baro.cpp

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//=================================================================================================
// Copyright (c) 2011, Johannes Meyer, TU Darmstadt
// All rights reserved.

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//     * Neither the name of the Flight Systems and Automatic Control group,
//       TU Darmstadt, nor the names of its contributors may be used to
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//       specific prior written permission.

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#include <hector_pose_estimation/measurements/baro.h>
#include <hector_pose_estimation/pose_estimation.h>

#include <boost/bind.hpp>

namespace hector_pose_estimation {

BaroModel::BaroModel()
{
  stddev_ = 1.0;
  qnh_ = 1013.25;
  parameters().add("qnh", qnh_);
}

BaroModel::~BaroModel() {}

ColumnVector BaroModel::ExpectedValueGet() const
{
  y_(1) = qnh_ * pow(1.0 - (0.0065 * (x_(POSITION_Z) + getElevation())) / 288.15, 5.255);
  return y_;
}

Matrix BaroModel::dfGet(unsigned int i) const
{
  C_(1,POSITION_Z) = qnh_ * 5.255 * pow(1.0 - (0.0065 * (x_(POSITION_Z) + getElevation())) / 288.15, 4.255) * (-0.0065 / 288.15);
  return C_;
}

double BaroModel::getAltitude(const BaroUpdate& update)
{
  return 288.15 / 0.0065 * (1.0 - pow(update.getVector()(1) / qnh_, 1.0/5.255));
}

BaroUpdate::BaroUpdate() : qnh_(0) {}
BaroUpdate::BaroUpdate(double pressure) : qnh_(0) { setValue(pressure); }
BaroUpdate::BaroUpdate(double pressure, double qnh) : qnh_(qnh) { setValue(pressure); }

void Baro::onReset()
{
  HeightBaroCommon::onReset();
}

bool Baro::beforeUpdate(PoseEstimation &estimator, const Baro::Update &update) {
  if (update.qnh() != 0) setQnh(update.qnh());
  setElevation(resetElevation(estimator, boost::bind(&BaroModel::getAltitude, getModel(), update)));
  return true;
}

} // namespace hector_pose_estimation