void BlockLocalPositionEstimator::initSS()
{
initP();
// dynamics matrix
_A.setZero();
// derivative of position is velocity
_A(X_x, X_vx) = 1;
_A(X_y, X_vy) = 1;
_A(X_z, X_vz) = 1;
// input matrix
_B.setZero();
_B(X_vx, U_ax) = 1;
_B(X_vy, U_ay) = 1;
_B(X_vz, U_az) = 1;
// update components that depend on current state
updateSSStates();
updateSSParams();
}
void BlockLocalPositionEstimator::update()
{
// wait for a sensor update, check for exit condition every 100 ms
int ret = px4_poll(_polls, 3, 100);
if (ret < 0) {
/* poll error, count it in perf */
perf_count(_err_perf);
return;
}
uint64_t newTimeStamp = hrt_absolute_time();
float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
_timeStamp = newTimeStamp;
// set dt for all child blocks
setDt(dt);
// auto-detect connected rangefinders while not armed
bool armedState = _sub_armed.get().armed;
if (!armedState && (_sub_lidar == NULL || _sub_sonar == NULL)) {
detectDistanceSensors();
}
// reset pos, vel, and terrain on arming
if (!_lastArmedState && armedState) {
// we just armed, we are at home position on the ground
_x(X_x) = 0;
_x(X_y) = 0;
// the pressure altitude of home may have drifted, so we don't
// reset z to zero
// reset flow integral
_flowX = 0;
_flowY = 0;
// we aren't moving, all velocities are zero
_x(X_vx) = 0;
_x(X_vy) = 0;
_x(X_vz) = 0;
// assume we are on the ground, so terrain alt is local alt
_x(X_tz) = _x(X_z);
// reset lowpass filter as well
_xLowPass.setState(_x);
}
_lastArmedState = armedState;
// see which updates are available
bool flowUpdated = _sub_flow.updated();
bool paramsUpdated = _sub_param_update.updated();
bool baroUpdated = _sub_sensor.updated();
bool gpsUpdated = _gps_on.get() && _sub_gps.updated();
bool homeUpdated = _sub_home.updated();
bool visionUpdated = _vision_on.get() && _sub_vision_pos.updated();
bool mocapUpdated = _sub_mocap.updated();
bool lidarUpdated = (_sub_lidar != NULL) && _sub_lidar->updated();
bool sonarUpdated = (_sub_sonar != NULL) && _sub_sonar->updated();
// get new data
updateSubscriptions();
// update parameters
if (paramsUpdated) {
updateParams();
updateSSParams();
}
// update home position projection
if (homeUpdated) {
updateHome();
}
// is xy valid?
bool xy_stddev_ok = sqrtf(math::max(_P(X_x, X_x), _P(X_y, X_y))) < _xy_pub_thresh.get();
if (_validXY) {
// if valid and gps has timed out, set to not valid
if (!xy_stddev_ok && !_gpsInitialized) {
_validXY = false;
}
} else {
if (xy_stddev_ok) {
_validXY = true;
}
}
// is z valid?
bool z_stddev_ok = sqrtf(_P(X_z, X_z)) < _z_pub_thresh.get();
if (_validZ) {
// if valid and baro has timed out, set to not valid
if (!z_stddev_ok && !_baroInitialized) {
_validZ = false;
}
} else {
if (z_stddev_ok) {
_validZ = true;
}
}
// is terrain valid?
bool tz_stddev_ok = sqrtf(_P(X_tz, X_tz)) < _z_pub_thresh.get();
if (_validTZ) {
if (!tz_stddev_ok) {
_validTZ = false;
}
} else {
if (tz_stddev_ok) {
_validTZ = true;
}
}
// timeouts
if (_validXY) {
_time_last_xy = _timeStamp;
}
if (_validZ) {
_time_last_z = _timeStamp;
}
if (_validTZ) {
_time_last_tz = _timeStamp;
}
// check timeouts
checkTimeouts();
// if we have no lat, lon initialize projection at 0,0
if (_validXY && !_map_ref.init_done) {
map_projection_init(&_map_ref,
_init_home_lat.get(),
_init_home_lon.get());
}
// reinitialize x if necessary
bool reinit_x = false;
for (int i = 0; i < n_x; i++) {
// should we do a reinit
// of sensors here?
// don't want it to take too long
if (!PX4_ISFINITE(_x(i))) {
reinit_x = true;
break;
}
}
if (reinit_x) {
for (int i = 0; i < n_x; i++) {
_x(i) = 0;
}
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] reinit x");
}
// reinitialize P if necessary
bool reinit_P = false;
for (int i = 0; i < n_x; i++) {
for (int j = 0; j < n_x; j++) {
if (!PX4_ISFINITE(_P(i, j))) {
reinit_P = true;
break;
}
}
if (reinit_P) { break; }
}
if (reinit_P) {
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] reinit P");
initP();
}
// do prediction
predict();
// sensor corrections/ initializations
if (gpsUpdated) {
if (!_gpsInitialized) {
gpsInit();
} else {
gpsCorrect();
}
}
if (baroUpdated) {
if (!_baroInitialized) {
baroInit();
} else {
baroCorrect();
}
}
if (lidarUpdated) {
if (!_lidarInitialized) {
lidarInit();
} else {
lidarCorrect();
}
}
if (sonarUpdated) {
if (!_sonarInitialized) {
sonarInit();
} else {
sonarCorrect();
}
}
if (flowUpdated) {
if (!_flowInitialized) {
flowInit();
} else {
perf_begin(_loop_perf);// TODO
flowCorrect();
//perf_count(_interval_perf);
perf_end(_loop_perf);
}
}
if (visionUpdated) {
if (!_visionInitialized) {
visionInit();
} else {
visionCorrect();
}
}
if (mocapUpdated) {
if (!_mocapInitialized) {
mocapInit();
} else {
mocapCorrect();
}
}
if (_altHomeInitialized) {
// update all publications if possible
publishLocalPos();
publishEstimatorStatus();
if (_validXY) {
publishGlobalPos();
}
}
// propagate delayed state, no matter what
// if state is frozen, delayed state still
// needs to be propagated with frozen state
float dt_hist = 1.0e-6f * (_timeStamp - _time_last_hist);
if (_time_last_hist == 0 ||
(dt_hist > HIST_STEP)) {
_tDelay.update(Scalar<uint64_t>(_timeStamp));
_xDelay.update(_x);
_time_last_hist = _timeStamp;
}
}
void BlockLocalPositionEstimator::update()
{
// wait for a sensor update, check for exit condition every 100 ms
int ret = px4_poll(_polls, 3, 100);
if (ret < 0) {
return;
}
uint64_t newTimeStamp = hrt_absolute_time();
float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
_timeStamp = newTimeStamp;
// set dt for all child blocks
setDt(dt);
// auto-detect connected rangefinders while not armed
bool armedState = _sub_armed.get().armed;
if (!armedState && (_sub_lidar == nullptr || _sub_sonar == nullptr)) {
// detect distance sensors
for (int i = 0; i < N_DIST_SUBS; i++) {
uORB::Subscription<distance_sensor_s> *s = _dist_subs[i];
if (s == _sub_lidar || s == _sub_sonar) { continue; }
if (s->updated()) {
s->update();
if (s->get().timestamp == 0) { continue; }
if (s->get().type == distance_sensor_s::MAV_DISTANCE_SENSOR_LASER &&
s->get().orientation == distance_sensor_s::ROTATION_DOWNWARD_FACING &&
_sub_lidar == nullptr) {
_sub_lidar = s;
mavlink_and_console_log_info(&mavlink_log_pub, "%sDownward-facing Lidar detected with ID %i", msg_label, i);
} else if (s->get().type == distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND &&
s->get().orientation == distance_sensor_s::ROTATION_DOWNWARD_FACING &&
_sub_sonar == nullptr) {
_sub_sonar = s;
mavlink_and_console_log_info(&mavlink_log_pub, "%sDownward-facing Sonar detected with ID %i", msg_label, i);
}
}
}
}
// reset pos, vel, and terrain on arming
// XXX this will be re-enabled for indoor use cases using a
// selection param, but is really not helping outdoors
// right now.
// if (!_lastArmedState && armedState) {
// // we just armed, we are at origin on the ground
// _x(X_x) = 0;
// _x(X_y) = 0;
// // reset Z or not? _x(X_z) = 0;
// // we aren't moving, all velocities are zero
// _x(X_vx) = 0;
// _x(X_vy) = 0;
// _x(X_vz) = 0;
// // assume we are on the ground, so terrain alt is local alt
// _x(X_tz) = _x(X_z);
// // reset lowpass filter as well
// _xLowPass.setState(_x);
// _aglLowPass.setState(0);
// }
_lastArmedState = armedState;
// see which updates are available
bool paramsUpdated = _sub_param_update.updated();
_baroUpdated = false;
if ((_fusion.get() & FUSE_BARO) && _sub_sensor.updated()) {
int32_t baro_timestamp_relative = _sub_sensor.get().baro_timestamp_relative;
if (baro_timestamp_relative != _sub_sensor.get().RELATIVE_TIMESTAMP_INVALID) {
uint64_t baro_timestamp = _sub_sensor.get().timestamp + \
_sub_sensor.get().baro_timestamp_relative;
if (baro_timestamp != _timeStampLastBaro) {
_baroUpdated = true;
_timeStampLastBaro = baro_timestamp;
}
}
}
_flowUpdated = (_fusion.get() & FUSE_FLOW) && _sub_flow.updated();
_gpsUpdated = (_fusion.get() & FUSE_GPS) && _sub_gps.updated();
_visionUpdated = (_fusion.get() & FUSE_VIS_POS) && _sub_vision_pos.updated();
_mocapUpdated = _sub_mocap.updated();
_lidarUpdated = (_sub_lidar != nullptr) && _sub_lidar->updated();
_sonarUpdated = (_sub_sonar != nullptr) && _sub_sonar->updated();
_landUpdated = landed() && ((_timeStamp - _time_last_land) > 1.0e6f / LAND_RATE);// throttle rate
bool targetPositionUpdated = _sub_landing_target_pose.updated();
// get new data
updateSubscriptions();
// update parameters
if (paramsUpdated) {
updateParams();
updateSSParams();
}
// is xy valid?
bool vxy_stddev_ok = false;
if (math::max(_P(X_vx, X_vx), _P(X_vy, X_vy)) < _vxy_pub_thresh.get() * _vxy_pub_thresh.get()) {
vxy_stddev_ok = true;
}
if (_estimatorInitialized & EST_XY) {
// if valid and gps has timed out, set to not valid
if (!vxy_stddev_ok && (_sensorTimeout & SENSOR_GPS)) {
_estimatorInitialized &= ~EST_XY;
}
} else {
if (vxy_stddev_ok) {
if (!(_sensorTimeout & SENSOR_GPS)
|| !(_sensorTimeout & SENSOR_FLOW)
|| !(_sensorTimeout & SENSOR_VISION)
|| !(_sensorTimeout & SENSOR_MOCAP)
|| !(_sensorTimeout & SENSOR_LAND)
|| !(_sensorTimeout & SENSOR_LAND_TARGET)
) {
_estimatorInitialized |= EST_XY;
}
}
}
// is z valid?
bool z_stddev_ok = sqrtf(_P(X_z, X_z)) < _z_pub_thresh.get();
if (_estimatorInitialized & EST_Z) {
// if valid and baro has timed out, set to not valid
if (!z_stddev_ok && (_sensorTimeout & SENSOR_BARO)) {
_estimatorInitialized &= ~EST_Z;
}
} else {
if (z_stddev_ok) {
_estimatorInitialized |= EST_Z;
}
}
// is terrain valid?
bool tz_stddev_ok = sqrtf(_P(X_tz, X_tz)) < _z_pub_thresh.get();
if (_estimatorInitialized & EST_TZ) {
if (!tz_stddev_ok) {
_estimatorInitialized &= ~EST_TZ;
}
} else {
if (tz_stddev_ok) {
_estimatorInitialized |= EST_TZ;
}
}
// check timeouts
checkTimeouts();
// if we have no lat, lon initialize projection to LPE_LAT, LPE_LON parameters
if (!_map_ref.init_done && (_estimatorInitialized & EST_XY) && _fake_origin.get()) {
map_projection_init(&_map_ref,
_init_origin_lat.get(),
_init_origin_lon.get());
// set timestamp when origin was set to current time
_time_origin = _timeStamp;
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] global origin init (parameter) : lat %6.2f lon %6.2f alt %5.1f m",
double(_init_origin_lat.get()), double(_init_origin_lon.get()), double(_altOrigin));
}
// reinitialize x if necessary
bool reinit_x = false;
for (int i = 0; i < n_x; i++) {
// should we do a reinit
// of sensors here?
// don't want it to take too long
if (!PX4_ISFINITE(_x(i))) {
reinit_x = true;
mavlink_and_console_log_info(&mavlink_log_pub, "%sreinit x, x(%d) not finite", msg_label, i);
break;
}
}
if (reinit_x) {
for (int i = 0; i < n_x; i++) {
_x(i) = 0;
}
mavlink_and_console_log_info(&mavlink_log_pub, "%sreinit x", msg_label);
}
// force P symmetry and reinitialize P if necessary
bool reinit_P = false;
for (int i = 0; i < n_x; i++) {
for (int j = 0; j <= i; j++) {
if (!PX4_ISFINITE(_P(i, j))) {
mavlink_and_console_log_info(&mavlink_log_pub,
"%sreinit P (%d, %d) not finite", msg_label, i, j);
reinit_P = true;
}
if (i == j) {
// make sure diagonal elements are positive
if (_P(i, i) <= 0) {
mavlink_and_console_log_info(&mavlink_log_pub,
"%sreinit P (%d, %d) negative", msg_label, i, j);
reinit_P = true;
}
} else {
// copy elememnt from upper triangle to force
// symmetry
_P(j, i) = _P(i, j);
}
if (reinit_P) { break; }
}
if (reinit_P) { break; }
}
if (reinit_P) {
initP();
}
// do prediction
predict();
// sensor corrections/ initializations
if (_gpsUpdated) {
if (_sensorTimeout & SENSOR_GPS) {
gpsInit();
} else {
gpsCorrect();
}
}
if (_baroUpdated) {
if (_sensorTimeout & SENSOR_BARO) {
baroInit();
} else {
baroCorrect();
}
}
if (_lidarUpdated) {
if (_sensorTimeout & SENSOR_LIDAR) {
lidarInit();
} else {
lidarCorrect();
}
}
if (_sonarUpdated) {
if (_sensorTimeout & SENSOR_SONAR) {
sonarInit();
} else {
sonarCorrect();
}
}
if (_flowUpdated) {
if (_sensorTimeout & SENSOR_FLOW) {
flowInit();
} else {
flowCorrect();
}
}
if (_visionUpdated) {
if (_sensorTimeout & SENSOR_VISION) {
visionInit();
} else {
visionCorrect();
}
}
if (_mocapUpdated) {
if (_sensorTimeout & SENSOR_MOCAP) {
mocapInit();
} else {
mocapCorrect();
}
}
if (_landUpdated) {
if (_sensorTimeout & SENSOR_LAND) {
landInit();
} else {
landCorrect();
}
}
if (targetPositionUpdated) {
if (_sensorTimeout & SENSOR_LAND_TARGET) {
landingTargetInit();
} else {
landingTargetCorrect();
}
}
if (_altOriginInitialized) {
// update all publications if possible
publishLocalPos();
publishEstimatorStatus();
_pub_innov.get().timestamp = _timeStamp;
_pub_innov.update();
if ((_estimatorInitialized & EST_XY) && (_map_ref.init_done || _fake_origin.get())) {
publishGlobalPos();
}
}
// propagate delayed state, no matter what
// if state is frozen, delayed state still
// needs to be propagated with frozen state
float dt_hist = 1.0e-6f * (_timeStamp - _time_last_hist);
if (_time_last_hist == 0 ||
(dt_hist > HIST_STEP)) {
_tDelay.update(Scalar<uint64_t>(_timeStamp));
_xDelay.update(_x);
_time_last_hist = _timeStamp;
}
}
void BlockLocalPositionEstimator::update()
{
// wait for a sensor update, check for exit condition every 100 ms
int ret = px4_poll(_polls, 3, 100);
if (ret < 0) {
/* poll error, count it in perf */
perf_count(_err_perf);
return;
}
uint64_t newTimeStamp = hrt_absolute_time();
float dt = (newTimeStamp - _timeStamp) / 1.0e6f;
_timeStamp = newTimeStamp;
// set dt for all child blocks
setDt(dt);
// auto-detect connected rangefinders while not armed
bool armedState = _sub_armed.get().armed;
if (!armedState && (_sub_lidar == NULL || _sub_sonar == NULL)) {
detectDistanceSensors();
}
// reset pos, vel, and terrain on arming
// XXX this will be re-enabled for indoor use cases using a
// selection param, but is really not helping outdoors
// right now.
// if (!_lastArmedState && armedState) {
// // we just armed, we are at origin on the ground
// _x(X_x) = 0;
// _x(X_y) = 0;
// // reset Z or not? _x(X_z) = 0;
// // we aren't moving, all velocities are zero
// _x(X_vx) = 0;
// _x(X_vy) = 0;
// _x(X_vz) = 0;
// // assume we are on the ground, so terrain alt is local alt
// _x(X_tz) = _x(X_z);
// // reset lowpass filter as well
// _xLowPass.setState(_x);
// _aglLowPass.setState(0);
// }
_lastArmedState = armedState;
// see which updates are available
bool flowUpdated = _sub_flow.updated();
bool paramsUpdated = _sub_param_update.updated();
bool baroUpdated = _sub_sensor.updated();
bool gpsUpdated = _gps_on.get() && _sub_gps.updated();
bool visionUpdated = _vision_on.get() && _sub_vision_pos.updated();
bool mocapUpdated = _sub_mocap.updated();
bool lidarUpdated = (_sub_lidar != NULL) && _sub_lidar->updated();
bool sonarUpdated = (_sub_sonar != NULL) && _sub_sonar->updated();
bool landUpdated = (
(_sub_land.get().landed ||
((!_sub_armed.get().armed) && (!_sub_land.get().freefall)))
&& (!(_lidarInitialized || _mocapInitialized || _visionInitialized || _sonarInitialized))
&& ((_timeStamp - _time_last_land) > 1.0e6f / LAND_RATE));
// get new data
updateSubscriptions();
// update parameters
if (paramsUpdated) {
updateParams();
updateSSParams();
}
// is xy valid?
bool vxy_stddev_ok = false;
if (math::max(_P(X_vx, X_vx), _P(X_vy, X_vy)) < _vxy_pub_thresh.get()*_vxy_pub_thresh.get()) {
vxy_stddev_ok = true;
}
if (_validXY) {
// if valid and gps has timed out, set to not valid
if (!vxy_stddev_ok && !_gpsInitialized) {
_validXY = false;
}
} else {
if (vxy_stddev_ok) {
if (_flowInitialized || _gpsInitialized || _visionInitialized || _mocapInitialized) {
_validXY = true;
}
}
}
// is z valid?
bool z_stddev_ok = sqrtf(_P(X_z, X_z)) < _z_pub_thresh.get();
if (_validZ) {
// if valid and baro has timed out, set to not valid
if (!z_stddev_ok && !_baroInitialized) {
_validZ = false;
}
} else {
if (z_stddev_ok) {
_validZ = true;
}
}
// is terrain valid?
bool tz_stddev_ok = sqrtf(_P(X_tz, X_tz)) < _z_pub_thresh.get();
if (_validTZ) {
if (!tz_stddev_ok) {
_validTZ = false;
}
} else {
if (tz_stddev_ok) {
_validTZ = true;
}
}
// timeouts
if (_validXY) {
_time_last_xy = _timeStamp;
}
if (_validZ) {
_time_last_z = _timeStamp;
}
if (_validTZ) {
_time_last_tz = _timeStamp;
}
// check timeouts
checkTimeouts();
// if we have no lat, lon initialize projection at 0,0
if (_validXY && !_map_ref.init_done) {
map_projection_init(&_map_ref,
_init_origin_lat.get(),
_init_origin_lon.get());
}
// reinitialize x if necessary
bool reinit_x = false;
for (int i = 0; i < n_x; i++) {
// should we do a reinit
// of sensors here?
// don't want it to take too long
if (!PX4_ISFINITE(_x(i))) {
reinit_x = true;
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] reinit x, x(%d) not finite", i);
break;
}
}
if (reinit_x) {
for (int i = 0; i < n_x; i++) {
_x(i) = 0;
}
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] reinit x");
}
// force P symmetry and reinitialize P if necessary
bool reinit_P = false;
for (int i = 0; i < n_x; i++) {
for (int j = 0; j <= i; j++) {
if (!PX4_ISFINITE(_P(i, j))) {
reinit_P = true;
}
if (i == j) {
// make sure diagonal elements are positive
if (_P(i, i) <= 0) {
reinit_P = true;
}
} else {
// copy elememnt from upper triangle to force
// symmetry
_P(j, i) = _P(i, j);
}
if (reinit_P) { break; }
}
if (reinit_P) { break; }
}
if (reinit_P) {
mavlink_and_console_log_info(&mavlink_log_pub, "[lpe] reinit P");
initP();
}
// do prediction
predict();
// sensor corrections/ initializations
if (gpsUpdated) {
if (!_gpsInitialized) {
gpsInit();
} else {
gpsCorrect();
}
}
if (baroUpdated) {
if (!_baroInitialized) {
baroInit();
} else {
baroCorrect();
}
}
if (lidarUpdated) {
if (!_lidarInitialized) {
lidarInit();
} else {
lidarCorrect();
}
}
if (sonarUpdated) {
if (!_sonarInitialized) {
sonarInit();
} else {
sonarCorrect();
}
}
if (flowUpdated) {
if (!_flowInitialized) {
flowInit();
} else {
perf_begin(_loop_perf);// TODO
flowCorrect();
//perf_count(_interval_perf);
perf_end(_loop_perf);
}
}
if (visionUpdated) {
if (!_visionInitialized) {
visionInit();
} else {
visionCorrect();
}
}
if (mocapUpdated) {
if (!_mocapInitialized) {
mocapInit();
} else {
mocapCorrect();
}
}
if (landUpdated) {
if (!_landInitialized) {
landInit();
} else {
landCorrect();
}
}
if (_altOriginInitialized) {
// update all publications if possible
publishLocalPos();
publishEstimatorStatus();
_pub_innov.update();
if (_validXY) {
publishGlobalPos();
}
}
// propagate delayed state, no matter what
// if state is frozen, delayed state still
// needs to be propagated with frozen state
float dt_hist = 1.0e-6f * (_timeStamp - _time_last_hist);
if (_time_last_hist == 0 ||
(dt_hist > HIST_STEP)) {
_tDelay.update(Scalar<uint64_t>(_timeStamp));
_xDelay.update(_x);
_time_last_hist = _timeStamp;
}
}