src/drivers/gps/ubx.h | 3 | ||||
-rw-r--r-- | src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp | 4 | ||||
-rw-r--r-- | src/lib/ecl/attitude_fw/ecl_roll_controller.cpp | 4 | ||||
-rw-r--r-- | src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp | 4 | ||||
-rw-r--r-- | src/modules/fw_att_control/fw_att_control_params.c | 367 | ||||
-rw-r--r-- | src/modules/mavlink/mavlink_messages.cpp | 16 | ||||
-rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 128 | ||||
-rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_params.c | 3 | ||||
-rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_params.h | 2 |
10 files changed, 406 insertions, 139 deletions
diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index 7502809bd..c143eeb0c 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -69,6 +69,9 @@ UBX::UBX(const int &fd, struct vehicle_gps_position_s *gps_position) : _gps_position(gps_position), _configured(false), _waiting_for_ack(false), + _got_posllh(false), + _got_velned(false), + _got_timeutc(false), _disable_cmd_last(0) { decode_init(); @@ -275,9 +278,10 @@ UBX::receive(unsigned timeout) bool handled = false; while (true) { + bool ready_to_return = _configured ? (_got_posllh && _got_velned && _got_timeutc) : handled; /* poll for new data, wait for only UBX_PACKET_TIMEOUT (2ms) if something already received */ - int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), handled ? UBX_PACKET_TIMEOUT : timeout); + int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), ready_to_return ? UBX_PACKET_TIMEOUT : timeout); if (ret < 0) { /* something went wrong when polling */ @@ -286,7 +290,10 @@ UBX::receive(unsigned timeout) } else if (ret == 0) { /* return success after short delay after receiving a packet or timeout after long delay */ - if (handled) { + if (ready_to_return) { + _got_posllh = false; + _got_velned = false; + _got_timeutc = false; return 1; } else { @@ -438,6 +445,7 @@ UBX::handle_message() _rate_count_lat_lon++; + _got_posllh = true; ret = 1; break; } @@ -482,6 +490,7 @@ UBX::handle_message() _gps_position->time_gps_usec += (uint64_t)(packet->time_nanoseconds * 1e-3f); _gps_position->timestamp_time = hrt_absolute_time(); + _got_timeutc = true; ret = 1; break; } @@ -557,6 +566,7 @@ UBX::handle_message() _rate_count_vel++; + _got_velned = true; ret = 1; break; } diff --git a/src/drivers/gps/ubx.h b/src/drivers/gps/ubx.h index 5cf47b60b..43d688893 100644 --- a/src/drivers/gps/ubx.h +++ b/src/drivers/gps/ubx.h @@ -397,6 +397,9 @@ private: struct vehicle_gps_position_s *_gps_position; bool _configured; bool _waiting_for_ack; + bool _got_posllh; + bool _got_velned; + bool _got_timeutc; uint8_t _message_class_needed; uint8_t _message_id_needed; ubx_decode_state_t _decode_state; diff --git a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp index 0a909d02f..a0a18bc2e 100644 --- a/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp @@ -61,9 +61,9 @@ ECL_PitchController::ECL_PitchController() : _integrator(0.0f), _rate_error(0.0f), _rate_setpoint(0.0f), - _bodyrate_setpoint(0.0f) + _bodyrate_setpoint(0.0f), + _nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control pitch nonfinite input")) { - perf_alloc(PC_COUNT, "fw att control pitch nonfinite input"); } ECL_PitchController::~ECL_PitchController() diff --git a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp index 82903ef5a..d2a231694 100644 --- a/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_roll_controller.cpp @@ -59,9 +59,9 @@ ECL_RollController::ECL_RollController() : _integrator(0.0f), _rate_error(0.0f), _rate_setpoint(0.0f), - _bodyrate_setpoint(0.0f) + _bodyrate_setpoint(0.0f), + _nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control roll nonfinite input")) { - perf_alloc(PC_COUNT, "fw att control roll nonfinite input"); } ECL_RollController::~ECL_RollController() diff --git a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp index e53ffc644..79184e2cd 100644 --- a/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp +++ b/src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp @@ -58,9 +58,9 @@ ECL_YawController::ECL_YawController() : _rate_error(0.0f), _rate_setpoint(0.0f), _bodyrate_setpoint(0.0f), - _coordinated_min_speed(1.0f) + _coordinated_min_speed(1.0f), + _nonfinite_input_perf(perf_alloc(PC_COUNT, "fw att control yaw nonfinite input")) { - perf_alloc(PC_COUNT, "fw att control yaw nonfinite input"); } ECL_YawController::~ECL_YawController() diff --git a/src/modules/fw_att_control/fw_att_control_params.c b/src/modules/fw_att_control/fw_att_control_params.c index aa637e207..7cae84678 100644 --- a/src/modules/fw_att_control/fw_att_control_params.c +++ b/src/modules/fw_att_control/fw_att_control_params.c @@ -50,149 +50,322 @@ f * Copyright (c) 2013 PX4 Development Team. All rights reserved. * Controller parameters, accessible via MAVLink * */ -// @DisplayName Attitude Time Constant -// @Description This defines the latency between a step input and the achieved setpoint (inverse to a P gain). Half a second is a good start value and fits for most average systems. Smaller systems may require smaller values, but as this will wear out servos faster, the value should only be decreased as needed. -// @Range 0.4 to 1.0 seconds, in tens of seconds + +/** + * Attitude Time Constant + * + * This defines the latency between a step input and the achieved setpoint + * (inverse to a P gain). Half a second is a good start value and fits for + * most average systems. Smaller systems may require smaller values, but as + * this will wear out servos faster, the value should only be decreased as + * needed. + * + * @unit seconds + * @min 0.4 + * @max 1.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_ATT_TC, 0.5f); -// @DisplayName Pitch rate proportional gain. -// @Description This defines how much the elevator input will be commanded depending on the current body angular rate error. -// @Range 10 to 200, 1 increments +/** + * Pitch rate proportional gain. + * + * This defines how much the elevator input will be commanded depending on the + * current body angular rate error. + * + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_PR_P, 0.05f); -// @DisplayName Pitch rate integrator gain. -// @Description This gain defines how much control response will result out of a steady state error. It trims any constant error. -// @Range 0 to 50.0 +/** + * Pitch rate integrator gain. + * + * This gain defines how much control response will result out of a steady + * state error. It trims any constant error. + * + * @min 0.0 + * @max 50.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_PR_I, 0.0f); -// @DisplayName Maximum positive / up pitch rate. -// @Description This limits the maximum pitch up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit. -// @Range 0 to 90.0 degrees per seconds, in 1 increments +/** + * Maximum positive / up pitch rate. + * + * This limits the maximum pitch up angular rate the controller will output (in + * degrees per second). Setting a value of zero disables the limit. + * + * @unit deg/s + * @min 0.0 + * @max 90.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_P_RMAX_POS, 0.0f); -// @DisplayName Maximum negative / down pitch rate. -// @Description This limits the maximum pitch down up angular rate the controller will output (in degrees per second). Setting a value of zero disables the limit. -// @Range 0 to 90.0 degrees per seconds, in 1 increments +/** + * Maximum negative / down pitch rate. + * + * This limits the maximum pitch down up angular rate the controller will + * output (in degrees per second). Setting a value of zero disables the limit. + * + * @unit deg/s + * @min 0.0 + * @max 90.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_P_RMAX_NEG, 0.0f); -// @DisplayName Pitch rate integrator limit -// @Description The portion of the integrator part in the control surface deflection is limited to this value -// @Range 0.0 to 1 -// @Increment 0.1 +/** + * Pitch rate integrator limit + * + * The portion of the integrator part in the control surface deflection is + * limited to this value + * + * @min 0.0 + * @max 1.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_PR_IMAX, 0.2f); -// @DisplayName Roll to Pitch feedforward gain. -// @Description This compensates during turns and ensures the nose stays level. -// @Range 0.5 2.0 -// @Increment 0.05 -// @User User +/** + * Roll to Pitch feedforward gain. + * + * This compensates during turns and ensures the nose stays level. + * + * @min 0.0 + * @max 2.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_P_ROLLFF, 0.0f); //xxx: set to 0 as default, see comment in ECL_PitchController::control_attitude (float turn_offset = ...) -// @DisplayName Roll rate proportional Gain. -// @Description This defines how much the aileron input will be commanded depending on the current body angular rate error. -// @Range 10.0 200.0 -// @Increment 10.0 -// @User User +/** + * Roll rate proportional Gain + * + * This defines how much the aileron input will be commanded depending on the + * current body angular rate error. + * + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_RR_P, 0.05f); -// @DisplayName Roll rate integrator Gain -// @Description This gain defines how much control response will result out of a steady state error. It trims any constant error. -// @Range 0.0 100.0 -// @Increment 5.0 -// @User User +/** + * Roll rate integrator Gain + * + * This gain defines how much control response will result out of a steady + * state error. It trims any constant error. + * + * @min 0.0 + * @max 100.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_RR_I, 0.0f); -// @DisplayName Roll Integrator Anti-Windup -// @Description The portion of the integrator part in the control surface deflection is limited to this value. -// @Range 0.0 to 1.0 -// @Increment 0.1 +/** + * Roll Integrator Anti-Windup + * + * The portion of the integrator part in the control surface deflection is limited to this value. + * + * @min 0.0 + * @max 1.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_RR_IMAX, 0.2f); -// @DisplayName Maximum Roll Rate -// @Description This limits the maximum roll rate the controller will output (in degrees per second). Setting a value of zero disables the limit. -// @Range 0 to 90.0 degrees per seconds -// @Increment 1.0 -PARAM_DEFINE_FLOAT(FW_R_RMAX, 0); +/** + * Maximum Roll Rate + * + * This limits the maximum roll rate the controller will output (in degrees per + * second). Setting a value of zero disables the limit. + * + * @unit deg/s + * @min 0.0 + * @max 90.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_R_RMAX, 0.0f); -// @DisplayName Yaw rate proportional gain. -// @Description This defines how much the rudder input will be commanded depending on the current body angular rate error. -// @Range 10 to 200, 1 increments -PARAM_DEFINE_FLOAT(FW_YR_P, 0.05); +/** + * Yaw rate proportional gain + * + * This defines how much the rudder input will be commanded depending on the + * current body angular rate error. + * + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_YR_P, 0.05f); -// @DisplayName Yaw rate integrator gain. -// @Description This gain defines how much control response will result out of a steady state error. It trims any constant error. -// @Range 0 to 50.0 +/** + * Yaw rate integrator gain + * + * This gain defines how much control response will result out of a steady + * state error. It trims any constant error. + * + * @min 0.0 + * @max 50.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_YR_I, 0.0f); -// @DisplayName Yaw rate integrator limit -// @Description The portion of the integrator part in the control surface deflection is limited to this value -// @Range 0.0 to 1 -// @Increment 0.1 +/** + * Yaw rate integrator limit + * + * The portion of the integrator part in the control surface deflection is + * limited to this value + * + * @min 0.0 + * @max 1.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_YR_IMAX, 0.2f); -// @DisplayName Maximum Yaw Rate -// @Description This limits the maximum yaw rate the controller will output (in degrees per second). Setting a value of zero disables the limit. -// @Range 0 to 90.0 degrees per seconds -// @Increment 1.0 -PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0); +/** + * Maximum Yaw Rate + * + * This limits the maximum yaw rate the controller will output (in degrees per + * second). Setting a value of zero disables the limit. + * + * @unit deg/s + * @min 0.0 + * @max 90.0 + * @group FW Attitude Control + */ +PARAM_DEFINE_FLOAT(FW_Y_RMAX, 0.0f); -// @DisplayName Roll rate feed forward -// @Description Direct feed forward from rate setpoint to control surface output -// @Range 0 to 10 -// @Increment 0.1 +/** + * Roll rate feed forward + * + * Direct feed forward from rate setpoint to control surface output + * + * @min 0.0 + * @max 10.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_RR_FF, 0.3f); -// @DisplayName Pitch rate feed forward -// @Description Direct feed forward from rate setpoint to control surface output -// @Range 0 to 10 -// @Increment 0.1 +/** + * Pitch rate feed forward + * + * Direct feed forward from rate setpoint to control surface output + * + * @min 0.0 + * @max 10.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_PR_FF, 0.4f); -// @DisplayName Yaw rate feed forward -// @Description Direct feed forward from rate setpoint to control surface output -// @Range 0 to 10 -// @Increment 0.1 +/** + * Yaw rate feed forward + * + * Direct feed forward from rate setpoint to control surface output + * + * @min 0.0 + * @max 10.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_YR_FF, 0.3f); -// @DisplayName Minimal speed for yaw coordination -// @Description For airspeeds above this value the yaw rate is calculated for a coordinated turn. Set to a very high value to disable. -// @Range 0 to 90.0 degrees per seconds -// @Increment 1.0 +/** + * Minimal speed for yaw coordination + * + * For airspeeds above this value, the yaw rate is calculated for a coordinated + * turn. Set to a very high value to disable. + * + * @unit m/s + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_YCO_VMIN, 1000.0f); -/* Airspeed parameters: the following parameters about airspeed are used by the attitude and the positon controller */ +/* Airspeed parameters: + * The following parameters about airspeed are used by the attitude and the + * position controller. + * */ -// @DisplayName Minimum Airspeed -// @Description If the airspeed falls below this value the TECS controller will try to increase airspeed more aggressively -// @Range 0.0 to 30 +/** + * Minimum Airspeed + * + * If the airspeed falls below this value, the TECS controller will try to + * increase airspeed more aggressively. + * + * @unit m/s + * @min 0.0 + * @max 30.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_AIRSPD_MIN, 13.0f); -// @DisplayName Trim Airspeed -// @Description The TECS controller tries to fly at this airspeed -// @Range 0.0 to 30 +/** + * Trim Airspeed + * + * The TECS controller tries to fly at this airspeed. + * + * @unit m/s + * @min 0.0 + * @max 30.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_AIRSPD_TRIM, 20.0f); -// @DisplayName Maximum Airspeed -// @Description If the airspeed is above this value the TECS controller will try to decrease airspeed more aggressively -// @Range 0.0 to 30 +/** + * Maximum Airspeed + * + * If the airspeed is above this value, the TECS controller will try to decrease + * airspeed more aggressively. + * + * @unit m/s + * @min 0.0 + * @max 30.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_AIRSPD_MAX, 50.0f); -// @DisplayName Roll Setpoint Offset -// @Description An airframe specific offset of the roll setpoint in degrees, the value is added to the roll setpoint and should correspond to the typical cruise speed of the airframe -// @Range -90.0 to 90.0 +/** + * Roll Setpoint Offset + * + * An airframe specific offset of the roll setpoint in degrees, the value is + * added to the roll setpoint and should correspond to the typical cruise speed + * of the airframe. + * + * @unit deg + * @min -90.0 + * @max 90.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_RSP_OFF, 0.0f); -// @DisplayName Pitch Setpoint Offset -// @Description An airframe specific offset of the pitch setpoint in degrees, the value is added to the pitch setpoint and should correspond to the typical cruise speed of the airframe -// @Range -90.0 to 90.0 +/** + * Pitch Setpoint Offset + * + * An airframe specific offset of the pitch setpoint in degrees, the value is + * added to the pitch setpoint and should correspond to the typical cruise + * speed of the airframe. + * + * @unit deg + * @min -90.0 + * @max 90.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_PSP_OFF, 0.0f); -// @DisplayName Max Manual Roll -// @Description Max roll for manual control in attitude stabilized mode -// @Range 0.0 to 90.0 +/** + * Max Manual Roll + * + * Max roll for manual control in attitude stabilized mode + * + * @unit deg + * @min 0.0 + * @max 90.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_MAN_R_MAX, 45.0f); -// @DisplayName Max Manual Pitch -// @Description Max pitch for manual control in attitude stabilized mode -// @Range 0.0 to 90.0 +/** + * Max Manual Pitch + * + * Max pitch for manual control in attitude stabilized mode + * + * @unit deg + * @min 0.0 + * @max 90.0 + * @group FW Attitude Control + */ PARAM_DEFINE_FLOAT(FW_MAN_P_MAX, 45.0f); diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index fd41b723a..d94e7fc7e 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -938,14 +938,14 @@ protected: void send(const hrt_abstime t) { - if (pos_sp_triplet_sub->update(t)) { - mavlink_msg_global_position_setpoint_int_send(_channel, - MAV_FRAME_GLOBAL, - (int32_t)(pos_sp_triplet->current.lat * 1e7), - (int32_t)(pos_sp_triplet->current.lon * 1e7), - (int32_t)(pos_sp_triplet->current.alt * 1000), - (int16_t)(pos_sp_triplet->current.yaw * M_RAD_TO_DEG_F * 100.0f)); - } + /* always send this message, even if it has not been updated */ + pos_sp_triplet_sub->update(t); + mavlink_msg_global_position_setpoint_int_send(_channel, + MAV_FRAME_GLOBAL, + (int32_t)(pos_sp_triplet->current.lat * 1e7), + (int32_t)(pos_sp_triplet->current.lon * 1e7), + (int32_t)(pos_sp_triplet->current.alt * 1000), + (int16_t)(pos_sp_triplet->current.yaw * M_RAD_TO_DEG_F * 100.0f)); } }; 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 d7503e42d..f908d7a3b 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -71,19 +71,20 @@ #include "inertial_filter.h" #define MIN_VALID_W 0.00001f +#define PUB_INTERVAL 10000 // limit publish rate to 100 Hz +#define EST_BUF_SIZE 250000 / PUB_INTERVAL // buffer size is 0.5s static bool thread_should_exit = false; /**< Deamon exit flag */ static bool thread_running = false; /**< Deamon status flag */ static int position_estimator_inav_task; /**< Handle of deamon task / thread */ static bool verbose_mode = false; -static const hrt_abstime gps_topic_timeout = 1000000; // GPS topic timeout = 1s +static const hrt_abstime gps_topic_timeout = 500000; // GPS topic timeout = 0.5s static const hrt_abstime flow_topic_timeout = 1000000; // optical flow topic timeout = 1s static const hrt_abstime sonar_timeout = 150000; // sonar timeout = 150ms static const hrt_abstime sonar_valid_timeout = 1000000; // estimate sonar distance during this time after sonar loss static const hrt_abstime xy_src_timeout = 2000000; // estimate position during this time after position sources loss static const uint32_t updates_counter_len = 1000000; -static const uint32_t pub_interval = 10000; // limit publish rate to 100 Hz static const float max_flow = 1.0f; // max flow value that can be used, rad/s __EXPORT int position_estimator_inav_main(int argc, char *argv[]); @@ -92,6 +93,16 @@ int position_estimator_inav_thread_main(int argc, char *argv[]); static void usage(const char *reason); +static inline int min(int val1, int val2) +{ + return (val1 < val2) ? val1 : val2; +} + +static inline int max(int val1, int val2) +{ + return (val1 > val2) ? val1 : val2; +} + /** * Print the correct usage. */ @@ -135,7 +146,7 @@ int position_estimator_inav_main(int argc, char *argv[]) thread_should_exit = false; position_estimator_inav_task = task_spawn_cmd("position_estimator_inav", - SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 4000, + SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 5000, position_estimator_inav_thread_main, (argv) ? (const char **) &argv[2] : (const char **) NULL); exit(0); @@ -199,8 +210,21 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float y_est[2] = { 0.0f, 0.0f }; // pos, vel float z_est[2] = { 0.0f, 0.0f }; // pos, vel - float eph = 1.0; - float epv = 1.0; + float est_buf[EST_BUF_SIZE][3][2]; // estimated position buffer + float R_buf[EST_BUF_SIZE][3][3]; // rotation matrix buffer + float R_gps[3][3]; // rotation matrix for GPS correction moment + memset(est_buf, 0, sizeof(est_buf)); + memset(R_buf, 0, sizeof(R_buf)); + memset(R_gps, 0, sizeof(R_gps)); + int buf_ptr = 0; + + static const float min_eph_epv = 2.0f; // min EPH/EPV, used for weight calculation + static const float max_eph_epv = 20.0f; // max EPH/EPV acceptable for estimation + + float eph = max_eph_epv; + float epv = 1.0f; + + float eph_flow = 1.0f; float x_est_prev[2], y_est_prev[2], z_est_prev[2]; memset(x_est_prev, 0, sizeof(x_est_prev)); @@ -257,9 +281,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float corr_flow[] = { 0.0f, 0.0f }; // N E float w_flow = 0.0f; - static float min_eph_epv = 2.0f; // min EPH/EPV, used for weight calculation - static float max_eph_epv = 10.0f; // max EPH/EPV acceptable for estimation - float sonar_prev = 0.0f; hrt_abstime flow_prev = 0; // time of last flow measurement hrt_abstime sonar_time = 0; // time of last sonar measurement (not filtered) @@ -536,9 +557,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) w_flow *= 0.05f; } - flow_valid = true; + /* under ideal conditions, on 1m distance assume EPH = 10cm */ + eph_flow = 0.1 / w_flow; - 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 + flow_valid = true; } else { w_flow = 0.0f; @@ -597,13 +619,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* hysteresis for GPS quality */ if (gps_valid) { - if (gps.eph_m > max_eph_epv * 1.5f || gps.epv_m > max_eph_epv * 1.5f || gps.fix_type < 3) { + if (gps.eph_m > max_eph_epv || gps.epv_m > max_eph_epv || gps.fix_type < 3) { gps_valid = false; mavlink_log_info(mavlink_fd, "[inav] GPS signal lost"); } } else { - if (gps.eph_m < max_eph_epv && gps.epv_m < max_eph_epv && gps.fix_type >= 3) { + if (gps.eph_m < max_eph_epv * 0.7f && gps.epv_m < max_eph_epv * 0.7f && gps.fix_type >= 3) { gps_valid = true; reset_est = true; mavlink_log_info(mavlink_fd, "[inav] GPS signal found"); @@ -657,16 +679,22 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) y_est[1] = gps.vel_e_m_s; } + /* calculate index of estimated values in buffer */ + int est_i = buf_ptr - 1 - min(EST_BUF_SIZE - 1, max(0, (int)(params.delay_gps * 1000000.0f / PUB_INTERVAL))); + if (est_i < 0) { + est_i += EST_BUF_SIZE; + } + /* calculate correction for position */ - corr_gps[0][0] = gps_proj[0] - x_est[0]; - corr_gps[1][0] = gps_proj[1] - y_est[0]; - corr_gps[2][0] = local_pos.ref_alt - alt - z_est[0]; + corr_gps[0][0] = gps_proj[0] - est_buf[est_i][0][0]; + corr_gps[1][0] = gps_proj[1] - est_buf[est_i][1][0]; + corr_gps[2][0] = local_pos.ref_alt - alt - est_buf[est_i][2][0]; /* calculate correction for velocity */ if (gps.vel_ned_valid) { - corr_gps[0][1] = gps.vel_n_m_s - x_est[1]; - corr_gps[1][1] = gps.vel_e_m_s - y_est[1]; - corr_gps[2][1] = gps.vel_d_m_s - z_est[1]; + corr_gps[0][1] = gps.vel_n_m_s - est_buf[est_i][0][1]; + corr_gps[1][1] = gps.vel_e_m_s - est_buf[est_i][1][1]; + corr_gps[2][1] = gps.vel_d_m_s - est_buf[est_i][2][1]; } else { corr_gps[0][1] = 0.0f; @@ -674,8 +702,8 @@ 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); + /* save rotation matrix at this moment */ + memcpy(R_gps, R_buf[est_i], sizeof(R_gps)); 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); @@ -717,8 +745,12 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) 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) + if (eph < max_eph_epv) { + eph *= 1.0 + dt; + } + if (epv < max_eph_epv) { + 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; @@ -731,7 +763,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) xy_src_time = t; } - bool can_estimate_xy = eph < max_eph_epv * 1.5; + bool can_estimate_xy = (eph < max_eph_epv) || use_gps_xy || use_flow; bool dist_bottom_valid = (t < sonar_valid_time + sonar_valid_timeout); @@ -763,7 +795,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) corr_baro += offs_corr; } - /* accelerometer bias correction */ + /* accelerometer bias correction for GPS (use buffered rotation matrix) */ float accel_bias_corr[3] = { 0.0f, 0.0f, 0.0f }; if (use_gps_xy) { @@ -777,6 +809,24 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) accel_bias_corr[2] -= corr_gps[2][0] * w_z_gps_p * w_z_gps_p; } + /* transform error vector from NED frame to body frame */ + for (int i = 0; i < 3; i++) { + float c = 0.0f; + + for (int j = 0; j < 3; j++) { + c += R_gps[j][i] * accel_bias_corr[j]; + } + + if (isfinite(c)) { + acc_bias[i] += c * params.w_acc_bias * dt; + } + } + + /* accelerometer bias correction for flow and baro (assume that there is no delay) */ + accel_bias_corr[0] = 0.0f; + accel_bias_corr[1] = 0.0f; + accel_bias_corr[2] = 0.0f; + if (use_flow) { accel_bias_corr[0] -= corr_flow[0] * params.w_xy_flow; accel_bias_corr[1] -= corr_flow[1] * params.w_xy_flow; @@ -807,7 +857,12 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* 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); + + if (use_gps_z) { + epv = fminf(epv, gps.epv_m); + + inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p); + } 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); @@ -832,11 +887,15 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* inertial filter correction for position */ if (use_flow) { + eph = fminf(eph, eph_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); } if (use_gps_xy) { + eph = fminf(eph, gps.eph_m); + inertial_filter_correct(corr_gps[0][0], dt, x_est, 0, w_xy_gps_p); inertial_filter_correct(corr_gps[1][0], dt, y_est, 0, w_xy_gps_p); @@ -910,8 +969,25 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) } } - if (t > pub_last + pub_interval) { + if (t > pub_last + PUB_INTERVAL) { pub_last = t; + + /* push current estimate to buffer */ + est_buf[buf_ptr][0][0] = x_est[0]; + est_buf[buf_ptr][0][1] = x_est[1]; + est_buf[buf_ptr][1][0] = y_est[0]; + est_buf[buf_ptr][1][1] = y_est[1]; + est_buf[buf_ptr][2][0] = z_est[0]; + est_buf[buf_ptr][2][1] = z_est[1]; + + /* push current rotation matrix to buffer */ + memcpy(R_buf[buf_ptr], att.R, sizeof(att.R)); + + buf_ptr++; + if (buf_ptr >= EST_BUF_SIZE) { + buf_ptr = 0; + } + /* publish local position */ local_pos.xy_valid = can_estimate_xy; local_pos.v_xy_valid = can_estimate_xy; diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c index 8aa08b6f2..d88419c25 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -55,6 +55,7 @@ PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f); PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f); PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f); PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.2f); +PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.2f); int parameters_init(struct position_estimator_inav_param_handles *h) { @@ -73,6 +74,7 @@ int parameters_init(struct position_estimator_inav_param_handles *h) h->land_t = param_find("INAV_LAND_T"); h->land_disp = param_find("INAV_LAND_DISP"); h->land_thr = param_find("INAV_LAND_THR"); + h->delay_gps = param_find("INAV_DELAY_GPS"); return OK; } @@ -94,6 +96,7 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str param_get(h->land_t, &(p->land_t)); param_get(h->land_disp, &(p->land_disp)); param_get(h->land_thr, &(p->land_thr)); + param_get(h->delay_gps, &(p->delay_gps)); return OK; } diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.h b/src/modules/position_estimator_inav/position_estimator_inav_params.h index 08ec996a1..df1cfaa71 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.h +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.h @@ -56,6 +56,7 @@ struct position_estimator_inav_params { float land_t; float land_disp; float land_thr; + float delay_gps; }; struct position_estimator_inav_param_handles { @@ -74,6 +75,7 @@ struct position_estimator_inav_param_handles { param_t land_t; param_t land_disp; param_t land_thr; + param_t delay_gps; }; /** |