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Code Issues Releases Activity

Improve EKF initialization. For some reason we must read an extra mag sample

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when power up value of attitude algorithm is EKF.  I don't understand why the
first mag value is bad.
This commit is contained in:
James Cotton 2012-05-10 01:12:03 -05:00
parent 98655aacc8
commit 2ca3cde83f
1 changed files with 56 additions and 23 deletions
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79
flight/Modules/Attitude/revolution/attitude.c
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@ -495,7 +495,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
GyrosBiasData gyrosBias; GyrosBiasData gyrosBias;
HomeLocationData home; HomeLocationData home;
static bool mag_updated; static bool mag_updated = false;
static bool baro_updated; static bool baro_updated;
static bool gps_updated; static bool gps_updated;
static bool gps_vel_updated; static bool gps_vel_updated;
@ -511,11 +511,6 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
uint16_t sensors = 0; uint16_t sensors = 0;
float dT; float dT;
if (first_run) {
inited = false;
init_stage = 0;
}
// Wait until the gyro and accel object is updated, if a timeout then go to failsafe // Wait until the gyro and accel object is updated, if a timeout then go to failsafe
if ( (xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE) || if ( (xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE) ||
(xQueueReceive(accelQueue, &ev, 1 / portTICK_RATE_MS) != pdTRUE) ) (xQueueReceive(accelQueue, &ev, 1 / portTICK_RATE_MS) != pdTRUE) )
@ -536,6 +531,20 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
gps_updated |= (xQueueReceive(gpsQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE) && outdoor_mode; gps_updated |= (xQueueReceive(gpsQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE) && outdoor_mode;
gps_vel_updated |= (xQueueReceive(gpsVelQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE) && outdoor_mode; gps_vel_updated |= (xQueueReceive(gpsVelQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE) && outdoor_mode;
if (first_run) {
inited = false;
init_stage = 0;
mag_updated = 0;
baro_updated = 0;
gps_updated = 0;
gps_vel_updated = 0;
ins_last_time = PIOS_DELAY_GetRaw();
return 0;
}
// Get most recent data // Get most recent data
GyrosGet(&gyrosData); GyrosGet(&gyrosData);
AccelsGet(&accelsData); AccelsGet(&accelsData);
@ -570,22 +579,25 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
INSSetGyroVar(revoCalibration.gyro_var); INSSetGyroVar(revoCalibration.gyro_var);
INSSetBaroVar(revoCalibration.baro_var); INSSetBaroVar(revoCalibration.baro_var);
// Set initial attitude xQueueReceive(magQueue, &ev, 100 / portTICK_RATE_MS);
float rpy[3]; MagnetometerGet(&magData);
rpy[0] = atan2f(-accelsData.y, -accelsData.z) * 180.0f / F_PI;
rpy[1] = atan2f(accelsData.x, -accelsData.z) * 180.0f / F_PI;
rpy[2] = atan2f(-magData.y, magData.x) * 180.0f / F_PI;
RPY2Quaternion(rpy,q);
/*float Rbe[3][3];
float ge[3] = {0,0,-9.81f};
RotFrom2Vectors(&accelsData.x, ge, &magData.x, home.Be, Rbe);
R2Quaternion(Rbe,q);*/
// Set initial attitude
AttitudeActualData attitudeActual;
attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / F_PI;
attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / F_PI;
attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / F_PI;
RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1);
AttitudeActualSet(&attitudeActual);
q[0] = attitudeActual.q1;
q[1] = attitudeActual.q2;
q[2] = attitudeActual.q3;
q[3] = attitudeActual.q4;
INSSetState(pos, zeros, q, zeros, zeros); INSSetState(pos, zeros, q, zeros, zeros);
INSResetP(Pdiag); INSResetP(Pdiag);
} else if (init_stage == 0 && outdoor_mode) { } else if (init_stage == 0 && outdoor_mode) {
float Pdiag[16]={25.0f,25.0f,25.0f,5.0f,5.0f,5.0f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-4f,1e-4f,1e-4f}; float Pdiag[16]={25.0f,25.0f,25.0f,5.0f,5.0f,5.0f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-5f,1e-4f,1e-4f,1e-4f};
float rpy[3];
float q[4]; float q[4];
float NED[3]; float NED[3];
@ -604,21 +616,42 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
// Transform the GPS position into NED coordinates // Transform the GPS position into NED coordinates
getNED(&gpsPosition, NED); getNED(&gpsPosition, NED);
xQueueReceive(magQueue, &ev, 100 / portTICK_RATE_MS);
MagnetometerGet(&magData);
// Set initial attitude // Set initial attitude
rpy[0] = atan2f(-accelsData.y, -accelsData.z) * 180.0f / F_PI; AttitudeActualData attitudeActual;
rpy[1] = atan2f(accelsData.x, -accelsData.z) * 180.0f / F_PI; attitudeActual.Roll = atan2f(-accelsData.y, -accelsData.z) * 180.0f / F_PI;
rpy[2] = atan2f(-magData.y, magData.x) * 180.0f / F_PI; attitudeActual.Pitch = atan2f(accelsData.x, -accelsData.z) * 180.0f / F_PI;
RPY2Quaternion(rpy,q); attitudeActual.Yaw = atan2f(-magData.y, magData.x) * 180.0f / F_PI;
RPY2Quaternion(&attitudeActual.Roll,&attitudeActual.q1);
AttitudeActualSet(&attitudeActual);
q[0] = attitudeActual.q1;
q[1] = attitudeActual.q2;
q[2] = attitudeActual.q3;
q[3] = attitudeActual.q4;
INSSetState(NED, zeros, q, zeros, zeros); INSSetState(NED, zeros, q, zeros, zeros);
INSResetP(Pdiag); INSResetP(Pdiag);
} else if (init_stage > 0) { } else if (init_stage > 0) {
// Run prediction a bit before any corrections // Run prediction a bit before any corrections
dT = PIOS_DELAY_DiffuS(ins_last_time) / 1.0e6f;
GyrosBiasGet(&gyrosBias); GyrosBiasGet(&gyrosBias);
float gyros[3] = {(gyrosData.x + gyrosBias.x) * F_PI / 180.0f, float gyros[3] = {(gyrosData.x + gyrosBias.x) * F_PI / 180.0f,
(gyrosData.y + gyrosBias.y) * F_PI / 180.0f, (gyrosData.y + gyrosBias.y) * F_PI / 180.0f,
(gyrosData.z + gyrosBias.z) * F_PI / 180.0f}; (gyrosData.z + gyrosBias.z) * F_PI / 180.0f};
INSStatePrediction(gyros, &accelsData.x, 0.002f); INSStatePrediction(gyros, &accelsData.x, dT);
AttitudeActualData attitude;
AttitudeActualGet(&attitude);
attitude.q1 = Nav.q[0];
attitude.q2 = Nav.q[1];
attitude.q3 = Nav.q[2];
attitude.q4 = Nav.q[3];
Quaternion2RPY(&attitude.q1,&attitude.Roll);
AttitudeActualSet(&attitude);
} }
init_stage++; init_stage++;
@ -631,7 +664,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
} }
if (!inited) if (!inited)
return -1; return 0;
dT = PIOS_DELAY_DiffuS(ins_last_time) / 1.0e6f; dT = PIOS_DELAY_DiffuS(ins_last_time) / 1.0e6f;
ins_last_time = PIOS_DELAY_GetRaw(); ins_last_time = PIOS_DELAY_GetRaw();