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ekf2: add GNSS yaw max interval

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yaw data usually comes at lower rate than vel/pos
This commit is contained in:
bresch
2022-11-14 10:45:23 -05:00
committed by Daniel Agar
parent 9834c7917b
commit 06702da003
3 changed files with 9 additions and 8 deletions
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src/modules/ekf2/EKF/common.h
+5 -4
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@@ -66,10 +66,11 @@ using math::Utilities::sq;
using math::Utilities::updateYawInRotMat; using math::Utilities::updateYawInRotMat;
// maximum sensor intervals in usec // maximum sensor intervals in usec
#define BARO_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between pressure altitude measurements (uSec) #define BARO_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between pressure altitude measurements (uSec)
#define EV_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between external vision system measurements (uSec) #define EV_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between external vision system measurements (uSec)
#define GPS_MAX_INTERVAL (uint64_t)5e5 ///< Maximum allowable time interval between GPS measurements (uSec) #define GNSS_MAX_INTERVAL (uint64_t)5e5 ///< Maximum allowable time interval between GNSS measurements (uSec)
#define RNG_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between range finder measurements (uSec) #define GNSS_YAW_MAX_INTERVAL (uint64_t)15e5 ///< Maximum allowable time interval between GNSS yaw measurements (uSec)
#define RNG_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between range finder measurements (uSec)
// bad accelerometer detection and mitigation // bad accelerometer detection and mitigation
#define BADACC_PROBATION (uint64_t)10e6 ///< Period of time that accel data declared bad must continuously pass checks to be declared good again (uSec) #define BADACC_PROBATION (uint64_t)10e6 ///< Period of time that accel data declared bad must continuously pass checks to be declared good again (uSec)
src/modules/ekf2/EKF/control.cpp
+2 -2
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@@ -86,7 +86,7 @@ void Ekf::controlFusionModes()
} }
if (_gps_buffer) { if (_gps_buffer) {
_gps_intermittent = !isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GPS_MAX_INTERVAL); _gps_intermittent = !isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GNSS_MAX_INTERVAL);
// check for arrival of new sensor data at the fusion time horizon // check for arrival of new sensor data at the fusion time horizon
_time_prev_gps_us = _gps_sample_delayed.time_us; _time_prev_gps_us = _gps_sample_delayed.time_us;
@@ -418,7 +418,7 @@ void Ekf::controlGpsYawFusion(const gpsSample &gps_sample, bool gps_checks_passi
const bool continuing_conditions_passing = !gps_checks_failing; const bool continuing_conditions_passing = !gps_checks_failing;
const bool is_gps_yaw_data_intermittent = !isNewestSampleRecent(_time_last_gps_yaw_buffer_push, 2 * GPS_MAX_INTERVAL); const bool is_gps_yaw_data_intermittent = !isNewestSampleRecent(_time_last_gps_yaw_buffer_push, 2 * GNSS_YAW_MAX_INTERVAL);
const bool starting_conditions_passing = continuing_conditions_passing const bool starting_conditions_passing = continuing_conditions_passing
&& _control_status.flags.tilt_align && _control_status.flags.tilt_align
src/modules/ekf2/EKF/gnss_height_control.cpp
+2 -2
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@@ -92,7 +92,7 @@ void Ekf::controlGnssHeightFusion(const gpsSample &gps_sample)
&& _gps_checks_passed; && _gps_checks_passed;
const bool starting_conditions_passing = continuing_conditions_passing const bool starting_conditions_passing = continuing_conditions_passing
&& isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GPS_MAX_INTERVAL) && isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GNSS_MAX_INTERVAL)
&& _gps_checks_passed && _gps_checks_passed
&& gps_checks_passing && gps_checks_passing
&& !gps_checks_failing; && !gps_checks_failing;
@@ -158,7 +158,7 @@ void Ekf::controlGnssHeightFusion(const gpsSample &gps_sample)
} }
} else if (_control_status.flags.gps_hgt } else if (_control_status.flags.gps_hgt
&& !isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GPS_MAX_INTERVAL)) { && !isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GNSS_MAX_INTERVAL)) {
// No data anymore. Stop until it comes back. // No data anymore. Stop until it comes back.
ECL_WARN("stopping %s height fusion, no data", HGT_SRC_NAME); ECL_WARN("stopping %s height fusion, no data", HGT_SRC_NAME);
stopGpsHgtFusion(); stopGpsHgtFusion();