You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
98 lines
2.8 KiB
98 lines
2.8 KiB
/**************************************************************************** |
|
* |
|
* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved. |
|
* |
|
* Redistribution and use in source and binary forms, with or without |
|
* modification, are permitted provided that the following conditions |
|
* are met: |
|
* |
|
* 1. Redistributions of source code must retain the above copyright |
|
* notice, this list of conditions and the following disclaimer. |
|
* 2. Redistributions in binary form must reproduce the above copyright |
|
* notice, this list of conditions and the following disclaimer in |
|
* the documentation and/or other materials provided with the |
|
* distribution. |
|
* 3. Neither the name ECL nor the names of its contributors may be |
|
* used to endorse or promote products derived from this software |
|
* without specific prior written permission. |
|
* |
|
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
|
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
|
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
|
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
|
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
|
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
|
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
|
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
|
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
|
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
|
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
|
* POSSIBILITY OF SUCH DAMAGE. |
|
* |
|
****************************************************************************/ |
|
|
|
/** |
|
* @file ekf.cpp |
|
* Definition of ekf attitude position estimator class. |
|
* |
|
* @author Roman Bast <bastroman@gmail.com> |
|
* |
|
*/ |
|
|
|
#include "ekf.h" |
|
|
|
Ekf::Ekf() |
|
{ |
|
|
|
} |
|
|
|
|
|
Ekf::~Ekf() |
|
{ |
|
|
|
} |
|
|
|
void Ekf::update() |
|
{ |
|
if (!_filter_initialised) { |
|
_filter_initialised = initialiseFilter(); |
|
} |
|
|
|
if (!_filter_initialised) { |
|
return; |
|
} |
|
|
|
// prediction |
|
if (_imu_updated) { |
|
predictState(); |
|
predictCovariance(); |
|
_imu_updated = false; |
|
} |
|
|
|
// measurement updates |
|
if (_mag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _mag_sample_delayed)) { |
|
fuseMag(); |
|
} |
|
|
|
if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _baro_sample_delayed)) { |
|
_fuse_height = true; |
|
} |
|
|
|
if (_gps_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _gps_sample_delayed)) { |
|
_fuse_pos = true; |
|
_fuse_vel = true; |
|
} |
|
|
|
if (_fuse_height || _fuse_pos || _fuse_vel) { |
|
fusePosVel(); |
|
} |
|
|
|
if (_range_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _range_sample_delayed)) { |
|
fuseRange(); |
|
} |
|
|
|
if (_airspeed_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _airspeed_sample_delayed)) { |
|
fuseAirspeed(); |
|
} |
|
|
|
} |