diff --git a/msg/vehicle_global_position.msg b/msg/vehicle_global_position.msg index 6451385e8ee3..d8cefa7a1d96 100644 --- a/msg/vehicle_global_position.msg +++ b/msg/vehicle_global_position.msg @@ -21,8 +21,6 @@ float32 yaw # Euler yaw angle relative to NED earth-fixed frame, -PI..+PI, (r float32 eph # Standard deviation of horizontal position error, (metres) float32 epv # Standard deviation of vertical position error, (metres) -float32 evh # Standard deviation of horizontal velocity error, (metres/sec) -float32 evv # Standard deviation of horizontal velocity error, (metres/sec) float32 terrain_alt # Terrain altitude WGS84, (metres) bool terrain_alt_valid # Terrain altitude estimate is valid diff --git a/msg/vehicle_status_flags.msg b/msg/vehicle_status_flags.msg index b6c96e633412..584d439eac79 100644 --- a/msg/vehicle_status_flags.msg +++ b/msg/vehicle_status_flags.msg @@ -7,7 +7,6 @@ bool condition_system_hotplug_timeout # true if the hotplug sensor search is ov bool condition_system_returned_to_home bool condition_auto_mission_available bool condition_global_position_valid # set to true by the commander app if the quality of the global position estimate is good enough to use for navigation -bool condition_global_velocity_valid # set to true by the commander app if the quality of the global horizontal velocity data is good enough to use for navigation bool condition_home_position_valid # indicates a valid home position (a valid home position is not always a valid launch) bool condition_local_position_valid # set to true by the commander app if the quality of the local position estimate is good enough to use for navigation bool condition_local_velocity_valid # set to true by the commander app if the quality of the local horizontal velocity data is good enough to use for navigation diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index d9bf5a392e4d..5a5fbe7d8862 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -165,7 +165,6 @@ static int32_t posctl_nav_loss_gain = 10; /**< the rate at which the probation d // Probation times for position and velocity validity checks to pass if failed static uint64_t gpos_probation_time_us = POSVEL_PROBATION_MIN; -static uint64_t gvel_probation_time_us = POSVEL_PROBATION_MIN; static uint64_t lpos_probation_time_us = POSVEL_PROBATION_MIN; static uint64_t lvel_probation_time_us = POSVEL_PROBATION_MIN; @@ -193,7 +192,6 @@ static float evh_threshold = 1.0f; // Horizontal velocity error threshold (m) static hrt_abstime last_lpos_fail_time_us = 0; // Last time that the local position validity recovery check failed (usec) static hrt_abstime last_gpos_fail_time_us = 0; // Last time that the global position validity recovery check failed (usec) static hrt_abstime last_lvel_fail_time_us = 0; // Last time that the local velocity validity recovery check failed (usec) -static hrt_abstime last_gvel_fail_time_us = 0; // Last time that the global velocity validity recovery check failed (usec) static hrt_abstime gpos_last_update_time_us = 0; // last time a global position update was received (usec) @@ -1332,7 +1330,6 @@ Commander::run() /* Set position and velocity validty to false */ status_flags.condition_global_position_valid = false; - status_flags.condition_global_velocity_valid = false; status_flags.condition_local_position_valid = false; status_flags.condition_local_velocity_valid = false; status_flags.condition_local_altitude_valid = false; @@ -1510,7 +1507,6 @@ Commander::run() last_lpos_fail_time_us = commander_boot_timestamp; last_gpos_fail_time_us = commander_boot_timestamp; last_lvel_fail_time_us = commander_boot_timestamp; - last_gvel_fail_time_us = commander_boot_timestamp; // Run preflight check int32_t rc_in_off = 0; @@ -1967,7 +1963,6 @@ Commander::run() // This is necessary because the global position message is by definition valid if published. if ((hrt_absolute_time() - gpos_last_update_time_us) > 1000000) { status_flags.condition_global_position_valid = false; - status_flags.condition_global_velocity_valid = false; } /* Check estimator status for signs of bad yaw induced post takeoff navigation failure @@ -2021,11 +2016,9 @@ Commander::run() // If nav is failed, then declare local position and velocity as invalid if (nav_test_failed) { status_flags.condition_global_position_valid = false; - status_flags.condition_global_velocity_valid = false; } else { // use global position message to determine validity check_posvel_validity(true, global_position.eph, eph_threshold, global_position.timestamp, &last_gpos_fail_time_us, &gpos_probation_time_us, &status_flags.condition_global_position_valid, &status_changed); - check_posvel_validity(true, global_position.evh, evh_threshold, global_position.timestamp, &last_gvel_fail_time_us, &gvel_probation_time_us, &status_flags.condition_global_velocity_valid, &status_changed); } } } @@ -2072,7 +2065,6 @@ Commander::run() // This is a larger value to give the vehicle time to complete a failsafe landing // if faulty sensors cause loss of navigation shortly after takeoff. gpos_probation_time_us = posctl_nav_loss_prob; - gvel_probation_time_us = posctl_nav_loss_prob; lpos_probation_time_us = posctl_nav_loss_prob; lvel_probation_time_us = posctl_nav_loss_prob; } @@ -3614,13 +3606,11 @@ reset_posvel_validity(vehicle_global_position_s *global_position, vehicle_local_ { // reset all the check probation times back to the minimum value gpos_probation_time_us = POSVEL_PROBATION_MIN; - gvel_probation_time_us = POSVEL_PROBATION_MIN; lpos_probation_time_us = POSVEL_PROBATION_MIN; lvel_probation_time_us = POSVEL_PROBATION_MIN; // recheck validity check_posvel_validity(true, global_position->eph, eph_threshold, global_position->timestamp, &last_gpos_fail_time_us, &gpos_probation_time_us, &status_flags.condition_global_position_valid, changed); - check_posvel_validity(true, global_position->evh, evh_threshold, global_position->timestamp, &last_gvel_fail_time_us, &gvel_probation_time_us, &status_flags.condition_global_velocity_valid, changed); check_posvel_validity(local_position->xy_valid, local_position->eph, eph_threshold, local_position->timestamp, &last_lpos_fail_time_us, &lpos_probation_time_us, &status_flags.condition_local_position_valid, changed); check_posvel_validity(local_position->v_xy_valid, local_position->evh, evh_threshold, local_position->timestamp, &last_lvel_fail_time_us, &lvel_probation_time_us, &status_flags.condition_local_velocity_valid, changed); } diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 50d9f72477e0..2e47bd37ec93 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -966,7 +966,7 @@ bool check_invalid_pos_nav_state(struct vehicle_status_s *status, { bool fallback_required = false; - if (using_global_pos && (!status_flags->condition_global_position_valid || !status_flags->condition_global_velocity_valid)) { + if (using_global_pos && !status_flags->condition_global_position_valid) { fallback_required = true; } else if (!using_global_pos && (!status_flags->condition_local_position_valid || !status_flags->condition_local_velocity_valid)) { fallback_required = true; diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index e319d247bf61..1e3b52150df0 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -1051,8 +1051,6 @@ void Ekf2::run() global_pos.yaw = lpos.yaw; // Yaw in radians -PI..+PI. _ekf.get_ekf_gpos_accuracy(&global_pos.eph, &global_pos.epv, &global_pos.dead_reckoning); - global_pos.evh = lpos.evh; - global_pos.evv = lpos.evv; global_pos.terrain_alt_valid = lpos.dist_bottom_valid; diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp index aa6da8c7266a..044192d3e43b 100644 --- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp +++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp @@ -729,9 +729,6 @@ void BlockLocalPositionEstimator::publishGlobalPos() _pub_gpos.get().terrain_alt_valid = _estimatorInitialized & EST_TZ; _pub_gpos.get().dead_reckoning = !(_estimatorInitialized & EST_XY); _pub_gpos.update(); - // TODO provide calculated values for these - _pub_gpos.get().evh = 0.0f; - _pub_gpos.get().evv = 0.0f; } } diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.cpp b/src/modules/position_estimator_inav/position_estimator_inav_main.cpp index 717b9e36842f..61fd66ffeb4d 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.cpp +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.cpp @@ -1397,10 +1397,6 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) global_pos.eph = eph; global_pos.epv = epv; - // TODO provide calculated values for these - global_pos.evh = 0.0f; - global_pos.evv = 0.0f; - if (terrain_estimator.is_valid()) { global_pos.terrain_alt = global_pos.alt - terrain_estimator.get_distance_to_ground(); global_pos.terrain_alt_valid = true;