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| Original file line number | Diff line number | Diff line change |
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| /*========================================================================================== | ||
| alt.h - madflight altitude estimator | ||
| MIT License | ||
| Copyright (c) 2025 https://madflight.com | ||
| Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| of this software and associated documentation files (the "Software"), to deal | ||
| in the Software without restriction, including without limitation the rights | ||
| to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| copies of the Software, and to permit persons to whom the Software is | ||
| furnished to do so, subject to the following conditions: | ||
| The above copyright notice and this permission notice shall be included in all | ||
| copies or substantial portions of the Software. | ||
| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | ||
| SOFTWARE. | ||
| ===========================================================================================*/ | ||
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| /*================================================================================================= | ||
| Each ALT_USE_xxx section in this file defines a specific altimeter estimator class | ||
| =================================================================================================*/ | ||
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| #pragma once | ||
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| #define ALT_USE_NONE 1 | ||
| #define ALT_USE_KALMAN2 2 // Kalman filter estimates h and v from barometer and acceleration | ||
| #define ALT_USE_KALMAN3 3 // Kalman filter estimates h, v, and abias from barometer and acceleration | ||
| #define ALT_USE_BARO 4 // Filtered barometer | ||
| #define ALT_USE_COMP 5 // Complementary filter | ||
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| #include "../interface.h" //declares AltEst - Altimeter Estimator class | ||
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| //================================================================================================= | ||
| // None or undefined | ||
| //================================================================================================= | ||
| #if ALT_USE == ALT_USE_NONE || !defined ALT_USE | ||
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| class AltEst_None : public AltEst { | ||
| public: | ||
| void setup(float alt) { | ||
| Serial.printf("ALT: ALT_USE_NONE\n"); | ||
| } | ||
| void updateAccelUp(float a, uint32_t ts) {}; | ||
| void updateBaroAlt(float alt, uint32_t ts) {} | ||
| float getH() {return 0;} | ||
| float getV() {return 0;} | ||
| void print() {} | ||
| }; | ||
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| AltEst_None alt_instance; | ||
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| //================================================================================================= | ||
| // ALT_USE_KALMAN2 - Simple Kalman filter estimates h and vup from barometer and acceleration | ||
| //================================================================================================= | ||
| #elif ALT_USE == ALT_USE_KALMAN2 | ||
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| #include "alt_kalman2/alt_kalman2.h" | ||
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| AltEst_Kalman2 alt_instance; | ||
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| //================================================================================================= | ||
| // ALT_USE_KALMAN3 - Kalman filter estimates h, vup, and abias from barometer and acceleration | ||
| //================================================================================================= | ||
| #elif ALT_USE == ALT_USE_KALMAN3 | ||
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| #include "alt_kalman3/alt_kalman3.h" | ||
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| AltEst_Kalman3 alt_instance; | ||
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| //================================================================================================= | ||
| // ALT_USE_BARO - Filtered barometer only | ||
| //================================================================================================= | ||
| #elif ALT_USE == ALT_USE_BARO | ||
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| #include "alt_baro/alt_baro.h" | ||
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| AltEst_Baro alt_instance; | ||
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| //================================================================================================= | ||
| // ALT_USE_COMP - Complementary filter altitude and accelation | ||
| //================================================================================================= | ||
| #elif ALT_USE == ALT_USE_COMP | ||
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| #include "alt_comp/alt_comp.h" | ||
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| AltEst_Comp alt_instance; | ||
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| //================================================================================================= | ||
| // ERROR OTHER VALUE | ||
| //================================================================================================= | ||
| #else | ||
| #error "Invalid #define ALT_USE value" | ||
| #endif | ||
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| AltEst &alt = alt_instance; |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,76 @@ | ||
| /*========================================================================================== | ||
| alt_baro.h - madflight altitude estimator based on filtered barometer readings | ||
| MIT License | ||
| Copyright (c) 2025 https://madflight.com | ||
| Permission is hereby granted, free of charge, to any person obtaining a copy | ||
| of this software and associated documentation files (the "Software"), to deal | ||
| in the Software without restriction, including without limitation the rights | ||
| to use, copy, modify, merge, publish, distribute, sublicense, and/or sell | ||
| copies of the Software, and to permit persons to whom the Software is | ||
| furnished to do so, subject to the following conditions: | ||
| The above copyright notice and this permission notice shall be included in all | ||
| copies or substantial portions of the Software. | ||
| THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR | ||
| IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, | ||
| FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE | ||
| AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER | ||
| LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, | ||
| OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE | ||
| SOFTWARE. | ||
| ===========================================================================================*/ | ||
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| #pragma once | ||
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| #include "../../interface.h" //baro.getSampleRate() | ||
| #include "../../common/common.h" //lowpass_to_beta() | ||
|
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| class AltEst_Baro : public AltEst { | ||
| public: | ||
| void setup(float alt) { | ||
| Serial.printf("ALT: ALT_USE_BARO\n"); | ||
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| float sampleRate = baro.getSampleRate(); | ||
| float filterHHertz = 2.0; | ||
| float filterVHertz = 0.5; | ||
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| B_h = lowpass_to_beta(filterHHertz, sampleRate); | ||
| B_v = lowpass_to_beta(filterVHertz, sampleRate); | ||
| h = alt; | ||
| v = 0; | ||
| ts = 0; | ||
| } | ||
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| void updateAccelUp(float a, uint32_t ts) {}; //a: accel up in [m/s^2], ts: timestamp in [us] | ||
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| void updateBaroAlt(float alt, uint32_t ts) { //altitude: barometric altitude in [m], ts: timestamp in [us] | ||
| if(this->ts != 0) { | ||
| float dt = 1e-6 * (ts - this->ts); | ||
| float hnew = h + B_h * (alt - h); //Low-pass filtered altitude | ||
| float vnew = (hnew - h) / dt; | ||
| v += B_v * (vnew - v); //Low-pass filtered velocity | ||
| h = hnew; | ||
| } | ||
| this->ts = ts; | ||
| } | ||
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| float getH() {return h;} //altitude estimate in [m] | ||
| float getV() {return v;} //vertical up speed (climb rate) estimate in [m/s] | ||
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| void print() { | ||
| Serial.printf("alt.h:%.2f\t", h); | ||
| Serial.printf("alt.v:%+.2f\t", v); | ||
| } | ||
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| float h = 0; // Filtered approximate International Standard Atmosphere (ISA) Altitude in [m] | ||
| float v = 0; // Filtered vertical speed in [m/s], up is positive | ||
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| protected: | ||
| float B_h = 1.0; //alt filter constant | ||
| float B_v = 1.0; //vz filter constant | ||
| uint32_t ts = 0; | ||
| }; |
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