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ekf2: extract WMM update logic

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This commit is contained in:
bresch
2024-08-20 10:32:27 -04:00
committed by Daniel Agar
parent 98eae3cd4c
commit 0931179579
3 changed files with 36 additions and 45 deletions
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src/modules/ekf2/EKF/aid_sources/gnss/gps_checks.cpp
+1 -31
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@@ -98,37 +98,7 @@ void Ekf::collect_gps(const gnssSample &gps)
const bool gps_rough_2d_fix = (gps.fix_type >= 2) && (gps.hacc < 1000);
if (gps_rough_2d_fix && (_gps_checks_passed || !_NED_origin_initialised)) {
// If we have good GPS data set the origin's WGS-84 position to the last gps fix
#if defined(CONFIG_EKF2_MAGNETOMETER)
// set the magnetic field data returned by the geo library using the current GPS position
const float mag_declination_gps = math::radians(get_mag_declination_degrees(gps.lat, gps.lon));
const float mag_inclination_gps = math::radians(get_mag_inclination_degrees(gps.lat, gps.lon));
const float mag_strength_gps = get_mag_strength_gauss(gps.lat, gps.lon);
if (PX4_ISFINITE(mag_declination_gps) && PX4_ISFINITE(mag_inclination_gps) && PX4_ISFINITE(mag_strength_gps)) {
const bool mag_declination_changed = (fabsf(mag_declination_gps - _mag_declination_gps) > math::radians(1.f));
const bool mag_inclination_changed = (fabsf(mag_inclination_gps - _mag_inclination_gps) > math::radians(1.f));
if ((_wmm_gps_time_last_set == 0)
|| !PX4_ISFINITE(_mag_declination_gps)
|| !PX4_ISFINITE(_mag_inclination_gps)
|| !PX4_ISFINITE(_mag_strength_gps)
|| mag_declination_changed
|| mag_inclination_changed
) {
_mag_declination_gps = mag_declination_gps;
_mag_inclination_gps = mag_inclination_gps;
_mag_strength_gps = mag_strength_gps;
_wmm_gps_time_last_set = _time_delayed_us;
}
}
#endif // CONFIG_EKF2_MAGNETOMETER
updateWmm(gps.lat, gps.lon);
_earth_rate_NED = calcEarthRateNED((float)math::radians(gps.lat));
}
src/modules/ekf2/EKF/ekf.h
+1
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@@ -259,6 +259,7 @@ public:
// return true if the origin is valid
bool getEkfGlobalOrigin(uint64_t &origin_time, double &latitude, double &longitude, float &origin_alt) const;
bool setEkfGlobalOrigin(double latitude, double longitude, float altitude, float eph = 0.f, float epv = 0.f);
void updateWmm(double lat, double lon);
// get the 1-sigma horizontal and vertical position uncertainty of the ekf WGS-84 position
void get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv) const;
src/modules/ekf2/EKF/ekf_helper.cpp
+34 -14
View File
@@ -96,20 +96,7 @@ bool Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, cons
_pos_ref.initReference(latitude, longitude, _time_delayed_us);
_gps_alt_ref = altitude;
#if defined(CONFIG_EKF2_MAGNETOMETER)
const float mag_declination_gps = math::radians(get_mag_declination_degrees(latitude, longitude));
const float mag_inclination_gps = math::radians(get_mag_inclination_degrees(latitude, longitude));
const float mag_strength_gps = get_mag_strength_gauss(latitude, longitude);
if (PX4_ISFINITE(mag_declination_gps) && PX4_ISFINITE(mag_inclination_gps) && PX4_ISFINITE(mag_strength_gps)) {
_mag_declination_gps = mag_declination_gps;
_mag_inclination_gps = mag_inclination_gps;
_mag_strength_gps = mag_strength_gps;
_wmm_gps_time_last_set = _time_delayed_us;
}
#endif // CONFIG_EKF2_MAGNETOMETER
updateWmm(current_lat, current_lon);
_gpos_origin_eph = eph;
_gpos_origin_epv = epv;
@@ -144,6 +131,39 @@ bool Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, cons
return false;
}
void Ekf::updateWmm(const double lat, const double lon)
{
#if defined(CONFIG_EKF2_MAGNETOMETER)
// set the magnetic field data returned by the geo library using the current GPS position
const float mag_declination_gps = math::radians(get_mag_declination_degrees(lat, lon));
const float mag_inclination_gps = math::radians(get_mag_inclination_degrees(lat, lon));
const float mag_strength_gps = get_mag_strength_gauss(lat, lon);
if (PX4_ISFINITE(mag_declination_gps) && PX4_ISFINITE(mag_inclination_gps) && PX4_ISFINITE(mag_strength_gps)) {
const bool mag_declination_changed = (fabsf(mag_declination_gps - _mag_declination_gps) > math::radians(1.f));
const bool mag_inclination_changed = (fabsf(mag_inclination_gps - _mag_inclination_gps) > math::radians(1.f));
if ((_wmm_gps_time_last_set == 0)
|| !PX4_ISFINITE(_mag_declination_gps)
|| !PX4_ISFINITE(_mag_inclination_gps)
|| !PX4_ISFINITE(_mag_strength_gps)
|| mag_declination_changed
|| mag_inclination_changed
) {
_mag_declination_gps = mag_declination_gps;
_mag_inclination_gps = mag_inclination_gps;
_mag_strength_gps = mag_strength_gps;
_wmm_gps_time_last_set = _time_delayed_us;
}
}
#endif // CONFIG_EKF2_MAGNETOMETER
}
void Ekf::get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv) const
{
float eph = INFINITY;