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Code Issues Releases Activity

LP-490 re-introduce correct mag handling (scaling to unit vector) in insgps13state

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This commit is contained in:
Eric Price 2017-03-02 10:57:00 +01:00
parent e62cf039fb
commit 23e50ae5f8
1 changed files with 16 additions and 28 deletions
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44
flight/libraries/insgps13state.c
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@ -280,11 +280,14 @@ void INSSetGyroBiasVar(const float gyro_bias_var[3])
ekf.Q[8] = gyro_bias_var[2]; ekf.Q[8] = gyro_bias_var[2];
} }
void INSSetMagVar(const float scaled_mag_var[3]) void INSSetMagVar(const float mag_var[3])
{ {
ekf.R[6] = scaled_mag_var[0]; // scale variance down to unit vector
ekf.R[7] = scaled_mag_var[1]; float invBmag = invsqrtf(mag_var[0] * mag_var[0] + mag_var[1] * mag_var[1] + mag_var[2] * mag_var[2]);
ekf.R[8] = scaled_mag_var[2];
ekf.R[6] = mag_var[0] * invBmag;
ekf.R[7] = mag_var[1] * invBmag;
ekf.R[8] = mag_var[2] * invBmag;
} }
void INSSetBaroVar(float baro_var) void INSSetBaroVar(float baro_var)
@ -294,9 +297,11 @@ void INSSetBaroVar(float baro_var)
void INSSetMagNorth(const float B[3]) void INSSetMagNorth(const float B[3])
{ {
ekf.Be[0] = B[0]; float invmag = invsqrtf(B[0] * B[0] + B[1] * B[1] + B[2] * B[2]);
ekf.Be[1] = B[1];
ekf.Be[2] = B[2]; ekf.Be[0] = B[0] * invmag;
ekf.Be[1] = B[1] * invmag;
ekf.Be[2] = B[2] * invmag;
} }
void INSStatePrediction(const float gyro_data[3], const float accel_data[3], float dT) void INSStatePrediction(const float gyro_data[3], const float accel_data[3], float dT)
@ -403,27 +408,10 @@ void INSCorrection(const float mag_data[3], const float Pos[3], const float Vel[
if (SensorsUsed & MAG_SENSORS) { if (SensorsUsed & MAG_SENSORS) {
// magnetometer data in any units (use unit vector) and in body frame // magnetometer data in any units (use unit vector) and in body frame
float Rbe_a[3][3]; float invBmag = invsqrtf(mag_data[0] * mag_data[0] + mag_data[1] * mag_data[1] + mag_data[2] * mag_data[2]);
float q0 = ekf.X[6]; Z[6] = mag_data[0] * invBmag;
float q1 = ekf.X[7]; Z[7] = mag_data[1] * invBmag;
float q2 = ekf.X[8]; Z[8] = mag_data[2] * invBmag;
float q3 = ekf.X[9];
float k1 = 1.0f / sqrtf(powf(q0 * q1 * 2.0f + q2 * q3 * 2.0f, 2.0f) + powf(q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3, 2.0f));
float k2 = sqrtf(-powf(q0 * q2 * 2.0f - q1 * q3 * 2.0f, 2.0f) + 1.0f);
Rbe_a[0][0] = k2;
Rbe_a[0][1] = 0.0f;
Rbe_a[0][2] = q0 * q2 * -2.0f + q1 * q3 * 2.0f;
Rbe_a[1][0] = k1 * (q0 * q1 * 2.0f + q2 * q3 * 2.0f) * (q0 * q2 * 2.0f - q1 * q3 * 2.0f);
Rbe_a[1][1] = k1 * (q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3);
Rbe_a[1][2] = k1 * sqrtf(-powf(q0 * q2 * 2.0f - q1 * q3 * 2.0f, 2.0f) + 1.0f) * (q0 * q1 * 2.0f + q2 * q3 * 2.0f);
Rbe_a[2][0] = k1 * (q0 * q2 * 2.0f - q1 * q3 * 2.0f) * (q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3);
Rbe_a[2][1] = -k1 * (q0 * q1 * 2.0f + q2 * q3 * 2.0f);
Rbe_a[2][2] = k1 * k2 * (q0 * q0 - q1 * q1 - q2 * q2 + q3 * q3);
Z[6] = Rbe_a[0][0] * mag_data[0] + Rbe_a[1][0] * mag_data[1] + Rbe_a[2][0] * mag_data[2];
Z[7] = Rbe_a[0][1] * mag_data[0] + Rbe_a[1][1] * mag_data[1] + Rbe_a[2][1] * mag_data[2];
Z[8] = Rbe_a[0][2] * mag_data[0] + Rbe_a[1][2] * mag_data[1] + Rbe_a[2][2] * mag_data[2];
} }
// barometric altimeter in meters and in local NED frame // barometric altimeter in meters and in local NED frame