fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-14 06:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: Clean up logic for horizontal position fusion

Browse Source 
Remove reference to optical flow fusion mode
Simplify logic flow for selection of observation noise
Remove unnecessary conditional statement
This commit is contained in:
Paul Riseborough
2016-05-27 11:29:10 +10:00
parent 6f412a73b4
commit 00bada8f25
1 changed files with 29 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/vel_pos_fusion.cpp
+29 -17
View File
@@ -86,7 +86,28 @@ void Ekf::fuseVelPosHeight()
// Calculate innovations and observation variance depending on type of observations
// being used
if (!_control_status.flags.gps && !_control_status.flags.ev_pos) {
if (_control_status.flags.gps) {
// we are using GPS measurements
float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f);
float upper_limit = fmaxf(_params.pos_noaid_noise, lower_limit);
R[3] = math::constrain(_gps_sample_delayed.hacc, lower_limit, upper_limit);
_vel_pos_innov[3] = _state.pos(0) - _gps_sample_delayed.pos(0);
_vel_pos_innov[4] = _state.pos(1) - _gps_sample_delayed.pos(1);
// innovation gate size
gate_size[3] = fmaxf(_params.posNE_innov_gate, 1.0f);
} else if (_control_status.flags.ev_pos) {
// we are using external vision measurements
R[3] = fmaxf(_ev_sample_delayed.posErr, 0.01f);
_vel_pos_innov[3] = _state.pos(0) - _ev_sample_delayed.posNED(0);
_vel_pos_innov[4] = _state.pos(1) - _ev_sample_delayed.posNED(1);
// innovation gate size
gate_size[3] = fmaxf(_params.ev_innov_gate, 1.0f);
} else {
// No observations - use a static position to constrain drift
if (_control_status.flags.in_air && _control_status.flags.tilt_align) {
R[3] = fmaxf(_params.pos_noaid_noise, _params.gps_pos_noise);
@@ -96,25 +117,18 @@ void Ekf::fuseVelPosHeight()
_vel_pos_innov[3] = _state.pos(0) - _last_known_posNE(0);
_vel_pos_innov[4] = _state.pos(1) - _last_known_posNE(1);
} else if (_control_status.flags.gps) {
float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f);
float upper_limit = fmaxf(_params.pos_noaid_noise, lower_limit);
R[3] = math::constrain(_gps_sample_delayed.hacc, lower_limit, upper_limit);
_vel_pos_innov[3] = _state.pos(0) - _gps_sample_delayed.pos(0);
_vel_pos_innov[4] = _state.pos(1) - _gps_sample_delayed.pos(1);
} else if (_control_status.flags.ev_pos) {
R[3] = fmaxf(_ev_sample_delayed.posErr, 0.01f);
_vel_pos_innov[3] = _state.pos(0) - _ev_sample_delayed.posNED(0);
_vel_pos_innov[4] = _state.pos(1) - _ev_sample_delayed.posNED(1);
// glitch protection is not required so set gate to a large value
gate_size[3] = 100.0f;
}
// convert North position noise to variance
R[3] = R[3] * R[3];
// copy North axis values to East axis
R[4] = R[3];
// innovation gate sizes
gate_size[3] = fmaxf(_params.posNE_innov_gate, 1.0f);
gate_size[4] = gate_size[3];
}
if (_fuse_height) {
@@ -183,9 +197,7 @@ void Ekf::fuseVelPosHeight()
bool vel_check_pass = (_vel_pos_test_ratio[0] <= 1.0f) && (_vel_pos_test_ratio[1] <= 1.0f)
&& (_vel_pos_test_ratio[2] <= 1.0f);
innov_check_pass_map[2] = innov_check_pass_map[1] = innov_check_pass_map[0] = vel_check_pass;
bool using_synthetic_measurements = !_control_status.flags.gps && !_control_status.flags.opt_flow;
bool pos_check_pass = ((_vel_pos_test_ratio[3] <= 1.0f) && (_vel_pos_test_ratio[4] <= 1.0f))
|| using_synthetic_measurements || !_control_status.flags.tilt_align;
bool pos_check_pass = ((_vel_pos_test_ratio[3] <= 1.0f) && (_vel_pos_test_ratio[4] <= 1.0f)) || !_control_status.flags.tilt_align;
innov_check_pass_map[4] = innov_check_pass_map[3] = pos_check_pass;
innov_check_pass_map[5] = (_vel_pos_test_ratio[5] <= 1.0f) || !_control_status.flags.tilt_align;