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ekf2: allow wind dead-reckoning after manual position reset

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Reset velocity using airspeed and start navigating
This commit is contained in:
bresch
2024-02-27 09:34:05 -05:00
committed by Daniel Agar
parent 2491548a0f
commit 051baec9c4
5 changed files with 66 additions and 8 deletions
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src/modules/ekf2/EKF/airspeed_fusion.cpp
+22 -8
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@@ -93,7 +93,7 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
const bool is_airspeed_significant = airspeed_sample.true_airspeed > _params.arsp_thr;
const bool is_airspeed_consistent = (_aid_src_airspeed.test_ratio > 0.f && _aid_src_airspeed.test_ratio < 1.f);
const bool starting_conditions_passing = continuing_conditions_passing && is_airspeed_significant
&& (is_airspeed_consistent || !_control_status.flags.wind); // if wind isn't already estimated, the states are reset when starting airspeed fusion
&& (is_airspeed_consistent || !_control_status.flags.wind || _control_status.flags.inertial_dead_reckoning);
if (_control_status.flags.fuse_aspd) {
if (continuing_conditions_passing) {
@@ -118,17 +118,16 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
} else if (starting_conditions_passing) {
ECL_INFO("starting airspeed fusion");
// If starting wind state estimation, reset the wind states and covariances before fusing any data
// Also catch the case where sideslip fusion enabled wind estimation recently and didn't converge yet.
const Vector2f wind_var_xy = getWindVelocityVariance();
if (_control_status.flags.inertial_dead_reckoning && !is_airspeed_consistent) {
resetVelUsingAirspeed(airspeed_sample);
if (!_control_status.flags.wind || (wind_var_xy(0) + wind_var_xy(1) > sq(_params.initial_wind_uncertainty))) {
// activate the wind states
_control_status.flags.wind = true;
// reset the wind speed states and corresponding covariances
} else if (!_control_status.flags.wind || getWindVelocityVariance().longerThan(_params.initial_wind_uncertainty)) {
// If starting wind state estimation, reset the wind states and covariances before fusing any data
// Also catch the case where sideslip fusion enabled wind estimation recently and didn't converge yet.
resetWindUsingAirspeed(airspeed_sample);
}
_control_status.flags.wind = true;
_control_status.flags.fuse_aspd = true;
}
@@ -247,3 +246,18 @@ void Ekf::resetWindUsingAirspeed(const airspeedSample &airspeed_sample)
_aid_src_airspeed.time_last_fuse = _time_delayed_us;
}
void Ekf::resetVelUsingAirspeed(const airspeedSample &airspeed_sample)
{
const float euler_yaw = getEulerYaw(_R_to_earth);
// Estimate velocity using zero sideslip assumption and airspeed measurement
Vector2f horizontal_velocity;
horizontal_velocity(0) = _state.wind_vel(0) + airspeed_sample.true_airspeed * cosf(euler_yaw);
horizontal_velocity(1) = _state.wind_vel(1) + airspeed_sample.true_airspeed * sinf(euler_yaw);
float vel_var = NAN; // Do not reset the velocity variance as wind variance estimate is most likely not correct
resetHorizontalVelocityTo(horizontal_velocity, vel_var);
_aid_src_airspeed.time_last_fuse = _time_delayed_us;
}
src/modules/ekf2/EKF/ekf.h
+1
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@@ -788,6 +788,7 @@ private:
// Reset the wind states using the current airspeed measurement, ground relative nav velocity, yaw angle and assumption of zero sideslip
void resetWindUsingAirspeed(const airspeedSample &airspeed_sample);
void resetVelUsingAirspeed(const airspeedSample &airspeed_sample);
#endif // CONFIG_EKF2_AIRSPEED
#if defined(CONFIG_EKF2_SIDESLIP)