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Code Issues Releases Activity

LP-613 Add velocity heading to Complementary+GPS

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This commit is contained in:
Laurent Lalanne 2019-04-20 12:16:47 +02:00
parent 906a882f97
commit a16e5a5257
3 changed files with 62 additions and 7 deletions
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64
flight/modules/StateEstimation/filtercf.c
View File

@ -64,13 +64,16 @@ struct data {
HomeLocationData homeLocation;
bool first_run;
bool useMag;
bool useVelHeading;
float currentAccel[3];
float currentMag[3];
float currentVelHeading[2];
float accels_filtered[3];
float grot_filtered[3];
float gyroBias[3];
bool accelUpdated;
bool magUpdated;
bool velheadingUpdated;
float accel_alpha;
bool accel_filter_enabled;
float rollPitchBiasRate;
@ -90,9 +93,10 @@ static FlightStatusData flightStatus;
static int32_t initwithmag(stateFilter *self);
static int32_t initwithoutmag(stateFilter *self);
static int32_t initwithvelheading(stateFilter *self);
static int32_t maininit(stateFilter *self);
static filterResult filter(stateFilter *self, stateEstimation *state);
static filterResult complementaryFilter(struct data *this, float gyro[3], float accel[3], float mag[3], float attitude[4]);
static filterResult complementaryFilter(struct data *this, float gyro[3], float accel[3], float mag[3], float velheading[2], float attitude[4]);
static void flightStatusUpdatedCb(UAVObjEvent *ev);
@ -118,6 +122,15 @@ int32_t filterCFInitialize(stateFilter *handle)
return STACK_REQUIRED;
}
int32_t filterCFHInitialize(stateFilter *handle)
{
globalInit();
handle->init = &initwithvelheading;
handle->filter = &filter;
handle->localdata = pios_malloc(sizeof(struct data));
return STACK_REQUIRED;
}
int32_t filterCFMInitialize(stateFilter *handle)
{
globalInit();
@ -132,6 +145,16 @@ static int32_t initwithmag(stateFilter *self)
struct data *this = (struct data *)self->localdata;
this->useMag = 1;
this->useVelHeading = 0;
return maininit(self);
}
static int32_t initwithvelheading(stateFilter *self)
{
struct data *this = (struct data *)self->localdata;
this->useMag = 0;
this->useVelHeading = 1;
return maininit(self);
}
@ -140,6 +163,7 @@ static int32_t initwithoutmag(stateFilter *self)
struct data *this = (struct data *)self->localdata;
this->useMag = 0;
this->useVelHeading = 0;
return maininit(self);
}
@ -184,6 +208,11 @@ static filterResult filter(stateFilter *self, stateEstimation *state)
this->currentMag[1] = state->mag[1];
this->currentMag[2] = state->mag[2];
}
if (IS_SET(state->updated, SENSORUPDATES_vel)) {
this->velheadingUpdated = 1;
this->currentVelHeading[0] = sqrtf(state->vel[0] * state->vel[0] + state->vel[1] * state->vel[1]);
this->currentVelHeading[1] = RAD2DEG(atan2f(-state->vel[1], -state->vel[0])) + 180.0f;
}
if (IS_SET(state->updated, SENSORUPDATES_accel)) {
this->accelUpdated = 1;
this->currentAccel[0] = state->accel[0];
@ -193,7 +222,7 @@ static filterResult filter(stateFilter *self, stateEstimation *state)
if (IS_SET(state->updated, SENSORUPDATES_gyro)) {
if (this->accelUpdated) {
float attitude[4];
result = complementaryFilter(this, state->gyro, this->currentAccel, this->currentMag, attitude);
result = complementaryFilter(this, state->gyro, this->currentAccel, this->currentMag, this->currentVelHeading, attitude);
if (result == FILTERRESULT_OK) {
state->attitude[0] = attitude[0];
state->attitude[1] = attitude[1];
@ -203,6 +232,7 @@ static filterResult filter(stateFilter *self, stateEstimation *state)
}
this->accelUpdated = 0;
this->magUpdated = 0;
this->velheadingUpdated = 0;
}
}
return result;
@ -222,7 +252,7 @@ static inline void apply_accel_filter(const struct data *this, const float *raw,
}
}
static filterResult complementaryFilter(struct data *this, float gyro[3], float accel[3], float mag[3], float attitude[4])
static filterResult complementaryFilter(struct data *this, float gyro[3], float accel[3], float mag[3], float velheading[2], float attitude[4])
{
float dT;
@ -396,7 +426,7 @@ static filterResult complementaryFilter(struct data *this, float gyro[3], float
accel_err[2] /= (accel_mag * grot_mag);
float mag_err[3] = { 0.0f };
if (this->magUpdated && this->useMag) {
if (this->magUpdated && this->useMag && !this->useVelHeading) {
// Rotate gravity to body frame and cross with accels
float brot[3];
float Rbe[3][3];
@ -421,6 +451,28 @@ static filterResult complementaryFilter(struct data *this, float gyro[3], float
} else {
CrossProduct((const float *)mag, (const float *)brot, mag_err);
}
} else if (this->velheadingUpdated && this->useVelHeading) {
if (velheading[0] > 3.0f) { // ~11kmh
float rpy[3];
Quaternion2RPY(attitude, rpy);
// find shortest way
float modulo = fmodf((velheading[1] - rpy[2]) + 180.0f, 360.0f);
if (modulo < 0) {
modulo += 180.0f;
} else {
modulo -= 180.0f;
}
/* From dRonin: The 0.008 is chosen to put things in a somewhat similar scale
* to the cross product. A 45 degree heading error will become
* a 7 deg/sec correction, so it neither takes forever to
* correct nor does a second of bad heading data screw us up
* too badly.
*/
mag_err[2] = modulo * 0.008f;
} else {
mag_err[0] = mag_err[1] = mag_err[2] = 0.0f;
}
} else {
mag_err[0] = mag_err[1] = mag_err[2] = 0.0f;
}
@ -433,7 +485,7 @@ static filterResult complementaryFilter(struct data *this, float gyro[3], float
// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
this->gyroBias[0] -= accel_err[0] * this->attitudeSettings.AccelKi - gyro[0] * this->rollPitchBiasRate;
this->gyroBias[1] -= accel_err[1] * this->attitudeSettings.AccelKi - gyro[1] * this->rollPitchBiasRate;
if (this->useMag) {
if (this->useMag || this->useVelHeading) {
this->gyroBias[2] -= mag_err[2] * this->attitudeSettings.MagKi - gyro[2] * this->rollPitchBiasRate;
} else {
this->gyroBias[2] -= -gyro[2] * this->rollPitchBiasRate;
@ -443,7 +495,7 @@ static filterResult complementaryFilter(struct data *this, float gyro[3], float
// Correct rates based on proportional coefficient
gyrotmp[0] += accel_err[0] * this->attitudeSettings.AccelKp / dT;
gyrotmp[1] += accel_err[1] * this->attitudeSettings.AccelKp / dT;
if (this->useMag) {
if (this->useMag || this->useVelHeading) {
gyrotmp[2] += accel_err[2] * this->attitudeSettings.AccelKp / dT + mag_err[2] * this->attitudeSettings.MagKp / dT;
} else {
gyrotmp[2] += accel_err[2] * this->attitudeSettings.AccelKp / dT;

1
flight/modules/StateEstimation/inc/stateestimation.h
View File

@ -95,6 +95,7 @@ int32_t filterAirInitialize(stateFilter *handle);
int32_t filterStationaryInitialize(stateFilter *handle);
int32_t filterLLAInitialize(stateFilter *handle);
int32_t filterCFInitialize(stateFilter *handle);
int32_t filterCFHInitialize(stateFilter *handle);
int32_t filterCFMInitialize(stateFilter *handle);
int32_t filterEKF13iInitialize(stateFilter *handle);
int32_t filterEKF13Initialize(stateFilter *handle);

4
flight/modules/StateEstimation/stateestimation.c
View File

@ -154,6 +154,7 @@ static stateFilter airFilter;
static stateFilter stationaryFilter;
static stateFilter llaFilter;
static stateFilter cfFilter;
static stateFilter cfhFilter;
static stateFilter cfmFilter;
static stateFilter ekf13iFilter;
static stateFilter ekf13Filter;
@ -193,7 +194,7 @@ static const filterPipeline *cfgpsQueue = &(filterPipeline) {
.next = &(filterPipeline) {
.filter = &altitudeFilter,
.next = &(filterPipeline) {
.filter = &cfFilter,
.filter = &cfhFilter,
.next = NULL,
}
}
@ -382,6 +383,7 @@ int32_t StateEstimationInitialize(void)
stack_required = maxint32_t(stack_required, filterStationaryInitialize(&stationaryFilter));
stack_required = maxint32_t(stack_required, filterLLAInitialize(&llaFilter));
stack_required = maxint32_t(stack_required, filterCFInitialize(&cfFilter));
stack_required = maxint32_t(stack_required, filterCFHInitialize(&cfhFilter));
stack_required = maxint32_t(stack_required, filterCFMInitialize(&cfmFilter));
stack_required = maxint32_t(stack_required, filterEKF13iInitialize(&ekf13iFilter));
stack_required = maxint32_t(stack_required, filterEKF13Initialize(&ekf13Filter));