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Remove setting a use local VELNED instead of GPS provided. INAV will default to use GPS provided VELNED if is available

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Pawel Spychalski (DzikuVx) 2024-03-18 09:54:10 +01:00
parent 0d55d20bc8
commit e08b8f62dd
5 changed files with 5 additions and 22 deletions
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10
docs/Settings.md
View file

@ -1872,16 +1872,6 @@ _// TODO_
---
### inav_use_gps_velned
Defined if INAV should use velocity data provided by GPS module for doing position and speed estimation. If set to OFF INAV will fallback to calculating velocity from GPS coordinates. Using native velocity data may improve performance on some GPS modules. Some GPS modules introduce significant delay and using native velocity may actually result in much worse performance.
| Default | Min | Max |
| --- | --- | --- |
| ON | OFF | ON |
---
### inav_w_acc_bias
Weight for accelerometer drift estimation

4
src/main/fc/fc_msp.c
View file

@ -1420,7 +1420,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_p * 100); // 2 inav_w_xy_gps_p float as value * 100
sbufWriteU16(dst, positionEstimationConfig()->w_xy_gps_v * 100); // 2 inav_w_xy_gps_v float as value * 100
sbufWriteU8(dst, gpsConfigMutable()->gpsMinSats); // 1
sbufWriteU8(dst, positionEstimationConfig()->use_gps_velned); // 1 inav_use_gps_velned ON/OFF
sbufWriteU8(dst, 1); // 1 inav_use_gps_velned ON/OFF
break;
@ -2489,7 +2489,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
positionEstimationConfigMutable()->w_xy_gps_p = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
positionEstimationConfigMutable()->w_xy_gps_v = constrainf(sbufReadU16(src) / 100.0f, 0.0f, 10.0f);
gpsConfigMutable()->gpsMinSats = constrain(sbufReadU8(src), 5, 10);
positionEstimationConfigMutable()->use_gps_velned = constrain(sbufReadU8(src), 0, 1);
sbufReadU8(src); // was positionEstimationConfigMutable()->use_gps_velned
} else
return MSP_RESULT_ERROR;
break;

5
src/main/fc/settings.yaml
View file

@ -2288,11 +2288,6 @@ groups:
field: gravity_calibration_tolerance
min: 0
max: 255
- name: inav_use_gps_velned
description: "Defined if INAV should use velocity data provided by GPS module for doing position and speed estimation. If set to OFF INAV will fallback to calculating velocity from GPS coordinates. Using native velocity data may improve performance on some GPS modules. Some GPS modules introduce significant delay and using native velocity may actually result in much worse performance."
default_value: ON
field: use_gps_velned
type: bool
- name: inav_use_gps_no_baro
field: use_gps_no_baro
type: bool

1
src/main/navigation/navigation.h
View file

@ -234,7 +234,6 @@ typedef struct positionEstimationConfig_s {
uint8_t reset_altitude_type; // from nav_reset_type_e
uint8_t reset_home_type; // nav_reset_type_e
uint8_t gravity_calibration_tolerance; // Tolerance of gravity calibration (cm/s/s)
uint8_t use_gps_velned;
uint8_t allow_dead_reckoning;
uint16_t max_surface_altitude;

7
src/main/navigation/navigation_pos_estimator.c
View file

@ -56,7 +56,7 @@
navigationPosEstimator_t posEstimator;
static float initialBaroAltitudeOffset = 0.0f;
PG_REGISTER_WITH_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig, PG_POSITION_ESTIMATION_CONFIG, 5);
PG_REGISTER_WITH_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig, PG_POSITION_ESTIMATION_CONFIG, 6);
PG_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig,
// Inertial position estimator parameters
@ -64,7 +64,6 @@ PG_RESET_TEMPLATE(positionEstimationConfig_t, positionEstimationConfig,
.reset_altitude_type = SETTING_INAV_RESET_ALTITUDE_DEFAULT,
.reset_home_type = SETTING_INAV_RESET_HOME_DEFAULT,
.gravity_calibration_tolerance = SETTING_INAV_GRAVITY_CAL_TOLERANCE_DEFAULT, // 5 cm/s/s calibration error accepted (0.5% of gravity)
.use_gps_velned = SETTING_INAV_USE_GPS_VELNED_DEFAULT, // "Disabled" is mandatory with gps_dyn_model = Pedestrian
.use_gps_no_baro = SETTING_INAV_USE_GPS_NO_BARO_DEFAULT, // Use GPS altitude if no baro is available on all aircrafts
.allow_dead_reckoning = SETTING_INAV_ALLOW_DEAD_RECKONING_DEFAULT,
@ -229,7 +228,7 @@ void onNewGPSData(void)
/* Use VELNED provided by GPS if available, calculate from coordinates otherwise */
float gpsScaleLonDown = constrainf(cos_approx((ABS(gpsSol.llh.lat) / 10000000.0f) * 0.0174532925f), 0.01f, 1.0f);
if (!ARMING_FLAG(SIMULATOR_MODE_SITL) && positionEstimationConfig()->use_gps_velned && gpsSol.flags.validVelNE) {
if (!ARMING_FLAG(SIMULATOR_MODE_SITL) && gpsSol.flags.validVelNE) {
posEstimator.gps.vel.x = gpsSol.velNED[X];
posEstimator.gps.vel.y = gpsSol.velNED[Y];
}
@ -238,7 +237,7 @@ void onNewGPSData(void)
posEstimator.gps.vel.y = (posEstimator.gps.vel.y + (gpsScaleLonDown * DISTANCE_BETWEEN_TWO_LONGITUDE_POINTS_AT_EQUATOR * (gpsSol.llh.lon - previousLon) / dT)) / 2.0f;
}
if (positionEstimationConfig()->use_gps_velned && gpsSol.flags.validVelD) {
if (gpsSol.flags.validVelD) {
posEstimator.gps.vel.z = -gpsSol.velNED[Z]; // NEU
}
else {