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Improve scale estimation calculation slightly #63

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Improve scale estimation calculation slightly #63

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15 changes: 11 additions & 4 deletions src/stateestimation/PTAMWrapper.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -775,7 +775,7 @@ TooN::Vector<3> PTAMWrapper::evalNavQue(unsigned int from, unsigned int to, bool
pthread_mutex_lock(&navInfoQueueCS);
int skipped=0;
int used = 0;
int firstZ = 0;
double firstZ = 0;

float sum_first=0, num_first=0, sum_last=0, num_last=0;
int pressureAverageRange = 100;
Expand Down Expand Up @@ -822,8 +822,15 @@ TooN::Vector<3> PTAMWrapper::evalNavQue(unsigned int from, unsigned int to, bool
if(firstAdded == 0)
{
firstAdded = frontStamp;
firstZ = cur->altd;
predIMUOnlyForScale->z = firstZ*0.001; // avoid height check initially!
firstZ = (cur->altd * 0.001) / sqrt(1.0 + (tan(cur->rotX * 3.14159268 / 180)*tan(cur->rotX * 3.14159268 / 180)) \
+ (tan(cur->rotY * 3.14159268 / 180)*tan(cur->rotY * 3.14159268 / 180)) );

if (! std::isfinite(firstZ))
firstZ = cur->altd * 0.001;


predIMUOnlyForScale->z = firstZ; // avoid height check initially!

}
lastAdded = frontStamp;
// add
Expand All @@ -837,7 +844,7 @@ TooN::Vector<3> PTAMWrapper::evalNavQue(unsigned int from, unsigned int to, bool

}
//printf("QueEval: before: %i; skipped: %i, used: %i, left: %i\n", totSize, skipped, used, navInfoQueue.size());
predIMUOnlyForScale->z -= firstZ*0.001; // make height to height-diff
predIMUOnlyForScale->z -= firstZ; // make height to height-diff

*zCorrupted = predIMUOnlyForScale->zCorrupted;
*allCorrupted = abs(firstAdded - (int)from) + abs(lastAdded - (int)to) > 80;
Expand Down
24 changes: 15 additions & 9 deletions src/stateestimation/Predictor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -123,15 +123,21 @@ void Predictor::predictOneStep(ardrone_autonomy::Navdata* nfo)
x += sin(yawRad)*dxDrone+cos(yawRad)*dyDrone;
y += cos(yawRad)*dxDrone-sin(yawRad)*dyDrone;

// height
if(abs(z - (double)nfo->altd*0.001) > 0.12)
{
if(std::abs(z - (double)nfo->altd*0.001) > abs(zCorruptedJump))
zCorruptedJump = z - (double)nfo->altd*0.001;
zCorrupted = true;
}

z = nfo->altd*0.001;
double alt = (nfo->altd*0.001) / sqrt(1.0 + (tan(nfo->rotX * 3.14159268 / 180)*tan(nfo->rotX * 3.14159268 / 180)) \
+ (tan(nfo->rotY * 3.14159268 / 180)*tan(nfo->rotY * 3.14159268 / 180)) );

if (! std::isfinite(alt))
alt = nfo->altd * 0.001;

// height
if(abs(z - alt) > 0.12)
{
if(std::abs(z - alt) > abs(zCorruptedJump))
zCorruptedJump = z - alt;
zCorrupted = true;
}

z = alt;

// angles
roll = nfo->rotX/1000.0;
Expand Down