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Adding vertical (Z) velocity to inav estimator #1397

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merged 2 commits into from
Jan 23, 2015
Merged

Adding vertical (Z) velocity to inav estimator #1397

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22f1b78
Adding vertical (Z) velocity to inav estimator
dyeldandi Oct 17, 2014
0632d88
INAV_W_Z_GPS_V defaults to 0
dyeldandi Jan 21, 2015
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3 changes: 3 additions & 0 deletions src/modules/position_estimator_inav/position_estimator_inav_main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -846,6 +846,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
float w_xy_gps_p = params.w_xy_gps_p * w_gps_xy;
float w_xy_gps_v = params.w_xy_gps_v * w_gps_xy;
float w_z_gps_p = params.w_z_gps_p * w_gps_z;
float w_z_gps_v = params.w_z_gps_v * w_gps_z;

float w_xy_vision_p = params.w_xy_vision_p;
float w_xy_vision_v = params.w_xy_vision_v;
Expand Down Expand Up @@ -876,6 +877,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])

if (use_gps_z) {
accel_bias_corr[2] -= corr_gps[2][0] * w_z_gps_p * w_z_gps_p;
accel_bias_corr[2] -= corr_gps[2][1] * w_z_gps_v;
}

/* transform error vector from NED frame to body frame */
Expand Down Expand Up @@ -960,6 +962,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
epv = fminf(epv, gps.epv);

inertial_filter_correct(corr_gps[2][0], dt, z_est, 0, w_z_gps_p);
inertial_filter_correct(corr_gps[2][1], dt, z_est, 1, w_z_gps_v);
}

if (use_vision_z) {
Expand Down
12 changes: 12 additions & 0 deletions src/modules/position_estimator_inav/position_estimator_inav_params.c
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Expand Up @@ -63,6 +63,17 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f);
*/
PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f);

/**
* Z velocity weight for GPS
*
* Weight (cutoff frequency) for GPS altitude velocity measurements.
*
* @min 0.0
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_V, 0.0f);

/**
* Z axis weight for vision
*
Expand Down Expand Up @@ -281,6 +292,7 @@ int parameters_init(struct position_estimator_inav_param_handles *h)
{
h->w_z_baro = param_find("INAV_W_Z_BARO");
h->w_z_gps_p = param_find("INAV_W_Z_GPS_P");
h->w_z_gps_v = param_find("INAV_W_Z_GPS_V");
h->w_z_vision_p = param_find("INAV_W_Z_VIS_P");
h->w_z_sonar = param_find("INAV_W_Z_SONAR");
h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P");
Expand Down
2 changes: 2 additions & 0 deletions src/modules/position_estimator_inav/position_estimator_inav_params.h
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Expand Up @@ -44,6 +44,7 @@
struct position_estimator_inav_params {
float w_z_baro;
float w_z_gps_p;
float w_z_gps_v;
float w_z_vision_p;
float w_z_sonar;
float w_xy_gps_p;
Expand All @@ -68,6 +69,7 @@ struct position_estimator_inav_params {
struct position_estimator_inav_param_handles {
param_t w_z_baro;
param_t w_z_gps_p;
param_t w_z_gps_v;
param_t w_z_vision_p;
param_t w_z_sonar;
param_t w_xy_gps_p;
Expand Down