diff options
Diffstat (limited to 'src')
-rw-r--r-- | src/modules/multirotor_pos_control/multirotor_pos_control.c | 10 | ||||
-rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 100 |
2 files changed, 68 insertions, 42 deletions
diff --git a/src/modules/multirotor_pos_control/multirotor_pos_control.c b/src/modules/multirotor_pos_control/multirotor_pos_control.c index 1b3ddfdcd..a8add5d73 100644 --- a/src/modules/multirotor_pos_control/multirotor_pos_control.c +++ b/src/modules/multirotor_pos_control/multirotor_pos_control.c @@ -133,8 +133,14 @@ int multirotor_pos_control_main(int argc, char *argv[]) } if (!strcmp(argv[1], "stop")) { - warnx("stop"); - thread_should_exit = true; + if (thread_running) { + warnx("stop"); + thread_should_exit = true; + + } else { + warnx("app not started"); + } + exit(0); } 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 10007bf96..6d1f25749 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -95,8 +95,7 @@ static void usage(const char *reason) if (reason) fprintf(stderr, "%s\n", reason); - fprintf(stderr, - "usage: position_estimator_inav {start|stop|status} [-v]\n\n"); + fprintf(stderr, "usage: position_estimator_inav {start|stop|status} [-v]\n\n"); exit(1); } @@ -115,7 +114,7 @@ int position_estimator_inav_main(int argc, char *argv[]) if (!strcmp(argv[1], "start")) { if (thread_running) { - printf("position_estimator_inav already running\n"); + warnx("already running"); /* this is not an error */ exit(0); } @@ -135,16 +134,23 @@ int position_estimator_inav_main(int argc, char *argv[]) } if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; + if (thread_running) { + warnx("stop"); + thread_should_exit = true; + + } else { + warnx("app not started"); + } + exit(0); } if (!strcmp(argv[1], "status")) { if (thread_running) { - printf("\tposition_estimator_inav is running\n"); + warnx("app is running"); } else { - printf("\tposition_estimator_inav not started\n"); + warnx("app not started"); } exit(0); @@ -159,7 +165,7 @@ int position_estimator_inav_main(int argc, char *argv[]) ****************************************************************************/ int position_estimator_inav_thread_main(int argc, char *argv[]) { - warnx("started."); + warnx("started"); int mavlink_fd; mavlink_fd = open(MAVLINK_LOG_DEVICE, 0); mavlink_log_info(mavlink_fd, "[inav] started"); @@ -169,6 +175,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float y_est[3] = { 0.0f, 0.0f, 0.0f }; float z_est[3] = { 0.0f, 0.0f, 0.0f }; + float acc_offs[3] = { 0.0f, 0.0f, 0.0f }; + int baro_init_cnt = 0; int baro_init_num = 200; float baro_alt0 = 0.0f; /* to determine while start up */ @@ -268,7 +276,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) bool ref_xy_inited = false; hrt_abstime ref_xy_init_start = 0; - const hrt_abstime ref_xy_init_delay = 5000000; // wait for 5s after 3D fix + const hrt_abstime ref_xy_init_delay = 1000000; // wait for 1s after 3D fix hrt_abstime t_prev = 0; @@ -299,6 +307,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float sonar_prev = 0.0f; hrt_abstime sonar_time = 0; + bool gps_valid = false; + /* main loop */ struct pollfd fds[7] = { { .fd = parameter_update_sub, .events = POLLIN }, @@ -311,7 +321,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) }; if (!thread_should_exit) { - warnx("main loop started."); + warnx("main loop started"); } while (!thread_should_exit) { @@ -428,32 +438,29 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) /* vehicle GPS position */ if (fds[6].revents & POLLIN) { orb_copy(ORB_ID(vehicle_gps_position), vehicle_gps_position_sub, &gps); + /* require EPH < 10m */ + gps_valid = gps.fix_type >= 3 && gps.eph_m < 10.0f && t < gps.timestamp_position + gps_timeout; - if (gps.fix_type >= 3 && t < gps.timestamp_position + gps_timeout) { + if (gps_valid) { /* initialize reference position if needed */ if (!ref_xy_inited) { - /* require EPH < 10m */ - if (gps.eph_m < 10.0f) { - if (ref_xy_init_start == 0) { - ref_xy_init_start = t; - - } else if (t > ref_xy_init_start + ref_xy_init_delay) { - ref_xy_inited = true; - /* reference GPS position */ - double lat = gps.lat * 1e-7; - double lon = gps.lon * 1e-7; - - local_pos.ref_lat = gps.lat; - local_pos.ref_lon = gps.lon; - local_pos.ref_timestamp = t; - - /* initialize projection */ - map_projection_init(lat, lon); - warnx("init GPS: lat = %.10f, lon = %.10f", lat, lon); - mavlink_log_info(mavlink_fd, "[inav] init GPS: %.7f, %.7f", lat, lon); - } - } else { - ref_xy_init_start = 0; + if (ref_xy_init_start == 0) { + ref_xy_init_start = t; + + } else if (t > ref_xy_init_start + ref_xy_init_delay) { + ref_xy_inited = true; + /* reference GPS position */ + double lat = gps.lat * 1e-7; + double lon = gps.lon * 1e-7; + + local_pos.ref_lat = gps.lat; + local_pos.ref_lon = gps.lon; + local_pos.ref_timestamp = t; + + /* initialize projection */ + map_projection_init(lat, lon); + warnx("init GPS: lat = %.10f, lon = %.10f", lat, lon); + mavlink_log_info(mavlink_fd, "[inav] init GPS: %.7f, %.7f", lat, lon); } } @@ -513,23 +520,28 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) inertial_filter_correct(sonar_corr, dt, z_est, 0, params.w_alt_sonar); inertial_filter_correct(accel_corr[2], dt, z_est, 2, params.w_alt_acc); - bool gps_valid = ref_xy_inited && gps.fix_type >= 3 && t < gps.timestamp_position + gps_timeout; - bool flow_valid = false; // TODO implement opt flow + bool use_gps = ref_xy_inited && gps_valid; + bool use_flow = false; // TODO implement opt flow /* try to estimate xy even if no absolute position source available, * if using optical flow velocity will be correct in this case */ - bool can_estimate_xy = gps_valid || flow_valid; + bool can_estimate_xy = use_gps || use_flow; if (can_estimate_xy) { /* inertial filter prediction for position */ inertial_filter_predict(dt, x_est); inertial_filter_predict(dt, y_est); + if (!isfinite(x_est[0]) || !isfinite(y_est[0])) { + warnx("BAD ESTIMATE PRED %.6f x: %.3f %.3f %.3f y: %.3f %.3f %.3f", dt, x_est[0], x_est[1], x_est[2], y_est[0], y_est[1], y_est[2]); + thread_should_exit = true; + } + /* inertial filter correction for position */ inertial_filter_correct(accel_corr[0], dt, x_est, 2, params.w_pos_acc); inertial_filter_correct(accel_corr[1], dt, y_est, 2, params.w_pos_acc); - if (gps_valid) { + if (use_gps) { inertial_filter_correct(gps_corr[0][0], dt, x_est, 0, params.w_pos_gps_p); inertial_filter_correct(gps_corr[1][0], dt, y_est, 0, params.w_pos_gps_p); @@ -538,6 +550,12 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) inertial_filter_correct(gps_corr[1][1], dt, y_est, 1, params.w_pos_gps_v); } } + + if (!isfinite(x_est[0]) || !isfinite(y_est[0])) { + warnx("BAD ESTIMATE CORR dt: %.6f x: %.3f %.3f %.3f y: %.3f %.3f %.3f", dt, x_est[0], x_est[1], x_est[2], y_est[0], y_est[1], y_est[2]); + warnx("BAD ESTIMATE CORR acc: %.3f %.3f gps x: %.3f %.3f gps y: %.3f %.3f", accel_corr[0], accel_corr[1], gps_corr[0][0], gps_corr[0][1], gps_corr[1][0], gps_corr[1][1]); + thread_should_exit = true; + } } /* detect land */ @@ -595,9 +613,9 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) pub_last = t; /* publish local position */ local_pos.timestamp = t; - local_pos.xy_valid = can_estimate_xy && gps_valid; + local_pos.xy_valid = can_estimate_xy && use_gps; local_pos.v_xy_valid = can_estimate_xy; - local_pos.xy_global = local_pos.xy_valid && gps_valid; // will make sense when local position sources (e.g. vicon) will be implemented + local_pos.xy_global = local_pos.xy_valid && use_gps; // will make sense when local position sources (e.g. vicon) will be implemented local_pos.x = x_est[0]; local_pos.vx = x_est[1]; local_pos.y = y_est[0]; @@ -637,17 +655,19 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (local_pos.v_z_valid) { global_pos.vz = local_pos.vz; } + global_pos.yaw = local_pos.yaw; global_pos.timestamp = t; orb_publish(ORB_ID(vehicle_global_position), vehicle_global_position_pub, &global_pos); } + flag_armed = armed.armed; } - warnx("exiting."); - mavlink_log_info(mavlink_fd, "[inav] exiting"); + warnx("stopped"); + mavlink_log_info(mavlink_fd, "[inav] stopped"); thread_running = false; return 0; } |