Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-03-27 01:12:18 +08:00
Code Issues Actions 11 Packages Projects Releases Wiki Activity

ekf: use PDOP instead of GDOP as TDOP (part of GDOP) is not given by the GNSS receiver

Browse Source
This commit is contained in:
bresch
2019-11-25 16:38:51 +02:00
committed by Mathieu Bresciani
parent 20705e3c53
commit 09c8c8f706
7 changed files with 22 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
Tools/ecl_ekf/analysis/post_processing.py
View File

@@ -104,7 +104,7 @@ def get_gps_check_fail_flags(estimator_status: dict) -> dict:
# 0 : insufficient fix type (no 3D solution)
# 1 : minimum required sat count fail
# 2 : minimum required GDoP fail
# 2 : minimum required PDOP fail
# 3 : maximum allowed horizontal position error fail
# 4 : maximum allowed vertical position error fail
# 5 : maximum allowed speed error fail
@@ -114,7 +114,7 @@ def get_gps_check_fail_flags(estimator_status: dict) -> dict:
# 9 : maximum allowed vertical velocity discrepancy fail
gps_fail_flags['gfix_fail'] = ((2 ** 0 & estimator_status['gps_check_fail_flags']) > 0) * 1
gps_fail_flags['nsat_fail'] = ((2 ** 1 & estimator_status['gps_check_fail_flags']) > 0) * 1
gps_fail_flags['gdop_fail'] = ((2 ** 2 & estimator_status['gps_check_fail_flags']) > 0) * 1
gps_fail_flags['pdop_fail'] = ((2 ** 2 & estimator_status['gps_check_fail_flags']) > 0) * 1
gps_fail_flags['herr_fail'] = ((2 ** 3 & estimator_status['gps_check_fail_flags']) > 0) * 1
gps_fail_flags['verr_fail'] = ((2 ** 4 & estimator_status['gps_check_fail_flags']) > 0) * 1
gps_fail_flags['serr_fail'] = ((2 ** 5 & estimator_status['gps_check_fail_flags']) > 0) * 1

4
Tools/ecl_ekf/plotting/pdf_report.py
View File

@@ -219,11 +219,11 @@ def create_pdf_report(ulog: ULog, output_plot_filename: str) -> None:
# gps_check_fail_flags summary
data_plot = CheckFlagsPlot(
status_time, gps_fail_flags,
[['nsat_fail', 'gdop_fail', 'herr_fail', 'verr_fail', 'gfix_fail', 'serr_fail'],
[['nsat_fail', 'pdop_fail', 'herr_fail', 'verr_fail', 'gfix_fail', 'serr_fail'],
['hdrift_fail', 'vdrift_fail', 'hspd_fail', 'veld_diff_fail']],
x_label='time (sec)', y_lim=(-0.1, 1.1), y_labels=['failed', 'failed'],
sub_titles=['GPS Direct Output Check Failures', 'GPS Derived Output Check Failures'],
legend=[['N sats', 'GDOP', 'horiz pos error', 'vert pos error', 'fix type',
legend=[['N sats', 'PDOP', 'horiz pos error', 'vert pos error', 'fix type',
'speed error'], ['horiz drift', 'vert drift', 'horiz speed',
'vert vel inconsistent']], annotate=False, pdf_handle=pdf_pages)
data_plot.save()