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Get EKF running
This commit is contained in:
James Cotton
parent
ed7cbd5a6c
commit
fd8899018f
93
flight/Libraries/inc/insgps.h
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93
flight/Libraries/inc/insgps.h
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@ -0,0 +1,93 @@
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/**
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******************************************************************************
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* @addtogroup AHRS
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* @{
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* @addtogroup INSGPS
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* @{
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* @brief INSGPS is a joint attitude and position estimation EKF
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*
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* @file insgps.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Include file of the INSGPS exposed functionality.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef INSGPS_H_
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#define INSGPS_H_
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#include "stdint.h"
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/**
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* @addtogroup Constants
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* @{
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*/
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#define POS_SENSORS 0x007
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#define HORIZ_SENSORS 0x018
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#define VERT_SENSORS 0x020
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#define MAG_SENSORS 0x1C0
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#define BARO_SENSOR 0x200
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#define FULL_SENSORS 0x3FF
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/**
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* @}
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*/
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// Exposed Function Prototypes
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void INSGPSInit();
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void INSStatePrediction(float gyro_data[3], float accel_data[3], float dT);
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void INSCovariancePrediction(float dT);
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void INSCorrection(float mag_data[3], float Pos[3], float Vel[3], float BaroAlt, uint16_t SensorsUsed);
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void INSResetP(float PDiag[13]);
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void INSSetState(float pos[3], float vel[3], float q[4], float gyro_bias[3], float accel_bias[3]);
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void INSSetPosVelVar(float PosVar, float VelVar);
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void INSSetGyroBias(float gyro_bias[3]);
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void INSSetAccelVar(float accel_var[3]);
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void INSSetGyroVar(float gyro_var[3]);
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void INSSetMagNorth(float B[3]);
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void INSSetMagVar(float scaled_mag_var[3]);
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void INSPosVelReset(float pos[3], float vel[3]);
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void MagCorrection(float mag_data[3]);
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void MagVelBaroCorrection(float mag_data[3], float Vel[3], float BaroAlt);
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void FullCorrection(float mag_data[3], float Pos[3], float Vel[3],
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float BaroAlt);
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void GpsBaroCorrection(float Pos[3], float Vel[3], float BaroAlt);
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void GpsMagCorrection(float mag_data[3], float Pos[3], float Vel[2]);
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void VelBaroCorrection(float Vel[3], float BaroAlt);
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uint16_t ins_get_num_states();
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// Nav structure containing current solution
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struct NavStruct {
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float Pos[3]; // Position in meters and relative to a local NED frame
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float Vel[3]; // Velocity in meters and in NED
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float q[4]; // unit quaternion rotation relative to NED
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float gyro_bias[3];
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float accel_bias[3];
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} Nav;
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/**
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* @}
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* @}
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*/
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#endif /* EKF_H_ */
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@ -76,52 +76,52 @@ uint16_t ins_get_num_states()
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void INSGPSInit() //pretty much just a place holder for now
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{
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Be[0] = 1;
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Be[1] = 0;
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Be[2] = 0; // local magnetic unit vector
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Be[0] = 1.0f;
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Be[1] = 0.0f;
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Be[2] = 0.0f; // local magnetic unit vector
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for (int i = 0; i < NUMX; i++) {
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for (int j = 0; j < NUMX; j++) {
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P[i][j] = 0; // zero all terms
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F[i][j] = 0;
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P[i][j] = 0.0f; // zero all terms
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F[i][j] = 0.0f;
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}
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for (int j = 0; j < NUMW; j++)
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G[i][j] = 0;
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G[i][j] = 0.0f;
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for (int j = 0; j < NUMV; j++) {
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H[j][i] = 0;
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K[i][j] = 0;
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H[j][i] = 0.0f;
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K[i][j] = 0.0f;
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}
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X[i] = 0;
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X[i] = 0.0f;
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}
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for (int i = 0; i < NUMW; i++)
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Q[i] = 0;
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Q[i] = 0.0f;
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for (int i = 0; i < NUMV; i++)
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R[i] = 0;
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R[i] = 0.0f;
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P[0][0] = P[1][1] = P[2][2] = 25; // initial position variance (m^2)
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P[3][3] = P[4][4] = P[5][5] = 5; // initial velocity variance (m/s)^2
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P[6][6] = P[7][7] = P[8][8] = P[9][9] = 1e-5; // initial quaternion variance
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P[10][10] = P[11][11] = P[12][12] = 1e-9; // initial gyro bias variance (rad/s)^2
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P[0][0] = P[1][1] = P[2][2] = 25.0f; // initial position variance (m^2)
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P[3][3] = P[4][4] = P[5][5] = 5.0f; // initial velocity variance (m/s)^2
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P[6][6] = P[7][7] = P[8][8] = P[9][9] = 1e-5f; // initial quaternion variance
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P[10][10] = P[11][11] = P[12][12] = 1e-9f; // initial gyro bias variance (rad/s)^2
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X[0] = X[1] = X[2] = X[3] = X[4] = X[5] = 0; // initial pos and vel (m)
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X[6] = 1;
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X[7] = X[8] = X[9] = 0; // initial quaternion (level and North) (m/s)
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X[10] = X[11] = X[12] = 0; // initial gyro bias (rad/s)
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X[0] = X[1] = X[2] = X[3] = X[4] = X[5] = 0.0f; // initial pos and vel (m)
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X[6] = 1.0f;
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X[7] = X[8] = X[9] = 0.0f; // initial quaternion (level and North) (m/s)
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X[10] = X[11] = X[12] = 0.0f; // initial gyro bias (rad/s)
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Q[0] = Q[1] = Q[2] = 50e-8; // gyro noise variance (rad/s)^2
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Q[3] = Q[4] = Q[5] = 0.01; // accelerometer noise variance (m/s^2)^2
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Q[6] = Q[7] = Q[8] = 2e-15; // gyro bias random walk variance (rad/s^2)^2
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Q[0] = Q[1] = Q[2] = 50e-4f; // gyro noise variance (rad/s)^2
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Q[3] = Q[4] = Q[5] = 0.00001f; // accelerometer noise variance (m/s^2)^2
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Q[6] = Q[7] = Q[8] = 2e-8f; // gyro bias random walk variance (rad/s^2)^2
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R[0] = R[1] = 0.004; // High freq GPS horizontal position noise variance (m^2)
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R[2] = 0.036; // High freq GPS vertical position noise variance (m^2)
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R[3] = R[4] = 0.004; // High freq GPS horizontal velocity noise variance (m/s)^2
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R[5] = 100; // High freq GPS vertical velocity noise variance (m/s)^2
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R[6] = R[7] = R[8] = 0.005; // magnetometer unit vector noise variance
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R[9] = .05; // High freq altimeter noise variance (m^2)
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R[0] = R[1] = 0.004f; // High freq GPS horizontal position noise variance (m^2)
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R[2] = 0.036f; // High freq GPS vertical position noise variance (m^2)
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R[3] = R[4] = 0.004f; // High freq GPS horizontal velocity noise variance (m/s)^2
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R[5] = 100.0f; // High freq GPS vertical velocity noise variance (m/s)^2
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R[6] = R[7] = R[8] = 0.005f; // magnetometer unit vector noise variance
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R[9] = .05f; // High freq altimeter noise variance (m^2)
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}
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void INSResetP(float PDiag[NUMX])
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@ -132,7 +132,7 @@ void INSResetP(float PDiag[NUMX])
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for (i=0;i<NUMX;i++){
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if (PDiag != 0){
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for (j=0;j<NUMX;j++)
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P[i][j]=P[j][i]=0;
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P[i][j]=P[j][i]=0.0f;
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P[i][i]=PDiag[i];
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}
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}
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@ -239,7 +239,7 @@ void INSStatePrediction(float gyro_data[3], float accel_data[3], float dT)
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// EKF prediction step
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LinearizeFG(X, U, F, G);
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RungeKutta(X, U, dT);
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qmag = sqrt(X[6] * X[6] + X[7] * X[7] + X[8] * X[8] + X[9] * X[9]);
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qmag = sqrtf(X[6] * X[6] + X[7] * X[7] + X[8] * X[8] + X[9] * X[9]);
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X[6] /= qmag;
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X[7] /= qmag;
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X[8] /= qmag;
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@ -323,7 +323,7 @@ void INSCorrection(float mag_data[3], float Pos[3], float Vel[3],
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// magnetometer data in any units (use unit vector) and in body frame
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Bmag =
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sqrt(mag_data[0] * mag_data[0] + mag_data[1] * mag_data[1] +
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sqrtf(mag_data[0] * mag_data[0] + mag_data[1] * mag_data[1] +
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mag_data[2] * mag_data[2]);
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Z[6] = mag_data[0] / Bmag;
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Z[7] = mag_data[1] / Bmag;
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@ -336,7 +336,7 @@ void INSCorrection(float mag_data[3], float Pos[3], float Vel[3],
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LinearizeH(X, Be, H);
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MeasurementEq(X, Be, Y);
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SerialUpdate(H, R, Z, Y, P, X, SensorsUsed);
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qmag = sqrt(X[6] * X[6] + X[7] * X[7] + X[8] * X[8] + X[9] * X[9]);
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qmag = sqrtf(X[6] * X[6] + X[7] * X[7] + X[8] * X[8] + X[9] * X[9]);
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X[6] /= qmag;
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X[7] /= qmag;
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X[8] /= qmag;
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@ -56,11 +56,13 @@
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#include "gyrosbias.h"
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#include "attitudeactual.h"
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#include "attitudesettings.h"
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#include "baroaltitude.h"
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#include "flightstatus.h"
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#include "homelocation.h"
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#include "CoordinateConversions.h"
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// Private constants
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#define STACK_SIZE_BYTES 1540
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#define STACK_SIZE_BYTES 5540
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#define TASK_PRIORITY (tskIDLE_PRIORITY+3)
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#define FAILSAFE_TIMEOUT_MS 10
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@ -75,6 +77,7 @@ static xTaskHandle attitudeTaskHandle;
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static xQueueHandle gyroQueue;
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static xQueueHandle accelQueue;
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static xQueueHandle magQueue;
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static xQueueHandle baroQueue;
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const uint32_t SENSOR_QUEUE_SIZE = 10;
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// Private functions
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@ -83,6 +86,7 @@ static void AttitudeTask(void *parameters);
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static int32_t updateSensors();
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static int32_t updateAttitudeComplimentary(bool first_run);
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static int32_t updateAttitudeINSGPS(bool first_run);
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static void settingsUpdatedCb(UAVObjEvent * objEv);
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static float accelKi = 0;
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@ -147,13 +151,19 @@ int32_t AttitudeStart(void)
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{
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// Create the queues for the sensors
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gyroQueue = xQueueCreate(1, sizeof(UAVObjEvent));
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accelQueue = xQueueCreate(1, sizeof(UAVObjEvent));
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magQueue = xQueueCreate(1, sizeof(UAVObjEvent));
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baroQueue = xQueueCreate(1, sizeof(UAVObjEvent));
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// Start main task
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xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &attitudeTaskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, attitudeTaskHandle);
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PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
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GyrosConnectQueue(gyroQueue);
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AccelsConnectQueue(accelQueue);
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MagnetometerConnectQueue(magQueue);
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BaroAltitudeConnectQueue(baroQueue);
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return 0;
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}
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@ -171,13 +181,19 @@ static void AttitudeTask(void *parameters)
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settingsUpdatedCb(AttitudeSettingsHandle());
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bool first_run = true;
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// Wait for all the sensors be to read
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vTaskDelay(100);
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// Main task loop
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while (1) {
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// This function blocks on data queue
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updateAttitudeComplimentary(first_run);
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if(0)
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updateAttitudeComplimentary(first_run);
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else
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updateAttitudeINSGPS(first_run);
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if (first_run)
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first_run = false;
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@ -199,7 +215,7 @@ static int32_t updateAttitudeComplimentary(bool first_run)
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// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
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if ( xQueueReceive(gyroQueue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
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{
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AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_WARNING);
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AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_WARNING);
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return -1;
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}
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@ -320,7 +336,138 @@ static int32_t updateAttitudeComplimentary(bool first_run)
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return 0;
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}
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static void settingsUpdatedCb(UAVObjEvent * objEv) {
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#include "insgps.h"
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int32_t ins_failed = 0;
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extern struct NavStruct Nav;
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static int32_t updateAttitudeINSGPS(bool first_run)
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{
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UAVObjEvent ev;
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GyrosData gyrosData;
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AccelsData accelsData;
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MagnetometerData magData;
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BaroAltitudeData baroData;
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static uint32_t ins_last_time = 0;
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static bool inited;
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if (first_run)
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inited = false;
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// Wait until the gyro and accel object is updated, if a timeout then go to failsafe
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if ( (xQueueReceive(gyroQueue, &ev, 10 / portTICK_RATE_MS) != pdTRUE) ||
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(xQueueReceive(accelQueue, &ev, 10 / portTICK_RATE_MS) != pdTRUE) )
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{
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AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_WARNING);
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return -1;
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}
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// Get most recent data
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// TODO: Acquire all data in a queue
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GyrosGet(&gyrosData);
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AccelsGet(&accelsData);
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MagnetometerGet(&magData);
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BaroAltitudeGet(&baroData);
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bool mag_updated;
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bool baro_updated;
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if (inited) {
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mag_updated = 0;
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baro_updated = 0;
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}
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mag_updated |= xQueueReceive(magQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE;
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baro_updated |= xQueueReceive(baroQueue, &ev, 0 / portTICK_RATE_MS) == pdTRUE;
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if (!inited && (!mag_updated || !baro_updated)) {
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// Don't initialize until all sensors are read
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return -1;
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} else if (!inited ) {
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inited = true;
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float Rbe[3][3], q[4], accels[3], rpy[3], mag;
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float ge[3]={0.0f,0.0f,-9.81f};
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float zeros[3]={0.0f,0.0f,0.0f};
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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};
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bool using_mags, using_gps;
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INSGPSInit();
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HomeLocationData home;
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HomeLocationGet(&home);
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RotFrom2Vectors(&accelsData.x, ge, &magData.x, home.Be, Rbe);
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R2Quaternion(Rbe,q);
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INSSetState(zeros, zeros, q, zeros, zeros);
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INSResetP(Pdiag);
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/* GyrosBiasData gyrosBias;
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gyrosBias.x = gyrosData.x;
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gyrosBias.y = gyrosData.y;
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gyrosBias.z = gyrosData.z;
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GyrosBiasSet(&gyrosBias);*/
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ins_last_time = PIOS_DELAY_GetRaw();
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return 0;
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}
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// Perform the update
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static uint32_t updated_without_gps = 0;
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float zeros[3] = {0, 0, 0};
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uint16_t sensors = 0;
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float dT;
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dT = PIOS_DELAY_DiffuS(ins_last_time) / 1.0e6f;
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ins_last_time = PIOS_DELAY_GetRaw();
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// This should only happen at start up or at mode switches
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if(dT > 0.01f)
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dT = 0.01f;
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else if(dT <= 0.001f)
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dT = 0.001f;
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float gyros[3] = {gyrosData.x * F_PI / 180.0f, gyrosData.y * F_PI / 180.0f, gyrosData.z * F_PI / 180.0f};
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// Advance the state estimate
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INSStatePrediction(gyros, &accelsData.x, dT);
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|
||||
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);
|
||||
|
||||
// Advance the covariance estimate
|
||||
INSCovariancePrediction(dT);
|
||||
|
||||
/* Indoors, update with zero position and velocity and high covariance */
|
||||
sensors = HORIZ_SENSORS | VERT_SENSORS;
|
||||
|
||||
if(mag_updated)
|
||||
sensors |= MAG_SENSORS;
|
||||
if(baro_updated)
|
||||
sensors |= BARO_SENSOR;
|
||||
|
||||
/*
|
||||
* TODO: Need to add a general sanity check for all the inputs to make sure their kosher
|
||||
* although probably should occur within INS itself
|
||||
*/
|
||||
INSCorrection(&magData.x, zeros, zeros, baroData.Altitude, sensors);
|
||||
|
||||
if(fabs(Nav.gyro_bias[0]) > 0.1f || fabs(Nav.gyro_bias[1]) > 0.1f || fabs(Nav.gyro_bias[2]) > 0.1f) {
|
||||
float zeros[3] = {0.0f,0.0f,0.0f};
|
||||
INSSetGyroBias(zeros);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
static void settingsUpdatedCb(UAVObjEvent * objEv)
|
||||
{
|
||||
AttitudeSettingsData attitudeSettings;
|
||||
AttitudeSettingsGet(&attitudeSettings);
|
||||
|
||||
|
||||
@ -3104,6 +3104,9 @@
|
||||
65E8F0EE11EFF25C00BBF654 /* startup_stm32f10x_HD.S */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.asm; name = startup_stm32f10x_HD.S; path = ../../PiOS/STM32F10x/startup_stm32f10x_HD.S; sourceTree = SOURCE_ROOT; };
|
||||
65E8F0F111EFF25C00BBF654 /* startup_stm32f10x_MD.S */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.asm; name = startup_stm32f10x_MD.S; path = ../../PiOS/STM32F10x/startup_stm32f10x_MD.S; sourceTree = SOURCE_ROOT; };
|
||||
65EA2E171273C55200636061 /* ratedesired.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ratedesired.xml; sourceTree = "<group>"; };
|
||||
65F53D2E14984BB300A62D5D /* insgps_helper.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = insgps_helper.c; sourceTree = "<group>"; };
|
||||
65F53D2F14984BB300A62D5D /* insgps13state.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = insgps13state.c; sourceTree = "<group>"; };
|
||||
65F53D3014984BB300A62D5D /* insgps16state.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = insgps16state.c; sourceTree = "<group>"; };
|
||||
65F93C3912EE09280047DB36 /* aes.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = aes.c; sourceTree = "<group>"; };
|
||||
65F93C3B12EE09280047DB36 /* aes.lst */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = aes.lst; sourceTree = "<group>"; };
|
||||
65F93C3C12EE09280047DB36 /* aes.o */ = {isa = PBXFileReference; lastKnownFileType = "compiled.mach-o.objfile"; path = aes.o; sourceTree = "<group>"; };
|
||||
@ -3820,6 +3823,9 @@
|
||||
657CEEB6121DBC63007A1FBE /* Libraries */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65F53D2E14984BB300A62D5D /* insgps_helper.c */,
|
||||
65F53D2F14984BB300A62D5D /* insgps13state.c */,
|
||||
65F53D3014984BB300A62D5D /* insgps16state.c */,
|
||||
6549E0D21279B3C800C5476F /* fifo_buffer.c */,
|
||||
651913371256C5240039C0A3 /* ahrs_comm_objects.c */,
|
||||
651913381256C5240039C0A3 /* ahrs_spi_comm.c */,
|
||||
|
||||
@ -130,6 +130,7 @@ SRC += $(OPSYSTEM)/cm3_fault_handlers.c
|
||||
SRC += $(FLIGHTLIB)/CoordinateConversions.c
|
||||
SRC += $(FLIGHTLIB)/fifo_buffer.c
|
||||
SRC += $(FLIGHTLIB)/WorldMagModel.c
|
||||
SRC += $(FLIGHTLIB)/insgps13state.c
|
||||
|
||||
## PIOS Hardware (STM32F4xx)
|
||||
include $(PIOS)/STM32F4xx/library.mk
|
||||
|
||||
Loading…
Reference in New Issue
Block a user