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mavlink_receiver : Add external estimator interface

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This commit is contained in:
Kabir Mohammed
2016-11-17 20:24:11 +05:30
committed by Lorenz Meier
parent 75f6b4eb0c
commit 569251dc2e
5 changed files with 122 additions and 4 deletions
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2
msg/vehicle_attitude.msg
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@@ -4,4 +4,4 @@ float32 pitchspeed # Angular velocity about body east axis (y) in rad/s
float32 yawspeed # Angular velocity about body down axis (z) in rad/s
float32[4] q # Quaternion (NED)
# TOPICS vehicle_attitude vehicle_attitude_groundtruth
# TOPICS vehicle_attitude vehicle_attitude_groundtruth vehicle_vision_attitude

15
msg/vehicle_local_position.msg
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@@ -1,5 +1,13 @@
# Fused local position in NED.
uint8 ESTIMATOR_TYPE_NAIVE = 1 # Estimator without real covariance feedback
uint8 ESTIMATOR_TYPE_VISION = 2 # Computer vision based estimate. Might be up to scale.
uint8 ESTIMATOR_TYPE_VIO = 3 # Visual-Inertial estimator.
uint8 ESTIMATOR_TYPE_GPS = 4 # Plain GPS estimate.
uint8 ESTIMATOR_TYPE_GPS_INS = 5 # Estimator integrating GPS and inertial sensing.
uint8 estimator_type # type of estimator according to above types
bool xy_valid # true if x and y are valid
bool z_valid # true if z is valid
bool v_xy_valid # true if vy and vy are valid
@@ -28,6 +36,11 @@ uint8 z_reset_counter
uint8 vxy_reset_counter
uint8 vz_reset_counter
# Acceleration in NED frame
float32 ax # North acceleration in NED earth-fixed frame, (metres/sec^2)
float32 ay # East acceleration in NED earth-fixed frame, (metres/sec^2)
float32 az # Down acceleration in NED earth-fixed frame, (metres/sec^2)
# Heading
float32 yaw # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)
@@ -47,4 +60,4 @@ bool dist_bottom_valid # true if distance to bottom surface is valid
float32 eph # Standard deviation of horizontal position error, (metres)
float32 epv # Standard deviation of vertical position error, (metres)
# TOPICS vehicle_local_position vehicle_local_position_groundtruth
# TOPICS vehicle_local_position vehicle_local_position_groundtruth vehicle_vision_position

101
src/modules/mavlink/mavlink_receiver.cpp
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@@ -121,6 +121,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_pos_sp_triplet_pub(nullptr),
_att_pos_mocap_pub(nullptr),
_vision_position_pub(nullptr),
_vision_attitude_pub(nullptr),
_telemetry_status_pub(nullptr),
_rc_pub(nullptr),
_manual_pub(nullptr),
@@ -133,6 +134,7 @@ MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
_gps_inject_data_pub(nullptr),
_command_ack_pub(nullptr),
_control_mode_sub(orb_subscribe(ORB_ID(vehicle_control_mode))),
_global_ref_timestamp(0),
_hil_frames(0),
_old_timestamp(0),
_hil_last_frame(0),
@@ -216,6 +218,18 @@ MavlinkReceiver::handle_message(mavlink_message_t *msg)
handle_message_vision_position_estimate(msg);
break;
case MAVLINK_MSG_ID_ATTITUDE_QUATERNION_COV:
handle_message_attitude_quaternion_cov(msg);
break;
case MAVLINK_MSG_ID_LOCAL_POSITION_NED_COV:
handle_message_local_position_ned_cov(msg);
break;
case MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN:
handle_message_gps_global_origin(msg);
break;
case MAVLINK_MSG_ID_RADIO_STATUS:
handle_message_radio_status(msg);
break;
@@ -1045,6 +1059,93 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
}
void
MavlinkReceiver::handle_message_gps_global_origin(mavlink_message_t *msg)
{
mavlink_gps_global_origin_t origin;
mavlink_msg_gps_global_origin_decode(msg, &origin);
if (!globallocalconverter_initialized()) {
/* Set reference point conversion of local coordiantes <--> global coordinates */
globallocalconverter_init((double)origin.latitude * 1.0e-7, (double)origin.longitude * 1.0e-7,
(float)origin.altitude * 1.0e-3f, hrt_absolute_time());
_global_ref_timestamp = hrt_absolute_time();
}
}
void
MavlinkReceiver::handle_message_attitude_quaternion_cov(mavlink_message_t *msg)
{
mavlink_attitude_quaternion_cov_t att;
mavlink_msg_attitude_quaternion_cov_decode(msg, &att);
struct vehicle_attitude_s vision_attitude = {};
vision_attitude.timestamp = sync_stamp(att.time_usec);
vision_attitude.q[0] = att.q[0];
vision_attitude.q[1] = att.q[1];
vision_attitude.q[2] = att.q[2];
vision_attitude.q[3] = att.q[3];
vision_attitude.rollspeed = att.rollspeed;
vision_attitude.pitchspeed = att.pitchspeed;
vision_attitude.yawspeed = att.yawspeed;
// TODO : full covariance matrix
int instance_id = 0;
orb_publish_auto(ORB_ID(vehicle_vision_attitude), &_vision_attitude_pub, &vision_attitude, &instance_id, ORB_PRIO_HIGH);
}
void
MavlinkReceiver::handle_message_local_position_ned_cov(mavlink_message_t *msg)
{
mavlink_local_position_ned_cov_t pos;
mavlink_msg_local_position_ned_cov_decode(msg, &pos);
struct vehicle_local_position_s vision_position = {};
vision_position.timestamp = sync_stamp(pos.time_usec);
// Use the estimator type to identify the external estimate
vision_position.estimator_type = pos.estimator_type;
vision_position.xy_valid = true;
vision_position.z_valid = true;
vision_position.v_xy_valid = true;
vision_position.v_z_valid = true;
vision_position.x = pos.x;
vision_position.y = pos.y;
vision_position.z = pos.z;
vision_position.vx = pos.vx;
vision_position.vy = pos.vy;
vision_position.vz = pos.vz;
vision_position.ax = pos.ax;
vision_position.ay = pos.ay;
vision_position.az = pos.az;
// Low risk change for now. TODO : full covariance matrix
vision_position.eph = sqrtf(fmaxf(pos.covariance[0],pos.covariance[9]));
vision_position.epv = sqrtf(pos.covariance[17]);
vision_position.xy_global = globallocalconverter_initialized();
vision_position.z_global = globallocalconverter_initialized();
vision_position.ref_timestamp = _global_ref_timestamp;
globallocalconverter_getref(&vision_position.ref_lat, &vision_position.ref_lon, &vision_position.ref_alt);
vision_position.dist_bottom_valid = false;
int instance_id = 0;
orb_publish_auto(ORB_ID(vehicle_vision_position), &_vision_position_pub, &vision_position, &instance_id, ORB_PRIO_HIGH);
}
void
MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
{

6
src/modules/mavlink/mavlink_receiver.h
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@@ -59,7 +59,6 @@
#include <uORB/topics/vehicle_global_velocity_setpoint.h>
#include <uORB/topics/position_setpoint_triplet.h>
#include <uORB/topics/att_pos_mocap.h>
#include <uORB/topics/vision_position_estimate.h>
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/optical_flow.h>
@@ -126,6 +125,9 @@ private:
void handle_message_set_mode(mavlink_message_t *msg);
void handle_message_att_pos_mocap(mavlink_message_t *msg);
void handle_message_vision_position_estimate(mavlink_message_t *msg);
void handle_message_gps_global_origin(mavlink_message_t *msg);
void handle_message_attitude_quaternion_cov(mavlink_message_t *msg);
void handle_message_local_position_ned_cov(mavlink_message_t *msg);
void handle_message_quad_swarm_roll_pitch_yaw_thrust(mavlink_message_t *msg);
void handle_message_set_position_target_local_ned(mavlink_message_t *msg);
void handle_message_set_actuator_control_target(mavlink_message_t *msg);
@@ -218,6 +220,7 @@ private:
orb_advert_t _pos_sp_triplet_pub;
orb_advert_t _att_pos_mocap_pub;
orb_advert_t _vision_position_pub;
orb_advert_t _vision_attitude_pub;
orb_advert_t _telemetry_status_pub;
orb_advert_t _rc_pub;
orb_advert_t _manual_pub;
@@ -231,6 +234,7 @@ private:
orb_advert_t _gps_inject_data_pub;
orb_advert_t _command_ack_pub;
int _control_mode_sub;
uint64_t _global_ref_timestamp;
int _hil_frames;
uint64_t _old_timestamp;
uint64_t _hil_last_frame;

2
src/modules/systemlib/system_params.c
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@@ -93,7 +93,7 @@ PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);
/**
* Set multicopter estimator group
*
* Set the group of estimators used for multicopters and vtols
* Set the group of estimators used for multicopters and VTOLs
*
* @value 1 local_position_estimator, attitude_estimator_q
* @value 2 ekf2