Mirrors_Framework/PX4-Autopilot
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Merged upstream master into gnss_rework branch

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Kynos
2014-06-30 01:34:12 +02:00
parent f1a5be1f57 28a31708f9
commit 503ebddc1b
112 changed files with 10206 additions and 4155 deletions
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ROMFS/px4fmu_common/init.d/3031_phantom
+4
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@@ -37,3 +37,7 @@ then
fi
set MIXER FMU_Q
# Provide ESC a constant 1000 us pulse
set PWM_OUTPUTS 4
set PWM_DISARMED 1000
ROMFS/px4fmu_common/init.d/rc.usb
+1 -1
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@@ -3,7 +3,7 @@
# USB MAVLink start
#
mavlink start -r 10000 -d /dev/ttyACM0
mavlink start -r 10000 -d /dev/ttyACM0 -x
# Enable a number of interesting streams we want via USB
mavlink stream -d /dev/ttyACM0 -s NAMED_VALUE_FLOAT -r 10
usleep 100000
ROMFS/px4fmu_common/init.d/rcS
+4 -5
View File
@@ -428,11 +428,10 @@ then
#
sh /etc/init.d/rc.sensors
if [ $HIL == no ]
then
echo "[init] Start logging"
sh /etc/init.d/rc.logging
fi
#
# Start logging in all modes, including HIL
#
sh /etc/init.d/rc.logging
if [ $GPS == yes ]
then
makefiles/config_aerocore_default.mk
+1 -1
View File
@@ -80,8 +80,8 @@ LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/ecl
MODULES += lib/external_lgpl
MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
MODULES += lib/launchdetection
makefiles/config_px4fmu-v1_default.mk
+2 -6
View File
@@ -52,7 +52,6 @@ MODULES += systemcmds/pwm
MODULES += systemcmds/esc_calib
MODULES += systemcmds/reboot
MODULES += systemcmds/top
MODULES += systemcmds/tests
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
MODULES += systemcmds/dumpfile
@@ -67,12 +66,11 @@ MODULES += modules/mavlink
MODULES += modules/gpio_led
#
# Estimation modules (EKF/ SO3 / other filters)
# Estimation modules (EKF / other filters)
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/ekf_att_pos_estimator
MODULES += modules/position_estimator_inav
#MODULES += examples/flow_position_estimator
#
# Vehicle Control
@@ -81,8 +79,6 @@ MODULES += modules/fw_pos_control_l1
MODULES += modules/fw_att_control
MODULES += modules/mc_att_control
MODULES += modules/mc_pos_control
#MODULES += examples/flow_position_control
#MODULES += examples/flow_speed_control
#
# Logging
@@ -111,8 +107,8 @@ LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/ecl
MODULES += lib/external_lgpl
MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
MODULES += lib/launchdetection
makefiles/config_px4fmu-v2_default.mk
+1 -1
View File
@@ -120,8 +120,8 @@ LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/ecl
MODULES += lib/external_lgpl
MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
MODULES += lib/launchdetection
mavlink/include/mavlink/v1.0/checksum.h
+1 -1
View File
@@ -73,7 +73,7 @@ static inline uint16_t crc_calculate(const uint8_t* pBuffer, uint16_t length)
* @param data new bytes to hash
* @param crcAccum the already accumulated checksum
**/
static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint8_t length)
static inline void crc_accumulate_buffer(uint16_t *crcAccum, const char *pBuffer, uint16_t length)
{
const uint8_t *p = (const uint8_t *)pBuffer;
while (length--) {
mavlink/include/mavlink/v1.0/common/common.h
+4
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@@ -5,6 +5,10 @@
#ifndef COMMON_H
#define COMMON_H
#ifndef MAVLINK_H
#error Wrong include order: common.h MUST NOT BE DIRECTLY USED. Include mavlink.h from the same directory instead or set all defines from mavlink.h manually.
#endif
#ifdef __cplusplus
extern "C" {
#endif
mavlink/include/mavlink/v1.0/mavlink_helpers.h
+14 -7
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@@ -73,7 +73,6 @@ MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, ui
#endif
{
// This code part is the same for all messages;
uint16_t checksum;
msg->magic = MAVLINK_STX;
msg->len = length;
msg->sysid = system_id;
@@ -81,12 +80,13 @@ MAVLINK_HELPER uint16_t mavlink_finalize_message_chan(mavlink_message_t* msg, ui
// One sequence number per component
msg->seq = mavlink_get_channel_status(chan)->current_tx_seq;
mavlink_get_channel_status(chan)->current_tx_seq = mavlink_get_channel_status(chan)->current_tx_seq+1;
checksum = crc_calculate((uint8_t*)&msg->len, length + MAVLINK_CORE_HEADER_LEN);
msg->checksum = crc_calculate(((const uint8_t*)(msg)) + 3, MAVLINK_CORE_HEADER_LEN);
crc_accumulate_buffer(&msg->checksum, _MAV_PAYLOAD(msg), msg->len);
#if MAVLINK_CRC_EXTRA
crc_accumulate(crc_extra, &checksum);
crc_accumulate(crc_extra, &msg->checksum);
#endif
mavlink_ck_a(msg) = (uint8_t)(checksum & 0xFF);
mavlink_ck_b(msg) = (uint8_t)(checksum >> 8);
mavlink_ck_a(msg) = (uint8_t)(msg->checksum & 0xFF);
mavlink_ck_b(msg) = (uint8_t)(msg->checksum >> 8);
return length + MAVLINK_NUM_NON_PAYLOAD_BYTES;
}
@@ -133,7 +133,7 @@ MAVLINK_HELPER void _mav_finalize_message_chan_send(mavlink_channel_t chan, uint
buf[4] = mavlink_system.compid;
buf[5] = msgid;
status->current_tx_seq++;
checksum = crc_calculate((uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN);
checksum = crc_calculate((const uint8_t*)&buf[1], MAVLINK_CORE_HEADER_LEN);
crc_accumulate_buffer(&checksum, packet, length);
#if MAVLINK_CRC_EXTRA
crc_accumulate(crc_extra, &checksum);
@@ -158,6 +158,7 @@ MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_m
ck[0] = (uint8_t)(msg->checksum & 0xFF);
ck[1] = (uint8_t)(msg->checksum >> 8);
// XXX use the right sequence here
MAVLINK_START_UART_SEND(chan, MAVLINK_NUM_NON_PAYLOAD_BYTES + msg->len);
_mavlink_send_uart(chan, (const char *)&msg->magic, MAVLINK_NUM_HEADER_BYTES);
@@ -172,7 +173,13 @@ MAVLINK_HELPER void _mavlink_resend_uart(mavlink_channel_t chan, const mavlink_m
*/
MAVLINK_HELPER uint16_t mavlink_msg_to_send_buffer(uint8_t *buffer, const mavlink_message_t *msg)
{
memcpy(buffer, (const uint8_t *)&msg->magic, MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len);
memcpy(buffer, (const uint8_t *)&msg->magic, MAVLINK_NUM_HEADER_BYTES + (uint16_t)msg->len);
uint8_t *ck = buffer + (MAVLINK_NUM_HEADER_BYTES + (uint16_t)msg->len);
ck[0] = (uint8_t)(msg->checksum & 0xFF);
ck[1] = (uint8_t)(msg->checksum >> 8);
return MAVLINK_NUM_NON_PAYLOAD_BYTES + (uint16_t)msg->len;
}
mavlink/include/mavlink/v1.0/mavlink_types.h
+2 -2
View File
@@ -28,6 +28,7 @@
#define MAVLINK_MAX_EXTENDED_PAYLOAD_LEN (MAVLINK_MAX_EXTENDED_PACKET_LEN - MAVLINK_EXTENDED_HEADER_LEN - MAVLINK_NUM_NON_PAYLOAD_BYTES)
#pragma pack(push, 1)
typedef struct param_union {
union {
float param_float;
@@ -62,13 +63,12 @@ typedef struct __mavlink_message {
uint64_t payload64[(MAVLINK_MAX_PAYLOAD_LEN+MAVLINK_NUM_CHECKSUM_BYTES+7)/8];
} mavlink_message_t;
typedef struct __mavlink_extended_message {
mavlink_message_t base_msg;
int32_t extended_payload_len; ///< Length of extended payload if any
uint8_t extended_payload[MAVLINK_MAX_EXTENDED_PAYLOAD_LEN];
} mavlink_extended_message_t;
#pragma pack(pop)
typedef enum {
MAVLINK_TYPE_CHAR = 0,
src/drivers/blinkm/blinkm.cpp
+3 -2
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@@ -649,13 +649,14 @@ BlinkM::led()
/* indicate main control state */
if (vehicle_status_raw.main_state == MAIN_STATE_POSCTL)
led_color_4 = LED_GREEN;
else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO)
/* TODO: add other Auto modes */
else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO_MISSION)
led_color_4 = LED_BLUE;
else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTL)
led_color_4 = LED_YELLOW;
else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL)
led_color_4 = LED_WHITE;
else
else
led_color_4 = LED_OFF;
led_color_5 = led_color_4;
}
src/drivers/gps/gps.cpp
+3 -3
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@@ -302,8 +302,8 @@ GPS::task_main()
_report_gps_pos.p_variance_m = 10.0f;
_report_gps_pos.c_variance_rad = 0.1f;
_report_gps_pos.fix_type = 3;
_report_gps_pos.eph_m = 0.9f;
_report_gps_pos.epv_m = 1.8f;
_report_gps_pos.eph = 0.9f;
_report_gps_pos.epv = 1.8f;
_report_gps_pos.timestamp_velocity = hrt_absolute_time();
_report_gps_pos.vel_n_m_s = 0.0f;
_report_gps_pos.vel_e_m_s = 0.0f;
@@ -487,7 +487,7 @@ GPS::print_info()
warnx("position lock: %dD, satellites: %d, last update: %8.4fms ago", (int)_report_gps_pos.fix_type,
_report_gps_pos.satellites_used, (double)(hrt_absolute_time() - _report_gps_pos.timestamp_position) / 1000.0);
warnx("lat: %d, lon: %d, alt: %d", _report_gps_pos.lat, _report_gps_pos.lon, _report_gps_pos.alt);
warnx("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph_m, (double)_report_gps_pos.epv_m);
warnx("eph: %.2fm, epv: %.2fm", (double)_report_gps_pos.eph, (double)_report_gps_pos.epv);
warnx("rate position: \t%6.2f Hz", (double)_Helper->get_position_update_rate());
warnx("rate velocity: \t%6.2f Hz", (double)_Helper->get_velocity_update_rate());
warnx("rate publication:\t%6.2f Hz", (double)_rate);
src/drivers/gps/mtk.cpp
+4 -4
View File
@@ -251,16 +251,16 @@ MTK::handle_message(gps_mtk_packet_t &packet)
_gps_position->lon = 0;
// Indicate this data is not usable and bail out
_gps_position->eph_m = 1000.0f;
_gps_position->epv_m = 1000.0f;
_gps_position->eph = 1000.0f;
_gps_position->epv = 1000.0f;
_gps_position->fix_type = 0;
return;
}
_gps_position->alt = (int32_t)(packet.msl_altitude * 10); // from cm to mm
_gps_position->fix_type = packet.fix_type;
_gps_position->eph_m = packet.hdop / 100.0f; // from cm to m
_gps_position->epv_m = _gps_position->eph_m; // unknown in mtk custom mode, so we cheat with eph
_gps_position->eph = packet.hdop / 100.0f; // from cm to m
_gps_position->epv = _gps_position->eph; // unknown in mtk custom mode, so we cheat with eph
_gps_position->vel_m_s = ((float)packet.ground_speed) * 1e-2f; // from cm/s to m/s
_gps_position->cog_rad = ((float)packet.heading) * M_DEG_TO_RAD_F * 1e-2f; //from deg *100 to rad
_gps_position->satellites_used = packet.satellites;
src/drivers/gps/ubx.cpp
+2 -2
View File
@@ -681,8 +681,8 @@ UBX::payload_rx_done(void)
_gps_position->lat = _buf.payload_rx_nav_posllh.lat;
_gps_position->lon = _buf.payload_rx_nav_posllh.lon;
_gps_position->alt = _buf.payload_rx_nav_posllh.hMSL;
_gps_position->eph_m = (float)_buf.payload_rx_nav_posllh.hAcc * 1e-3f; // from mm to m
_gps_position->epv_m = (float)_buf.payload_rx_nav_posllh.vAcc * 1e-3f; // from mm to m
_gps_position->eph = (float)_buf.payload_rx_nav_posllh.hAcc * 1e-3f; // from mm to m
_gps_position->epv = (float)_buf.payload_rx_nav_posllh.vAcc * 1e-3f; // from mm to m
_gps_position->timestamp_position = hrt_absolute_time();
src/drivers/mkblctrl/mkblctrl.cpp
+4 -4
View File
@@ -131,8 +131,8 @@ public:
int set_motor_count(unsigned count);
int set_motor_test(bool motortest);
int set_overrideSecurityChecks(bool overrideSecurityChecks);
int set_px4mode(int px4mode);
int set_frametype(int frametype);
void set_px4mode(int px4mode);
void set_frametype(int frametype);
unsigned int mk_check_for_blctrl(unsigned int count, bool showOutput, bool initI2C);
private:
@@ -330,13 +330,13 @@ MK::set_update_rate(unsigned rate)
return OK;
}
int
void
MK::set_px4mode(int px4mode)
{
_px4mode = px4mode;
}
int
void
MK::set_frametype(int frametype)
{
_frametype = frametype;
src/drivers/mpu6000/mpu6000.cpp
+1 -1
View File
@@ -544,7 +544,7 @@ void MPU6000::reset()
write_reg(MPUREG_USER_CTRL, BIT_I2C_IF_DIS);
irqrestore(state);
up_udelay(1000);
usleep(1000);
// SAMPLE RATE
_set_sample_rate(_sample_rate);
src/drivers/px4fmu/fmu.cpp
+1 -1
View File
@@ -741,7 +741,7 @@ PX4FMU::task_main()
}
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs > 0) {
if (_control_subs[i] > 0) {
::close(_control_subs[i]);
_control_subs[i] = -1;
}
src/drivers/px4io/px4io.cpp
+21 -17
View File
@@ -197,8 +197,10 @@ public:
* Print IO status.
*
* Print all relevant IO status information
*
* @param extended_status Shows more verbose information (in particular RC config)
*/
void print_status();
void print_status(bool extended_status);
/**
* Fetch and print debug console output.
@@ -1850,7 +1852,7 @@ PX4IO::mixer_send(const char *buf, unsigned buflen, unsigned retries)
}
void
PX4IO::print_status()
PX4IO::print_status(bool extended_status)
{
/* basic configuration */
printf("protocol %u hardware %u bootloader %u buffer %uB crc 0x%04x%04x\n",
@@ -2013,19 +2015,21 @@ PX4IO::print_status()
printf("\n");
}
for (unsigned i = 0; i < _max_rc_input; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
uint16_t options = io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_OPTIONS);
printf("input %u min %u center %u max %u deadzone %u assigned %u options 0x%04x%s%s\n",
i,
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MAX),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_DEADZONE),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_ASSIGNMENT),
options,
((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""),
((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : ""));
if (extended_status) {
for (unsigned i = 0; i < _max_rc_input; i++) {
unsigned base = PX4IO_P_RC_CONFIG_STRIDE * i;
uint16_t options = io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_OPTIONS);
printf("input %u min %u center %u max %u deadzone %u assigned %u options 0x%04x%s%s\n",
i,
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MIN),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_CENTER),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_MAX),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_DEADZONE),
io_reg_get(PX4IO_PAGE_RC_CONFIG, base + PX4IO_P_RC_CONFIG_ASSIGNMENT),
options,
((options & PX4IO_P_RC_CONFIG_OPTIONS_ENABLED) ? " ENABLED" : ""),
((options & PX4IO_P_RC_CONFIG_OPTIONS_REVERSE) ? " REVERSED" : ""));
}
}
printf("failsafe");
@@ -2853,7 +2857,7 @@ monitor(void)
if (g_dev != nullptr) {
printf("\033[2J\033[H"); /* move cursor home and clear screen */
(void)g_dev->print_status();
(void)g_dev->print_status(false);
(void)g_dev->print_debug();
printf("\n\n\n[ Use 'px4io debug <N>' for more output. Hit <enter> three times to exit monitor mode ]\n");
@@ -3119,7 +3123,7 @@ px4io_main(int argc, char *argv[])
if (!strcmp(argv[1], "status")) {
printf("[px4io] loaded\n");
g_dev->print_status();
g_dev->print_status(true);
exit(0);
}
src/drivers/px4io/px4io_uploader.cpp
+3 -3
View File
@@ -240,9 +240,9 @@ PX4IO_Uploader::upload(const char *filenames[])
close(_io_fd);
_io_fd = -1;
// sleep for enough time for the IO chip to boot. This makes
// forceupdate more reliably startup IO again after update
up_udelay(100*1000);
// sleep for enough time for the IO chip to boot. This makes
// forceupdate more reliably startup IO again after update
up_udelay(100*1000);
return ret;
}
src/drivers/roboclaw/RoboClaw.cpp
+8 -2
View File
@@ -182,7 +182,10 @@ float RoboClaw::getMotorPosition(e_motor motor)
return _motor1Position;
} else if (motor == MOTOR_2) {
return _motor2Position;
}
} else {
warnx("Unknown motor value passed to RoboClaw::getMotorPosition");
return NAN;
}
}
float RoboClaw::getMotorSpeed(e_motor motor)
@@ -191,7 +194,10 @@ float RoboClaw::getMotorSpeed(e_motor motor)
return _motor1Speed;
} else if (motor == MOTOR_2) {
return _motor2Speed;
}
} else {
warnx("Unknown motor value passed to RoboClaw::getMotorPosition");
return NAN;
}
}
int RoboClaw::setMotorSpeed(e_motor motor, float value)
src/lib/ecl/attitude_fw/ecl_pitch_controller.cpp
-3
View File
@@ -151,9 +151,6 @@ float ECL_PitchController::control_bodyrate(float roll, float pitch,
if (dt_micros > 500000)
lock_integrator = true;
// float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
float k_ff = 0;
/* input conditioning */
if (!isfinite(airspeed)) {
/* airspeed is NaN, +- INF or not available, pick center of band */
src/lib/ecl/attitude_fw/ecl_roll_controller.cpp
-3
View File
@@ -114,9 +114,6 @@ float ECL_RollController::control_bodyrate(float pitch,
if (dt_micros > 500000)
lock_integrator = true;
// float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
float k_ff = 0; //xxx: param
/* input conditioning */
// warnx("airspeed pre %.4f", (double)airspeed);
if (!isfinite(airspeed)) {
src/lib/ecl/attitude_fw/ecl_yaw_controller.cpp
+1 -6
View File
@@ -84,7 +84,7 @@ float ECL_YawController::control_attitude(float roll, float pitch,
_rate_setpoint = 0.0f;
if (sqrtf(speed_body_u * speed_body_u + speed_body_v * speed_body_v + speed_body_w * speed_body_w) > _coordinated_min_speed) {
float denumerator = (speed_body_u * cosf(roll) * cosf(pitch) + speed_body_w * sinf(pitch));
if(denumerator != 0.0f) { //XXX: floating point comparison
if(fabsf(denumerator) > FLT_EPSILON) {
_rate_setpoint = (speed_body_w * roll_rate_setpoint + 9.81f * sinf(roll) * cosf(pitch) + speed_body_u * pitch_rate_setpoint * sinf(roll)) / denumerator;
// warnx("yaw: speed_body_u %.f speed_body_w %1.f roll %.1f pitch %.1f denumerator %.1f _rate_setpoint %.1f", speed_body_u, speed_body_w, denumerator, _rate_setpoint);
}
@@ -132,11 +132,6 @@ float ECL_YawController::control_bodyrate(float roll, float pitch,
if (dt_micros > 500000)
lock_integrator = true;
// float k_ff = math::max((_k_p - _k_i * _tc) * _tc - _k_d, 0.0f);
float k_ff = 0;
/* input conditioning */
if (!isfinite(airspeed)) {
/* airspeed is NaN, +- INF or not available, pick center of band */
src/lib/geo/geo.h
+1 -1
View File
@@ -50,7 +50,7 @@
__BEGIN_DECLS
#include "geo/geo_mag_declination.h"
#include "geo_lookup/geo_mag_declination.h"
#include <stdbool.h>
src/lib/geo/module.mk
+2 -3
View File
@@ -1,6 +1,6 @@
############################################################################
#
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
# Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -35,5 +35,4 @@
# Geo library
#
SRCS = geo.c \
geo_mag_declination.c
SRCS = geo.c
src/lib/geo/geo_mag_declination.c → src/lib/geo_lookup/geo_mag_declination.c
View File
src/lib/geo/geo_mag_declination.h → src/lib/geo_lookup/geo_mag_declination.h
View File
src/lib/geo_lookup/module.mk
+40
View File
@@ -0,0 +1,40 @@
############################################################################
#
# Copyright (c) 2014 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Geo lookup table / data library
#
SRCS = geo_mag_declination.c
MAXOPTIMIZATION = -Os
src/lib/launchdetection/module.mk
+2
View File
@@ -38,3 +38,5 @@
SRCS = LaunchDetector.cpp \
CatapultLaunchMethod.cpp \
launchdetection_params.c
MAXOPTIMIZATION = -Os
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp
+23 -7
View File
@@ -65,6 +65,7 @@
#include <drivers/drv_hrt.h>
#include <lib/mathlib/mathlib.h>
#include <lib/geo/geo.h>
#include <systemlib/systemlib.h>
#include <systemlib/perf_counter.h>
@@ -287,6 +288,9 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
float gyro_offsets[3] = { 0.0f, 0.0f, 0.0f };
/* magnetic declination, in radians */
float mag_decl = 0.0f;
/* rotation matrix for magnetic declination */
math::Matrix<3, 3> R_decl;
R_decl.identity();
@@ -325,9 +329,6 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
/* update parameters */
parameters_update(&ekf_param_handles, &ekf_params);
/* update mag declination rotation matrix */
R_decl.from_euler(0.0f, 0.0f, ekf_params.mag_decl);
}
/* only run filter if sensor values changed */
@@ -340,6 +341,13 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
orb_check(sub_gps, &gps_updated);
if (gps_updated) {
orb_copy(ORB_ID(vehicle_gps_position), sub_gps, &gps);
if (gps.eph < 20.0f && hrt_elapsed_time(&gps.timestamp_position) < 1000000) {
mag_decl = math::radians(get_mag_declination(gps.lat / 1e7f, gps.lon / 1e7f));
/* update mag declination rotation matrix */
R_decl.from_euler(0.0f, 0.0f, mag_decl);
}
}
bool global_pos_updated;
@@ -393,7 +401,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
hrt_abstime vel_t = 0;
bool vel_valid = false;
if (ekf_params.acc_comp == 1 && gps.fix_type >= 3 && gps.eph_m < 10.0f && gps.vel_ned_valid && hrt_absolute_time() < gps.timestamp_velocity + 500000) {
if (ekf_params.acc_comp == 1 && gps.fix_type >= 3 && gps.eph < 10.0f && gps.vel_ned_valid && hrt_absolute_time() < gps.timestamp_velocity + 500000) {
vel_valid = true;
if (gps_updated) {
vel_t = gps.timestamp_velocity;
@@ -402,7 +410,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
vel(2) = gps.vel_d_m_s;
}
} else if (ekf_params.acc_comp == 2 && gps.eph_m < 5.0f && global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) {
} else if (ekf_params.acc_comp == 2 && gps.eph < 5.0f && global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) {
vel_valid = true;
if (global_pos_updated) {
vel_t = global_pos.timestamp;
@@ -469,7 +477,15 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
parameters_update(&ekf_param_handles, &ekf_params);
/* update mag declination rotation matrix */
R_decl.from_euler(0.0f, 0.0f, ekf_params.mag_decl);
if (gps.eph < 20.0f && hrt_elapsed_time(&gps.timestamp_position) < 1000000) {
mag_decl = math::radians(get_mag_declination(gps.lat / 1e7f, gps.lon / 1e7f));
} else {
mag_decl = ekf_params.mag_decl;
}
/* update mag declination rotation matrix */
R_decl.from_euler(0.0f, 0.0f, mag_decl);
x_aposteriori_k[0] = z_k[0];
x_aposteriori_k[1] = z_k[1];
@@ -515,7 +531,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds
att.roll = euler[0];
att.pitch = euler[1];
att.yaw = euler[2] + ekf_params.mag_decl;
att.yaw = euler[2] + mag_decl;
att.rollspeed = x_aposteriori[0];
att.pitchspeed = x_aposteriori[1];
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
-13
View File
@@ -61,11 +61,6 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
/* offset estimation - UNUSED */
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f);
/* offsets in roll, pitch and yaw of sensor plane and body */
PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f);
PARAM_DEFINE_FLOAT(ATT_PITCH_OFF3, 0.0f);
PARAM_DEFINE_FLOAT(ATT_YAW_OFF3, 0.0f);
/* magnetic declination, in degrees */
PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);
@@ -85,10 +80,6 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h)
h->r2 = param_find("EKF_ATT_V4_R2");
h->r3 = param_find("EKF_ATT_V4_R3");
h->roll_off = param_find("ATT_ROLL_OFF3");
h->pitch_off = param_find("ATT_PITCH_OFF3");
h->yaw_off = param_find("ATT_YAW_OFF3");
h->mag_decl = param_find("ATT_MAG_DECL");
h->acc_comp = param_find("ATT_ACC_COMP");
@@ -109,10 +100,6 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru
param_get(h->r2, &(p->r[2]));
param_get(h->r3, &(p->r[3]));
param_get(h->roll_off, &(p->roll_off));
param_get(h->pitch_off, &(p->pitch_off));
param_get(h->yaw_off, &(p->yaw_off));
param_get(h->mag_decl, &(p->mag_decl));
p->mag_decl *= M_PI / 180.0f;
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
-1
View File
@@ -54,7 +54,6 @@ struct attitude_estimator_ekf_params {
struct attitude_estimator_ekf_param_handles {
param_t r0, r1, r2, r3;
param_t q0, q1, q2, q3, q4;
param_t roll_off, pitch_off, yaw_off;
param_t mag_decl;
param_t acc_comp;
};
src/modules/commander/commander.cpp
+317 -322
View File
File diff suppressed because it is too large Load Diff
src/modules/commander/commander_params.c
+12 -1
View File
@@ -39,7 +39,7 @@
*
* @author Lorenz Meier <lm@inf.ethz.ch>
* @author Thomas Gubler <thomasgubler@student.ethz.ch>
* @author Julian Oes <joes@student.ethz.ch>
* @author Julian Oes <julian@oes.ch>
*/
#include <nuttx/config.h>
@@ -84,3 +84,14 @@ PARAM_DEFINE_INT32(BAT_N_CELLS, 3);
* @group Battery Calibration
*/
PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
/**
* Datalink loss mode enabled.
*
* Set to 1 to enable actions triggered when the datalink is lost.
*
* @group commander
* @min 0
* @max 1
*/
PARAM_DEFINE_INT32(COM_DL_LOSS_EN, 0);
src/modules/commander/px4_custom_mode.h
+1
View File
@@ -25,6 +25,7 @@ enum PX4_CUSTOM_SUB_MODE_AUTO {
PX4_CUSTOM_SUB_MODE_AUTO_MISSION,
PX4_CUSTOM_SUB_MODE_AUTO_RTL,
PX4_CUSTOM_SUB_MODE_AUTO_LAND,
PX4_CUSTOM_SUB_MODE_AUTO_RTGS
};
union px4_custom_mode {
src/modules/commander/state_machine_helper.cpp
+206 -342
View File
File diff suppressed because it is too large Load Diff
src/modules/commander/state_machine_helper.h
+4 -14
View File
@@ -56,25 +56,15 @@ typedef enum {
} transition_result_t;
transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety,
arming_state_t new_arming_state, struct actuator_armed_s *armed, const int mavlink_fd = 0);
bool is_safe(const struct vehicle_status_s *current_state, const struct safety_s *safety, const struct actuator_armed_s *armed);
bool check_arming_state_changed();
transition_result_t arming_state_transition(struct vehicle_status_s *current_state, const struct safety_s *safety,
arming_state_t new_arming_state, struct actuator_armed_s *armed, const int mavlink_fd);
transition_result_t main_state_transition(struct vehicle_status_s *current_state, main_state_t new_main_state);
bool check_main_state_changed();
transition_result_t hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, const int mavlink_fd);
transition_result_t failsafe_state_transition(struct vehicle_status_s *status, failsafe_state_t new_failsafe_state);
bool check_navigation_state_changed();
bool check_failsafe_state_changed();
void set_navigation_state_changed();
int hil_state_transition(hil_state_t new_state, int status_pub, struct vehicle_status_s *current_state, const int mavlink_fd);
bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_enabled, const bool mission_finished);
#endif /* STATE_MACHINE_HELPER_H_ */
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp
+615 -404
View File
File diff suppressed because it is too large Load Diff
src/modules/ekf_att_pos_estimator/estimator_21states.cpp
+2142
View File
File diff suppressed because it is too large Load Diff
src/modules/ekf_att_pos_estimator/estimator_21states.h
+247
View File
@@ -0,0 +1,247 @@
#pragma once
#include "estimator_utilities.h"
class AttPosEKF {
public:
AttPosEKF();
~AttPosEKF();
/* ##############################################
*
* M A I N F I L T E R P A R A M E T E R S
*
* ########################################### */
/*
* parameters are defined here and initialised in
* the InitialiseParameters() (which is just 20 lines down)
*/
float covTimeStepMax; // maximum time allowed between covariance predictions
float covDelAngMax; // maximum delta angle between covariance predictions
float rngFinderPitch; // pitch angle of laser range finder in radians. Zero is aligned with the Z body axis. Positive is RH rotation about Y body axis.
float yawVarScale;
float windVelSigma;
float dAngBiasSigma;
float dVelBiasSigma;
float magEarthSigma;
float magBodySigma;
float gndHgtSigma;
float vneSigma;
float vdSigma;
float posNeSigma;
float posDSigma;
float magMeasurementSigma;
float airspeedMeasurementSigma;
float gyroProcessNoise;
float accelProcessNoise;
float EAS2TAS; // ratio f true to equivalent airspeed
void InitialiseParameters()
{
covTimeStepMax = 0.07f; // maximum time allowed between covariance predictions
covDelAngMax = 0.02f; // maximum delta angle between covariance predictions
rngFinderPitch = 0.0f; // pitch angle of laser range finder in radians. Zero is aligned with the Z body axis. Positive is RH rotation about Y body axis.
EAS2TAS = 1.0f;
yawVarScale = 1.0f;
windVelSigma = 0.1f;
dAngBiasSigma = 5.0e-7f;
dVelBiasSigma = 1e-4f;
magEarthSigma = 3.0e-4f;
magBodySigma = 3.0e-4f;
gndHgtSigma = 0.02f; // assume 2% terrain gradient 1-sigma
vneSigma = 0.2f;
vdSigma = 0.3f;
posNeSigma = 2.0f;
posDSigma = 2.0f;
magMeasurementSigma = 0.05;
airspeedMeasurementSigma = 1.4f;
gyroProcessNoise = 1.4544411e-2f;
accelProcessNoise = 0.5f;
}
// Global variables
float KH[n_states][n_states]; // intermediate result used for covariance updates
float KHP[n_states][n_states]; // intermediate result used for covariance updates
float P[n_states][n_states]; // covariance matrix
float Kfusion[n_states]; // Kalman gains
float states[n_states]; // state matrix
float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps
uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored
float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement
float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time
float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time
Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad)
Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s)
float accNavMag; // magnitude of navigation accel (- used to adjust GPS obs variance (m/s^2)
Vector3f earthRateNED; // earths angular rate vector in NED (rad/s)
Vector3f angRate; // angular rate vector in XYZ body axes measured by the IMU (rad/s)
Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2)
Vector3f dVelIMU;
Vector3f dAngIMU;
float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec)
uint8_t fusionModeGPS; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
float innovVelPos[6]; // innovation output
float varInnovVelPos[6]; // innovation variance output
float velNED[3]; // North, East, Down velocity obs (m/s)
float posNE[2]; // North, East position obs (m)
float hgtMea; // measured height (m)
float posNED[3]; // North, East Down position (m)
float innovMag[3]; // innovation output
float varInnovMag[3]; // innovation variance output
Vector3f magData; // magnetometer flux radings in X,Y,Z body axes
float innovVtas; // innovation output
float varInnovVtas; // innovation variance output
float VtasMeas; // true airspeed measurement (m/s)
float magDeclination;
float latRef; // WGS-84 latitude of reference point (rad)
float lonRef; // WGS-84 longitude of reference point (rad)
float hgtRef; // WGS-84 height of reference point (m)
Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes
uint8_t covSkipCount; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction
// GPS input data variables
float gpsCourse;
float gpsVelD;
float gpsLat;
float gpsLon;
float gpsHgt;
uint8_t GPSstatus;
// Baro input
float baroHgt;
bool statesInitialised;
bool fuseVelData; // this boolean causes the posNE and velNED obs to be fused
bool fusePosData; // this boolean causes the posNE and velNED obs to be fused
bool fuseHgtData; // this boolean causes the hgtMea obs to be fused
bool fuseMagData; // boolean true when magnetometer data is to be fused
bool fuseVtasData; // boolean true when airspeed data is to be fused
bool onGround; ///< boolean true when the flight vehicle is on the ground (not flying)
bool staticMode; ///< boolean true if no position feedback is fused
bool useAirspeed; ///< boolean true if airspeed data is being used
bool useCompass; ///< boolean true if magnetometer data is being used
struct ekf_status_report current_ekf_state;
struct ekf_status_report last_ekf_error;
bool numericalProtection;
unsigned storeIndex;
void UpdateStrapdownEquationsNED();
void CovariancePrediction(float dt);
void FuseVelposNED();
void FuseMagnetometer();
void FuseAirspeed();
void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
void quatNorm(float (&quatOut)[4], const float quatIn[4]);
// store staes along with system time stamp in msces
void StoreStates(uint64_t timestamp_ms);
/**
* Recall the state vector.
*
* Recalls the vector stored at closest time to the one specified by msec
*
* @return zero on success, integer indicating the number of invalid states on failure.
* Does only copy valid states, if the statesForFusion vector was initialized
* correctly by the caller, the result can be safely used, but is a mixture
* time-wise where valid states were updated and invalid remained at the old
* value.
*/
int RecallStates(float statesForFusion[n_states], uint64_t msec);
void ResetStoredStates();
void quat2Tbn(Mat3f &Tbn, const float (&quat)[4]);
void calcEarthRateNED(Vector3f &omega, float latitude);
static void eul2quat(float (&quat)[4], const float (&eul)[3]);
static void quat2eul(float (&eul)[3], const float (&quat)[4]);
static void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD);
static void calcposNED(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef);
static void calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef);
static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]);
static float sq(float valIn);
void OnGroundCheck();
void CovarianceInit();
void InitialiseFilter(float (&initvelNED)[3], double referenceLat, double referenceLon, float referenceHgt, float declination);
float ConstrainFloat(float val, float min, float max);
void ConstrainVariances();
void ConstrainStates();
void ForceSymmetry();
int CheckAndBound();
void ResetPosition();
void ResetVelocity();
void ZeroVariables();
void GetFilterState(struct ekf_status_report *state);
void GetLastErrorState(struct ekf_status_report *last_error);
bool StatesNaN(struct ekf_status_report *err_report);
void FillErrorReport(struct ekf_status_report *err);
void InitializeDynamic(float (&initvelNED)[3], float declination);
protected:
bool FilterHealthy();
void ResetHeight(void);
void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float declination, float *initQuat);
};
uint32_t millis();
src/modules/ekf_att_pos_estimator/estimator.cpp → src/modules/ekf_att_pos_estimator/estimator_23states.cpp
+292 -260
View File
File diff suppressed because it is too large Load Diff
src/modules/ekf_att_pos_estimator/estimator.h → src/modules/ekf_att_pos_estimator/estimator_23states.h
+23 -75
View File
@@ -1,76 +1,10 @@
#include <math.h>
#include <stdint.h>
#pragma once
#define GRAVITY_MSS 9.80665f
#define deg2rad 0.017453292f
#define rad2deg 57.295780f
#define pi 3.141592657f
#define earthRate 0.000072921f
#define earthRadius 6378145.0f
#define earthRadiusInv 1.5678540e-7f
class Vector3f
{
private:
public:
float x;
float y;
float z;
float length(void) const;
void zero(void);
};
class Mat3f
{
private:
public:
Vector3f x;
Vector3f y;
Vector3f z;
Mat3f();
void identity();
Mat3f transpose(void) const;
};
Vector3f operator*(float sclIn1, Vector3f vecIn1);
Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2);
Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2);
Vector3f operator*( Mat3f matIn, Vector3f vecIn);
Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2);
Vector3f operator*(Vector3f vecIn1, float sclIn1);
void swap_var(float &d1, float &d2);
#include "estimator_utilities.h"
const unsigned int n_states = 23;
const unsigned int data_buffer_size = 50;
enum GPS_FIX {
GPS_FIX_NOFIX = 0,
GPS_FIX_2D = 2,
GPS_FIX_3D = 3
};
struct ekf_status_report {
bool velHealth;
bool posHealth;
bool hgtHealth;
bool velTimeout;
bool posTimeout;
bool hgtTimeout;
uint32_t velFailTime;
uint32_t posFailTime;
uint32_t hgtFailTime;
float states[n_states];
bool statesNaN;
bool covarianceNaN;
bool kalmanGainsNaN;
};
class AttPosEKF {
public:
@@ -141,7 +75,7 @@ public:
accelProcessNoise = 0.5f;
}
struct {
struct mag_state_struct {
unsigned obsIndex;
float MagPred[3];
float SH_MAG[9];
@@ -157,7 +91,12 @@ public:
float magZbias;
float R_MAG;
Mat3f DCM;
} magstate;
};
struct mag_state_struct magstate;
struct mag_state_struct resetMagState;
// Global variables
@@ -166,6 +105,7 @@ public:
float P[n_states][n_states]; // covariance matrix
float Kfusion[n_states]; // Kalman gains
float states[n_states]; // state matrix
float resetStates[n_states];
float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps
uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored
@@ -183,6 +123,8 @@ public:
float accNavMag; // magnitude of navigation accel (- used to adjust GPS obs variance (m/s^2)
Vector3f earthRateNED; // earths angular rate vector in NED (rad/s)
Vector3f angRate; // angular rate vector in XYZ body axes measured by the IMU (rad/s)
Vector3f lastGyroOffset; // Last gyro offset
Vector3f delAngTotal;
Mat3f Tbn; // transformation matrix from body to NED coordinates
Mat3f Tnb; // transformation amtrix from NED to body coordinates
@@ -196,11 +138,11 @@ public:
float varInnovVelPos[6]; // innovation variance output
float velNED[3]; // North, East, Down velocity obs (m/s)
float accelGPSNED[3]; // Acceleration predicted by GPS in earth frame
float posNE[2]; // North, East position obs (m)
float hgtMea; // measured height (m)
float baroHgtOffset; ///< the baro (weather) offset from normalized altitude
float rngMea; // Ground distance
float posNED[3]; // North, East Down position (m)
float innovMag[3]; // innovation output
float varInnovMag[3]; // innovation variance output
@@ -243,6 +185,9 @@ public:
bool useCompass; ///< boolean true if magnetometer data is being used
bool useRangeFinder; ///< true when rangefinder is being used
bool ekfDiverged;
uint64_t lastReset;
struct ekf_status_report current_ekf_state;
struct ekf_status_report last_ekf_error;
@@ -299,9 +244,9 @@ static void quat2eul(float (&eul)[3], const float (&quat)[4]);
static void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD);
static void calcposNED(float (&posNED)[3], double lat, double lon, float hgt, double latRef, double lonRef, float hgtRef);
void calcposNED(float (&posNED)[3], double lat, double lon, float hgt, double latRef, double lonRef, float hgtRef);
static void calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef);
static void calcLLH(float posNED[3], double &lat, double &lon, float &hgt, double latRef, double lonRef, float hgtRef);
static void quat2Tnb(Mat3f &Tnb, const float (&quat)[4]);
@@ -321,7 +266,7 @@ void ConstrainStates();
void ForceSymmetry();
int CheckAndBound();
int CheckAndBound(struct ekf_status_report *last_error);
void ResetPosition();
@@ -333,8 +278,7 @@ void GetFilterState(struct ekf_status_report *state);
void GetLastErrorState(struct ekf_status_report *last_error);
bool StatesNaN(struct ekf_status_report *err_report);
void FillErrorReport(struct ekf_status_report *err);
bool StatesNaN();
void InitializeDynamic(float (&initvelNED)[3], float declination);
@@ -342,6 +286,10 @@ protected:
bool FilterHealthy();
bool GyroOffsetsDiverged();
bool VelNEDDiverged();
void ResetHeight(void);
void AttitudeInit(float ax, float ay, float az, float mx, float my, float mz, float declination, float *initQuat);
src/modules/ekf_att_pos_estimator/estimator_utilities.cpp
+139
View File
@@ -0,0 +1,139 @@
#include "estimator_utilities.h"
// Define EKF_DEBUG here to enable the debug print calls
// if the macro is not set, these will be completely
// optimized out by the compiler.
//#define EKF_DEBUG
#ifdef EKF_DEBUG
#include <stdio.h>
static void
ekf_debug_print(const char *fmt, va_list args)
{
fprintf(stderr, "%s: ", "[ekf]");
vfprintf(stderr, fmt, args);
fprintf(stderr, "\n");
}
void
ekf_debug(const char *fmt, ...)
{
va_list args;
va_start(args, fmt);
ekf_debug_print(fmt, args);
}
#else
void ekf_debug(const char *fmt, ...) { while(0){} }
#endif
float Vector3f::length(void) const
{
return sqrt(x*x + y*y + z*z);
}
void Vector3f::zero(void)
{
x = 0.0f;
y = 0.0f;
z = 0.0f;
}
Mat3f::Mat3f() {
identity();
}
void Mat3f::identity() {
x.x = 1.0f;
x.y = 0.0f;
x.z = 0.0f;
y.x = 0.0f;
y.y = 1.0f;
y.z = 0.0f;
z.x = 0.0f;
z.y = 0.0f;
z.z = 1.0f;
}
Mat3f Mat3f::transpose(void) const
{
Mat3f ret = *this;
swap_var(ret.x.y, ret.y.x);
swap_var(ret.x.z, ret.z.x);
swap_var(ret.y.z, ret.z.y);
return ret;
}
// overload + operator to provide a vector addition
Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2)
{
Vector3f vecOut;
vecOut.x = vecIn1.x + vecIn2.x;
vecOut.y = vecIn1.y + vecIn2.y;
vecOut.z = vecIn1.z + vecIn2.z;
return vecOut;
}
// overload - operator to provide a vector subtraction
Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2)
{
Vector3f vecOut;
vecOut.x = vecIn1.x - vecIn2.x;
vecOut.y = vecIn1.y - vecIn2.y;
vecOut.z = vecIn1.z - vecIn2.z;
return vecOut;
}
// overload * operator to provide a matrix vector product
Vector3f operator*( Mat3f matIn, Vector3f vecIn)
{
Vector3f vecOut;
vecOut.x = matIn.x.x*vecIn.x + matIn.x.y*vecIn.y + matIn.x.z*vecIn.z;
vecOut.y = matIn.y.x*vecIn.x + matIn.y.y*vecIn.y + matIn.y.z*vecIn.z;
vecOut.z = matIn.x.x*vecIn.x + matIn.z.y*vecIn.y + matIn.z.z*vecIn.z;
return vecOut;
}
// overload % operator to provide a vector cross product
Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2)
{
Vector3f vecOut;
vecOut.x = vecIn1.y*vecIn2.z - vecIn1.z*vecIn2.y;
vecOut.y = vecIn1.z*vecIn2.x - vecIn1.x*vecIn2.z;
vecOut.z = vecIn1.x*vecIn2.y - vecIn1.y*vecIn2.x;
return vecOut;
}
// overload * operator to provide a vector scaler product
Vector3f operator*(Vector3f vecIn1, float sclIn1)
{
Vector3f vecOut;
vecOut.x = vecIn1.x * sclIn1;
vecOut.y = vecIn1.y * sclIn1;
vecOut.z = vecIn1.z * sclIn1;
return vecOut;
}
// overload * operator to provide a vector scaler product
Vector3f operator*(float sclIn1, Vector3f vecIn1)
{
Vector3f vecOut;
vecOut.x = vecIn1.x * sclIn1;
vecOut.y = vecIn1.y * sclIn1;
vecOut.z = vecIn1.z * sclIn1;
return vecOut;
}
void swap_var(float &d1, float &d2)
{
float tmp = d1;
d1 = d2;
d2 = tmp;
}
src/modules/ekf_att_pos_estimator/estimator_utilities.h
+82
View File
@@ -0,0 +1,82 @@
#include <math.h>
#include <stdint.h>
#pragma once
#define GRAVITY_MSS 9.80665f
#define deg2rad 0.017453292f
#define rad2deg 57.295780f
#define pi 3.141592657f
#define earthRate 0.000072921f
#define earthRadius 6378145.0
#define earthRadiusInv 1.5678540e-7
class Vector3f
{
private:
public:
float x;
float y;
float z;
float length(void) const;
void zero(void);
};
class Mat3f
{
private:
public:
Vector3f x;
Vector3f y;
Vector3f z;
Mat3f();
void identity();
Mat3f transpose(void) const;
};
Vector3f operator*(float sclIn1, Vector3f vecIn1);
Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2);
Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2);
Vector3f operator*( Mat3f matIn, Vector3f vecIn);
Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2);
Vector3f operator*(Vector3f vecIn1, float sclIn1);
void swap_var(float &d1, float &d2);
enum GPS_FIX {
GPS_FIX_NOFIX = 0,
GPS_FIX_2D = 2,
GPS_FIX_3D = 3
};
struct ekf_status_report {
bool error;
bool velHealth;
bool posHealth;
bool hgtHealth;
bool velTimeout;
bool posTimeout;
bool hgtTimeout;
bool imuTimeout;
uint32_t velFailTime;
uint32_t posFailTime;
uint32_t hgtFailTime;
float states[32];
unsigned n_states;
bool angNaN;
bool summedDelVelNaN;
bool KHNaN;
bool KHPNaN;
bool PNaN;
bool covarianceNaN;
bool kalmanGainsNaN;
bool statesNaN;
bool gyroOffsetsExcessive;
bool covariancesExcessive;
bool velOffsetExcessive;
};
void ekf_debug(const char *fmt, ...);
src/modules/ekf_att_pos_estimator/module.mk
+2 -1
View File
@@ -39,4 +39,5 @@ MODULE_COMMAND = ekf_att_pos_estimator
SRCS = ekf_att_pos_estimator_main.cpp \
ekf_att_pos_estimator_params.c \
estimator.cpp
estimator_23states.cpp \
estimator_utilities.cpp
src/modules/fw_att_control/fw_att_control_main.cpp
+9 -2
View File
@@ -707,14 +707,21 @@ FixedwingAttitudeControl::task_main()
float throttle_sp = 0.0f;
if (_vcontrol_mode.flag_control_velocity_enabled || _vcontrol_mode.flag_control_position_enabled) {
/* read in attitude setpoint from attitude setpoint uorb topic */
roll_sp = _att_sp.roll_body + _parameters.rollsp_offset_rad;
pitch_sp = _att_sp.pitch_body + _parameters.pitchsp_offset_rad;
throttle_sp = _att_sp.thrust;
/* reset integrals where needed */
if (_att_sp.roll_reset_integral)
if (_att_sp.roll_reset_integral) {
_roll_ctrl.reset_integrator();
}
if (_att_sp.pitch_reset_integral) {
_pitch_ctrl.reset_integrator();
}
if (_att_sp.yaw_reset_integral) {
_yaw_ctrl.reset_integrator();
}
} else {
/*
* Scale down roll and pitch as the setpoints are radians
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+178 -116
View File
File diff suppressed because it is too large Load Diff
src/modules/fw_pos_control_l1/module.mk
+4 -1
View File
@@ -39,4 +39,7 @@ MODULE_COMMAND = fw_pos_control_l1
SRCS = fw_pos_control_l1_main.cpp \
fw_pos_control_l1_params.c \
landingslope.cpp
landingslope.cpp \
mtecs/mTecs.cpp \
mtecs/limitoverride.cpp \
mtecs/mTecs_params.c
src/modules/fw_pos_control_l1/mtecs/limitoverride.cpp
+71
View File
@@ -0,0 +1,71 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file limitoverride.cpp
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "limitoverride.h"
namespace fwPosctrl {
bool LimitOverride::applyOverride(BlockOutputLimiter &outputLimiterThrottle,
BlockOutputLimiter &outputLimiterPitch)
{
bool ret = false;
if (overrideThrottleMinEnabled) {
outputLimiterThrottle.setMin(overrideThrottleMin);
ret = true;
}
if (overrideThrottleMaxEnabled) {
outputLimiterThrottle.setMax(overrideThrottleMax);
ret = true;
}
if (overridePitchMinEnabled) {
outputLimiterPitch.setMin(overridePitchMin);
ret = true;
}
if (overridePitchMaxEnabled) {
outputLimiterPitch.setMax(overridePitchMax);
ret = true;
}
return ret;
}
} /* namespace fwPosctrl */
src/modules/fw_pos_control_l1/mtecs/limitoverride.h
+107
View File
@@ -0,0 +1,107 @@
/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file limitoverride.h
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#ifndef LIMITOVERRIDE_H_
#define LIMITOVERRIDE_H_
#include "mTecs_blocks.h"
namespace fwPosctrl
{
/* A small class which provides helper functions to override control output limits which are usually set by
* parameters in special cases
*/
class LimitOverride
{
public:
LimitOverride() :
overrideThrottleMinEnabled(false),
overrideThrottleMaxEnabled(false),
overridePitchMinEnabled(false),
overridePitchMaxEnabled(false)
{};
~LimitOverride() {};
/*
* Override the limits of the outputlimiter instances given by the arguments with the limits saved in
* this class (if enabled)
* @return true if the limit was applied
*/
bool applyOverride(BlockOutputLimiter &outputLimiterThrottle,
BlockOutputLimiter &outputLimiterPitch);
/* Functions to enable or disable the override */
void enableThrottleMinOverride(float value) { enable(&overrideThrottleMinEnabled,
&overrideThrottleMin, value); }
void disableThrottleMinOverride() { disable(&overrideThrottleMinEnabled); }
void enableThrottleMaxOverride(float value) { enable(&overrideThrottleMaxEnabled,
&overrideThrottleMax, value); }
void disableThrottleMaxOverride() { disable(&overrideThrottleMaxEnabled); }
void enablePitchMinOverride(float value) { enable(&overridePitchMinEnabled,
&overridePitchMin, value); }
void disablePitchMinOverride() { disable(&overridePitchMinEnabled); }
void enablePitchMaxOverride(float value) { enable(&overridePitchMaxEnabled,
&overridePitchMax, value); }
void disablePitchMaxOverride() { disable(&overridePitchMaxEnabled); }
protected:
bool overrideThrottleMinEnabled;
float overrideThrottleMin;
bool overrideThrottleMaxEnabled;
float overrideThrottleMax;
bool overridePitchMinEnabled;
float overridePitchMin; //in degrees (replaces param values)
bool overridePitchMaxEnabled;
float overridePitchMax; //in degrees (replaces param values)
/* Enable a specific limit override */
void enable(bool *flag, float *limit, float value) { *flag = true; *limit = value; };
/* Disable a specific limit override */
void disable(bool *flag) { *flag = false; };
};
} /* namespace fwPosctrl */
#endif /* LIMITOVERRIDE_H_ */

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