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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/test/sensor_simulator/ekf_wrapper.cpp
+5
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@@ -100,6 +100,11 @@ bool EkfWrapper::isIntendingBetaFusion() const
return _ekf->control_status_flags().fuse_beta;
}
bool EkfWrapper::isIntendingAirspeedFusion() const
{
return _ekf->control_status_flags().fuse_aspd;
}
void EkfWrapper::enableGpsFusion()
{
_ekf_params->gnss_ctrl |= static_cast<int32_t>(GnssCtrl::HPOS) | static_cast<int32_t>(GnssCtrl::VEL);
src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h
+2
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@@ -73,6 +73,8 @@ public:
void disableBetaFusion();
bool isIntendingBetaFusion() const;
bool isIntendingAirspeedFusion() const;
void enableGpsFusion();
void disableGpsFusion();
bool isIntendingGpsFusion() const;
src/modules/ekf2/test/test_EKF_airspeed.cpp
+36
View File
@@ -166,3 +166,39 @@ TEST_F(EkfAirspeedTest, testResetWindUsingAirspeed)
EXPECT_NEAR(vel_wind_earth(0), vel_wind_expected(0), 1.f);
EXPECT_NEAR(vel_wind_earth(1), vel_wind_expected(1), 1.f);
}
TEST_F(EkfAirspeedTest, testAirspeedDeadReckoning)
{
const Vector3f simulated_velocity_earth(-3.6f, 8.f, 0.0f);
const Vector2f airspeed_body(15.f, 0.0f);
_sensor_simulator.runSeconds(10);
_ekf->set_in_air_status(true);
_ekf->set_vehicle_at_rest(false);
_ekf->set_is_fixed_wing(true);
const double latitude_new = -15.0000005;
const double longitude_new = -115.0000005;
const float altitude_new = 1500.0;
_ekf->setEkfGlobalOrigin(latitude_new, longitude_new, altitude_new);
_ekf->resetGlobalPosToExternalObservation(latitude_new, longitude_new, 50.f, 0);
// Simulate the fact that the sideslip can start immediately, without
// waiting for a measurement sample.
_ekf_wrapper.enableBetaFusion();
_sensor_simulator.runSeconds(1.f);
EXPECT_TRUE(_ekf_wrapper.isIntendingBetaFusion());
_sensor_simulator.startAirspeedSensor();
_sensor_simulator._airspeed.setData(airspeed_body(0), airspeed_body(0));
_sensor_simulator.runSeconds(1.f);
EXPECT_TRUE(_ekf_wrapper.isIntendingAirspeedFusion());
EXPECT_TRUE(_ekf_wrapper.isWindVelocityEstimated());
const Vector3f vel = _ekf->getVelocity();
EXPECT_NEAR(vel.norm(), airspeed_body.norm(), 1e-3f);
const Vector2f vel_wind_earth = _ekf->getWindVelocity();
EXPECT_NEAR(vel_wind_earth(0), 0.f, .1f);
EXPECT_NEAR(vel_wind_earth(1), 0.f, .1f);
}