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Code Issues Releases Activity

first filter implemented and some bugs fixed

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This commit is contained in:
Corvus Corax 2013-05-19 21:44:33 +02:00
parent b62c758831
commit bc6f06e943
4 changed files with 111 additions and 123 deletions
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232
flight/modules/StateEstimation/stateestimation.c
View File

@ -29,48 +29,7 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
// TODO goes in header
typedef enum {
gyr_UPDATED = 1 << 0,
acc_UPDATED = 1 << 1,
mag_UPDATED = 1 << 2,
pos_UPDATED = 1 << 3,
vel_UPDATED = 1 << 4,
air_UPDATED = 1 << 5,
bar_UPDATED = 1 << 6,
} sensorUpdates;
typedef struct {
float gyr[3];
float acc[3];
float mag[3];
float pos[3];
float vel[3];
float air[2];
float bar[1];
sensorUpdates updated;
} stateEstimation;
#define ISSET(bitfield, bit) ((bitfield) & (bit) ? 1 : 0)
#define UNSET(bitfield, bit) (bitfield) &= ~(bit)
typedef struct stateFilterStruct {
int32_t (*init)(void);
int32_t (*filter)(stateEstimation *state);
} stateFilter;
struct filterQueueStruct;
typedef struct filterQueueStruct {
stateFilter *filter;
struct filterQueueStruct *next;
} filtereQueue;
//
#include <openpilot.h>
#include "inc/stateestimation.h"
#include <gyrosensor.h>
#include <accelsensor.h>
@ -92,18 +51,24 @@ typedef struct filterQueueStruct {
#include "homelocation.h"
#include "flightstatus.h"
#include "CoordinateConversions.h"
// #include "CoordinateConversions.h"
// Private constants
#define STACK_SIZE_BYTES 2048
#define CALLBACK_PRIORITY CALLBACK_PRIORITY_HIGH
#define TASK_PRIORITY CALLBACK_TASKPRIORITY_FLIGHTCONTROL
#define CALLBACK_PRIORITY CALLBACK_PRIORITY_REGULAR
#define TASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
#define TIMEOUT_MS 100
// Private types
struct filterQueueStruct;
typedef struct filterQueueStruct {
stateFilter *filter;
struct filterQueueStruct *next;
} filterQueue;
// Private variables
static xTaskHandle attitudeTaskHandle;
static DelayedCallbackInfo *stateEstimationCallback;
static volatile RevoSettingsData revoSettings;
@ -114,54 +79,54 @@ static int32_t fusionAlgorithm = -1;
static filterQueue *filterChain = NULL;
// different filters available to state estimation
static stateFilter *magFilter;
static stateFilter *baroFilter;
static stateFilter *airFilter;
static stateFilter *stationaryFilter;
static stateFilter *cfFilter;
static stateFilter *cfmFilter;
static stateFilter *ekf13iFilter;
static stateFilter *ekf13Filter;
static stateFilter *ekf16Filter;
static stateFilter *ekf16iFilter;
static stateFilter magFilter;
static stateFilter baroFilter;
static stateFilter airFilter;
static stateFilter stationaryFilter;
static stateFilter cfFilter;
static stateFilter cfmFilter;
static stateFilter ekf13iFilter;
static stateFilter ekf13Filter;
static stateFilter ekf16Filter;
static stateFilter ekf16iFilter;
// preconfigured filter chains selectable via revoSettings.FusionAlgorithm
static const filterQueue *cfQueue = &(filterQueue) {
.filter = magFilter,
.filter = &magFilter,
.next = &(filterQueue) {
.filter = baroFilter,
.filter = &baroFilter,
.next = &(filterQueue) {
.filter = airFilter,
.filter = &airFilter,
.next = &(filterQueue) {
.filter = cfFilter,
.filter = &cfFilter,
.next = NULL,
}
},
}
}
};
static const filterQueue *cfmQueue = &(filterQueue) {
.filter = magFilter,
.filter = &magFilter,
.next = &(filterQueue) {
.filter = baroFilter,
.filter = &baroFilter,
.next = &(filterQueue) {
.filter = airFilter,
.filter = &airFilter,
.next = &(filterQueue) {
.filter = cfmFilter,
.filter = &cfmFilter,
.next = NULL,
}
}
}
};
static const filterQueue *ekf13iQueue = &(filterQueue) {
.filter = magFilter,
.filter = &magFilter,
.next = &(filterQueue) {
.filter = baroFilter,
.filter = &baroFilter,
.next = &(filterQueue) {
.filter = stationaryFilter,
.filter = &stationaryFilter,
.next = &(filterQueue) {
.filter = airFilter,
.filter = &airFilter,
.next = &(filterQueue) {
.filter = ekf13iFilter,
.filter = &ekf13iFilter,
.next = NULL,
}
}
@ -169,28 +134,28 @@ static const filterQueue *ekf13iQueue = &(filterQueue) {
}
};
static const filterQueue *ekf13Queue = &(filterQueue) {
.filter = magFilter,
.filter = &magFilter,
.next = &(filterQueue) {
.filter = baroFilter,
.filter = &baroFilter,
.next = &(filterQueue) {
.filter = airFilter,
.filter = &airFilter,
.next = &(filterQueue) {
.filter = ekf13Filter,
.filter = &ekf13Filter,
.next = NULL,
}
}
}
};
static const filterQueue *ekf16iQueue = &(filterQueue) {
.filter = magFilter,
.filter = &magFilter,
.next = &(filterQueue) {
.filter = baroFilter,
.filter = &baroFilter,
.next = &(filterQueue) {
.filter = stationaryFilter,
.filter = &stationaryFilter,
.next = &(filterQueue) {
.filter = airFilter,
.filter = &airFilter,
.next = &(filterQueue) {
.filter = ekf16iFilter,
.filter = &ekf16iFilter,
.next = NULL,
}
}
@ -198,13 +163,13 @@ static const filterQueue *ekf16iQueue = &(filterQueue) {
}
};
static const filterQueue *ekf16Queue = &(filterQueue) {
.filter = magFilter,
.filter = &magFilter,
.next = &(filterQueue) {
.filter = baroFilter,
.filter = &baroFilter,
.next = &(filterQueue) {
.filter = airFilter,
.filter = &airFilter,
.next = &(filterQueue) {
.filter = ekf16Filter,
.filter = &ekf16Filter,
.next = NULL,
}
}
@ -217,6 +182,7 @@ static void settingsUpdatedCb(UAVObjEvent *objEv);
static void sensorUpdatedCb(UAVObjEvent *objEv);
static void StateEstimationCb(void);
static void getNED(GPSPositionData *gpsPosition, float *NED);
static float sane(float value);
/**
@ -255,16 +221,16 @@ int32_t StateEstimationStart(void)
settingsUpdatedCb(NULL);
// Initialize Filters
magFilter = filterMagInitialize();
baroFilter = filterBaroInitialize();
airFilter = filterAirInitialize();
stationaryFilter = filterStationaryInitialize();
cfFilter = filterCFInitialize();
cfmFilter = filterCFMInitialize();
ekf13iFilter = filterEKF13iInitialize();
ekf13Filter = filterEKF13Initialize();
ekf16Filter = filterEKF16Initialize();
ekf16iFilter = filterEKF16iInitialize();
filterMagInitialize(&magFilter);
filterBaroInitialize(&baroFilter);
filterAirInitialize(&airFilter);
filterStationaryInitialize(&stationaryFilter);
filterCFInitialize(&cfFilter);
filterCFMInitialize(&cfmFilter);
filterEKF13iInitialize(&ekf13iFilter);
filterEKF13Initialize(&ekf13Filter);
filterEKF16Initialize(&ekf16Filter);
filterEKF16iInitialize(&ekf16iFilter);
return 0;
}
@ -280,57 +246,57 @@ static void StateEstimationCb(void)
uint8_t alarm = 0;
// set alarm to warning if called through timeout
if (updatedSensor == 0) {
if (updatedSensors == 0) {
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_WARNING);
alarm = 1;
}
// check if a new filter chain should be initialized
if (fusionAlgorithm != revoSettings.fusionAlgorithm) {
if (fusionAlgorithm != revoSettings.FusionAlgorithm) {
FlightStatusData fs;
FlightStatusGet(&fs);
if (fs.Armed == FLIGHTSTATUS_ARMED_DISARMED || fusionAlgorithm == -1) {
filterQueue *newFilterChain;
switch (fusionAlgorithm) {
case REVOSETTINGS.FUSIONALGORITHM_COMPLEMENTARY:
const filterQueue *newFilterChain;
switch (revoSettings.FusionAlgorithm) {
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARY:
newFilterChain = cfQueue;
break;
case REVOSETTINGS.FUSIONALGORITHM_COMPLEMENTARYMAG:
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARYMAG:
newFilterChain = cfmQueue;
break;
case REVOSETTINGS.FUSIONALGORITHM_INS13INDOOR:
case REVOSETTINGS_FUSIONALGORITHM_INS13INDOOR:
newFilterChain = ekf13iQueue;
break;
case REVOSETTINGS.FUSIONALGORITHM_INS13OUTDOOR:
case REVOSETTINGS_FUSIONALGORITHM_INS13OUTDOOR:
newFilterChain = ekf13Queue;
break;
case REVOSETTINGS.FUSIONALGORITHM_INS16INDOOR:
case REVOSETTINGS_FUSIONALGORITHM_INS16INDOOR:
newFilterChain = ekf16iQueue;
break;
case REVOSETTINGS.FUSIONALGORITHM_INS16OUTDOOR:
case REVOSETTINGS_FUSIONALGORITHM_INS16OUTDOOR:
newFilterChain = ekf16Queue;
break;
default:
newFilterChain = NULL;
}
// initialize filters in chain
filterQueue *current = newFilterChain;
filterQueue *current = (filterQueue *)newFilterChain;
bool error = 0;
while (current != NULL) {
int32_t result = current.init();
int32_t result = current->filter->init();
if (result != 0) {
error = 1;
break;
}
current = current.next;
current = current->next;
}
if (error) {
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
return;
} else {
// set new fusion algortithm
filterChain = newFilterChain;
fustionAlgorithm = revoSettings.fusionAlgorithm;
filterChain = (filterQueue *)newFilterChain;
fusionAlgorithm = revoSettings.FusionAlgorithm;
}
}
}
@ -344,7 +310,7 @@ static void StateEstimationCb(void)
#define SANITYCHECK3(sensorname, shortname, a1, a2, a3) \
if (ISSET(states.updated, shortname##_UPDATED)) { \
sensorname##Data s; \
sensorname##GET(&s); \
sensorname##Get(&s); \
if (sane(s.a1) && sane(s.a2) && sane(s.a3)) { \
states.shortname[0] = s.a1; \
states.shortname[1] = s.a2; \
@ -361,7 +327,7 @@ static void StateEstimationCb(void)
#define SANITYCHECK1(sensorname, shortname, a1, EXTRACHECK) \
if (ISSET(states.updated, shortname##_UPDATED)) { \
sensorname##Data s; \
sensorname##GET(&s); \
sensorname##Get(&s); \
if (sane(s.a1) && EXTRACHECK) { \
states.shortname[0] = s.a1; \
} \
@ -386,14 +352,14 @@ static void StateEstimationCb(void)
// at this point sensor state is stored in "states" with some rudimentary filtering applied
// apply all filters in the current filter chain
filterQueue *current = filterChain;
filterQueue *current = (filterQueue *)filterChain;
bool error = 0;
while (current != NULL) {
int32_t result = current.filter(&states);
int32_t result = current->filter->filter(&states);
if (result != 0) {
error = 1;
}
current = current.next;
current = current->next;
}
if (error) {
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
@ -403,11 +369,11 @@ static void StateEstimationCb(void)
#define STORE3(statename, shortname, a1, a2, a3) \
if (ISSET(states.updated, shortname##_UPDATED)) { \
statename##Data s; \
statename##GET(&s); \
statename##Get(&s); \
s.a1 = states.shortname[0]; \
s.a2 = states.shortname[1]; \
s.a3 = states.shortname[2]; \
statename##SET(&s); \
statename##Set(&s); \
}
STORE3(GyroState, gyr, x, y, z);
STORE3(AccelState, acc, x, y, z);
@ -417,19 +383,18 @@ static void StateEstimationCb(void)
#define STORE2(statename, shortname, a1, a2) \
if (ISSET(states.updated, shortname##_UPDATED)) { \
statename##Data s; \
statename##GET(&s); \
statename##Get(&s); \
s.a1 = states.shortname[0]; \
s.a2 = states.shortname[1]; \
s.a3 = states.shortname[2]; \
statename##SET(&s); \
statename##Set(&s); \
}
STORE2(AirspeedState, air, CalibratedAirspeed, TrueAirspeed);
#define STORE1(statename, shortname, a1) \
if (ISSET(states.updated, shortname##_UPDATED)) { \
statename##Data s; \
statename##GET(&s); \
statename##Get(&s); \
s.a1 = states.shortname[0]; \
statename##SET(&s); \
statename##Set(&s); \
}
STORE1(BaroState, bar, Altitude);
@ -438,12 +403,16 @@ static void StateEstimationCb(void)
if (!alarm) {
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
}
DelayedCallbackSchedule(stateEstimationCallback, TIMEOUT_MS, UPDATEMODE_SOONER);
DelayedCallbackSchedule(stateEstimationCallback, TIMEOUT_MS, CALLBACK_UPDATEMODE_SOONER);
}
/**
* Callback for eventdispatcher when HomeLocation or RevoSettings has been updated
*/
static void settingsUpdatedCb(UAVObjEvent *ev)
{
HomeLocationGet(&homeLocation);
HomeLocationGet((HomeLocationData *)&homeLocation);
if (sane(homeLocation.Latitude) && sane(homeLocation.Longitude) && sane(homeLocation.Altitude) && sane(homeLocation.Be[0]) && sane(homeLocation.Be[1]) && sane(homeLocation.Be[2])) {
// Compute matrix to convert deltaLLA to NED
@ -459,9 +428,13 @@ static void settingsUpdatedCb(UAVObjEvent *ev)
// needed for long range flights where the reference coordinate is adjusted in flight
}
RevoSettingsGet(&revoSettings);
RevoSettingsGet((RevoSettingsData *)&revoSettings);
}
/**
* Callback for eventdispatcher when any sensor UAVObject has been updated
* updates the list of "recently updated UAVObjects" and dispatches the state estimator callback
*/
static void sensorUpdatedCb(UAVObjEvent *ev)
{
if (!ev) {
@ -519,6 +492,19 @@ static void getNED(GPSPositionData *gpsPosition, float *NED)
NED[2] = LLA2NEDM[2] * dL[2];
}
/**
* @brief sanity check for float values
* @note makes sure a float value is safe for further processing, ie not NAN and not INF
* @param[in] float value
* @returns true for safe and false for unsafe
*/
static float sane(float value)
{
if (isnan(value) || isinf(value)) {
return false;
}
return true;
}
/**
* @}

1
flight/targets/boards/simposix/firmware/Makefile
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@ -38,6 +38,7 @@ MODULES += VtolPathFollower
MODULES += CameraStab
MODULES += Telemetry
MODULES += FirmwareIAP
MODULES += StateEstimation
#MODULES += OveroSync
# Paths

1
flight/targets/boards/simposix/firmware/UAVObjects.inc
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@ -38,6 +38,7 @@ UAVOBJSRCFILENAMES += accelsensor
UAVOBJSRCFILENAMES += magnetosensor
UAVOBJSRCFILENAMES += magnetostate
UAVOBJSRCFILENAMES += barosensor
UAVOBJSRCFILENAMES += barostate
UAVOBJSRCFILENAMES += airspeedsensor
UAVOBJSRCFILENAMES += airspeedsettings
UAVOBJSRCFILENAMES += airspeedstate

0
shared/uavobjectdefinition/barostate.ekf → shared/uavobjectdefinition/barostate.xml
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