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.
181 lines
9.9 KiB
181 lines
9.9 KiB
-- switches between AHRS/EKF sources based on the pilot's source selection switch or using an automatic source selection algorithm |
|
-- this script is intended to help vehicles move between GPS and Non-GPS environments |
|
-- |
|
-- setup RCx_OPTION = 90 (EKF Pos Source) to select the source (low=primary, middle=secondary, high=tertiary) |
|
-- setup RCx_OPTION = 300 (Scripting1). When this switch is pulled high, the source will be automatically selected |
|
-- setup EK3_SRCn_ parameters so that GPS is the primary source, Non-GPS (i.e. T265) is secondary and optical flow tertiary |
|
-- configure a forward or downward facing lidar with a range of more than 5m |
|
-- |
|
-- When the auxiliary switch (ZigZag Auto) is pulled high automatic source selection uses these thresholds: |
|
-- SCR_USER1 holds the threshold for rangefinder altitude: |
|
-- if rangefinder distance >= SCR_USER1, source2 (ExtNav) will be used (if Non-GPS vel innovations are good) |
|
-- if rangefinder distance < SCR_USER1, source3 (optical flow) will be used (if Non-GPS vel innovations are not good) |
|
-- SCR_USER2 holds the threshold for GPS speed accuracy (around 0.3 is a good choice) |
|
-- SCR_USER3 holds the threshold for Non-GPS vertical speed innovation (about 0.3 is a good choice) |
|
-- if both GPS speed accuracy <= SCR_USER2 and ExternalNav speed variance >= SCR_USER3, source1 will be used |
|
-- otherwise source2 (T265) or source3 (optical flow) will be used based on rangefinder distance |
|
|
|
local rangefinder_rotation = 25 -- check downward (25) facing lidar |
|
local source_prev = 0 -- previous source, defaults to primary source |
|
local sw_source_prev = -1 -- previous source switch position |
|
local sw_auto_pos_prev = -1 -- previous auto source switch position |
|
local auto_switch = false -- true when auto switching between sources is active |
|
local gps_usable_accuracy = 1.0 -- GPS is usable if speed accuracy is at or below this value |
|
local vote_counter_max = 20 -- when a vote counter reaches this number (i.e. 2sec) source may be switched |
|
local gps_vs_nongps_vote = 0 -- vote counter for GPS vs NonGPS (-20 = GPS, +20 = NonGPS) |
|
local extnav_vs_opticalflow_vote = 0 -- vote counter for extnav vs optical flow (-20 = extnav, +20 = opticalflow) |
|
|
|
-- play tune on buzzer to alert user to change in active source set |
|
function play_source_tune(source) |
|
if (source) then |
|
if (source == 0) then |
|
notify:play_tune("L8C") -- one long lower tone |
|
elseif (source == 1) then |
|
notify:play_tune("L12DD") -- two fast medium tones |
|
elseif (source == 2) then |
|
notify:play_tune("L16FFF") -- three very fast, high tones |
|
end |
|
end |
|
end |
|
|
|
-- the main update function |
|
function update() |
|
|
|
-- check switches are configured |
|
-- source selection from RCx_FUNCTION = 90 (EKF Source Select) |
|
-- auto source from RCx_FUNCTION = 300 (Scripting1) |
|
local rc_function_source = rc:find_channel_for_option(90) |
|
local rc_function_auto = rc:find_channel_for_option(300) |
|
if (rc_function_source == nil) or (rc_function_auto == nil) then |
|
gcs:send_text(0, "ahrs-source.lua: RCx_FUNCTION=90 or 300 not set!") |
|
return update, 1000 |
|
end |
|
|
|
-- check rangefinder distance threshold has been set |
|
local rangefinder_thresh_dist = param:get('SCR_USER1') -- SCR_USER1 holds rangefinder threshold |
|
if (rangefinder_thresh_dist == nil) or (rangefinder_thresh_dist <= 0) then |
|
gcs:send_text(0, "ahrs-source.lua: set SCR_USER1 to rangefinder threshold") |
|
return update, 1000 |
|
end |
|
|
|
-- check GPS speed accuracy threshold has been set |
|
local gps_speedaccuracy_thresh = param:get('SCR_USER2') -- SCR_USER2 holds GPS speed accuracy threshold |
|
if (gps_speedaccuracy_thresh == nil) or (gps_speedaccuracy_thresh <= 0) then |
|
gcs:send_text(0, "ahrs-source.lua: set SCR_USER2 to GPS speed accuracy threshold") |
|
return update, 1000 |
|
end |
|
|
|
-- check external nav innovation threshold has been set |
|
local extnav_innov_thresh = param:get('SCR_USER3') -- SCR_USER3 holds Non-GPS vertical velocity innovation |
|
if (extnav_innov_thresh == nil) or (extnav_innov_thresh <= 0) then |
|
gcs:send_text(0, "ahrs-source.lua: set SCR_USER3 to ExtNav innovation threshold") |
|
return update, 1000 |
|
end |
|
|
|
-- check if GPS speed accuracy is over threshold |
|
local gps_speed_accuracy = gps:speed_accuracy(gps:primary_sensor()) |
|
local gps_over_threshold = (gps_speed_accuracy == nil) or (gps:speed_accuracy(gps:primary_sensor()) > gps_speedaccuracy_thresh) |
|
local gps_usable = (gps_speed_accuracy ~= nil) and (gps_speed_accuracy <= gps_usable_accuracy) |
|
|
|
-- get external nav innovations from ahrs |
|
local extnav_innov = Vector3f() |
|
local extnav_var = Vector3f() |
|
extnav_innov, extnav_var = ahrs:get_vel_innovations_and_variances_for_source(6) |
|
local extnav_over_threshold = (extnav_innov == nil) or (extnav_innov:z() == 0.0) or (math.abs(extnav_innov:z()) > extnav_innov_thresh) |
|
|
|
-- get rangefinder distance |
|
local rngfnd_distance_m = 0 |
|
if rangefinder:has_data_orient(rangefinder_rotation) then |
|
rngfnd_distance_m = rangefinder:distance_cm_orient(rangefinder_rotation) * 0.01 |
|
end |
|
local rngfnd_over_threshold = (rngfnd_distance_m == 0) or (rngfnd_distance_m > rangefinder_thresh_dist) |
|
|
|
-- NonGPS is usable if extnav innovations are good or rangefinder distance is short (for optical flow) |
|
local nongps_usable = (not extnav_over_threshold) or (not rngfnd_over_threshold) |
|
|
|
-- automatic selection logic -- |
|
|
|
-- GPS vs NonGPS vote. "-1" to move towards GPS, "+1" to move to Non-GPS |
|
if (not gps_over_threshold) or (gps_usable and not nongps_usable) then |
|
-- vote for GPS if GPS accuracy good OR usable GPS and NonGPS unusable |
|
gps_vs_nongps_vote = math.max(gps_vs_nongps_vote - 1, -vote_counter_max) |
|
elseif nongps_usable then |
|
-- vote for NonGPS if extnav or opticalflow is usable |
|
gps_vs_nongps_vote = math.min(gps_vs_nongps_vote + 1, vote_counter_max) |
|
end |
|
|
|
-- extnav vs optical flow vote. "-1" to move towards extnav, "+1" to move to opticalflow |
|
if (not extnav_over_threshold) then |
|
-- vote for extnav is innovations under threshold |
|
extnav_vs_opticalflow_vote = math.max(extnav_vs_opticalflow_vote - 1, -vote_counter_max) |
|
elseif (not rngfnd_over_threshold) then |
|
-- vote for optical flow if rangefinder is not over threshold |
|
extnav_vs_opticalflow_vote = math.min(extnav_vs_opticalflow_vote + 1, vote_counter_max) |
|
end |
|
|
|
-- auto source vote collation |
|
local auto_source = -1 -- auto source undecided if -1 |
|
if gps_vs_nongps_vote <= -vote_counter_max then |
|
auto_source = 0 -- GPS |
|
elseif gps_vs_nongps_vote >= vote_counter_max then |
|
if extnav_vs_opticalflow_vote <= -vote_counter_max then |
|
auto_source = 1 -- extnav |
|
elseif extnav_vs_opticalflow_vote >= vote_counter_max then |
|
auto_source = 2 -- opticalflow |
|
end |
|
end |
|
|
|
-- read source switch position from RCx_FUNCTION = 90 (EKF Source Select) |
|
local sw_source_pos = rc_function_source:get_aux_switch_pos() |
|
if sw_source_pos ~= sw_source_pos_prev then -- check for changes in source switch position |
|
sw_source_pos_prev = sw_source_pos -- record new switch position so we can detect changes |
|
auto_switch = false -- disable auto switching of source |
|
if source_prev ~= sw_source_pos then -- check if switch position does not match source (there is a one-to-one mapping of switch to source) |
|
source_prev = sw_source_pos -- record what source should now be (changed by ArduPilot vehicle code) |
|
gcs:send_text(0, "Pilot switched to Source " .. string.format("%d", source_prev+1)) |
|
else |
|
gcs:send_text(0, "Pilot switched but already Source " .. string.format("%d", source_prev+1)) |
|
end |
|
play_source_tune(source_prev) -- alert user of source whether changed or not |
|
end |
|
|
|
-- read auto source switch position from RCx_FUNCTION = 300 (Scripting1) |
|
local sw_auto_pos = rc_function_auto:get_aux_switch_pos() |
|
if sw_auto_pos ~= sw_auto_pos_prev then -- check for changes in source auto switch position |
|
sw_auto_pos_prev = sw_auto_pos -- record new switch position so we can detect changes |
|
if sw_auto_pos == 0 then -- pilot has pulled switch low |
|
auto_switch = false -- disable auto switching of source |
|
if sw_source_pos ~= source_prev then -- check if source will change |
|
source_prev = sw_source_pos -- record pilot's selected source |
|
ahrs:set_posvelyaw_source_set(source_prev) -- switch to pilot's selected source |
|
gcs:send_text(0, "Auto source disabled, switched to Source " .. string.format("%d", source_prev+1)) |
|
else |
|
gcs:send_text(0, "Auto source disabled, already Source " .. string.format("%d", source_prev+1)) |
|
end |
|
elseif sw_auto_pos == 2 then -- pilot has pulled switch high |
|
auto_switch = true -- enable auto switching of source |
|
if auto_source < 0 then |
|
gcs:send_text(0, "Auto source enabled, undecided, Source " .. string.format("%d", source_prev+1)) |
|
elseif auto_source ~= source_prev then -- check if source will change |
|
source_prev = auto_source -- record pilot's selected source |
|
ahrs:set_posvelyaw_source_set(source_prev) -- switch to pilot's selected source |
|
gcs:send_text(0, "Auto source enabled, switched to Source " .. string.format("%d", source_prev+1)) |
|
else |
|
gcs:send_text(0, "Auto source enabled, already Source " .. string.format("%d", source_prev+1)) |
|
end |
|
end |
|
play_source_tune(source_prev) |
|
end |
|
|
|
-- auto switching |
|
if auto_switch and (auto_source >= 0) and (auto_source ~= source_prev) then |
|
source_prev = auto_source -- record selected source |
|
ahrs:set_posvelyaw_source_set(source_prev) -- switch to pilot's selected source |
|
gcs:send_text(0, "Auto switched to Source " .. string.format("%d", source_prev+1)) |
|
play_source_tune(source_prev) |
|
end |
|
|
|
return update, 100 |
|
end |
|
|
|
return update()
|
|
|