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98 lines
2.8 KiB
98 lines
2.8 KiB
9 years ago
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/****************************************************************************
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*
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* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name ECL nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ekf.cpp
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* Definition of ekf attitude position estimator class.
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*
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* @author Roman Bast <bastroman@gmail.com>
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*
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*/
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#include "ekf.h"
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Ekf::Ekf()
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{
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}
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Ekf::~Ekf()
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{
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}
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void Ekf::update()
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{
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if (!_filter_initialised) {
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_filter_initialised = initialiseFilter();
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}
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if (!_filter_initialised) {
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return;
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}
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// prediction
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if (_imu_updated) {
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predictState();
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predictCovariance();
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_imu_updated = false;
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}
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// measurement updates
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if (_mag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _mag_sample_delayed)) {
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fuseMag();
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}
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if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _baro_sample_delayed)) {
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_fuse_height = true;
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}
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if (_gps_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _gps_sample_delayed)) {
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_fuse_pos = true;
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_fuse_vel = true;
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}
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if (_fuse_height || _fuse_pos || _fuse_vel) {
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fusePosVel();
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}
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if (_range_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _range_sample_delayed)) {
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fuseRange();
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}
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if (_airspeed_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _airspeed_sample_delayed)) {
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fuseAirspeed();
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}
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}
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