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Multi-EKF support (ekf2)
- ekf2 can now run in multi-instance mode (currently up to 9 instances)
- in multi mode all estimates are published to alternate topics (eg estimator_attitude instead of vehicle_attitude)
- new ekf2 selector runs in multi-instance mode to monitor and compare all instances, selecting a primary (eg N x estimator_attitude => vehicle_attitude)
- sensors module accel & gyro inconsistency checks are now relative to the mean of all instances, rather than the current primary (when active ekf2 selector is responsible for choosing primary accel & gyro)
- existing consumers of estimator_status must check estimator_selector_status to select current primary instance status
- ekf2 single instance mode is still fully supported and the default
Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
This commit is contained in:
Daniel Agar
co-authored by
Paul Riseborough
Paul Riseborough
parent
d5245a22d3
commit
0f411d6820
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/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <px4_platform_common/px4_config.h>
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#include <px4_platform_common/log.h>
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#include <px4_platform_common/module.h>
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#include <px4_platform_common/module_params.h>
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#include <px4_platform_common/time.h>
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#include <lib/mathlib/mathlib.h>
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#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
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#include <uORB/Subscription.hpp>
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#include <uORB/SubscriptionCallback.hpp>
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#include <uORB/Publication.hpp>
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#include <uORB/topics/estimator_selector_status.h>
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#include <uORB/topics/estimator_status.h>
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#include <uORB/topics/parameter_update.h>
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#include <uORB/topics/sensor_selection.h>
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#include <uORB/topics/sensors_status_imu.h>
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#include <uORB/topics/vehicle_attitude.h>
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#include <uORB/topics/vehicle_local_position.h>
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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_odometry.h>
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static constexpr uint8_t EKF2_MAX_INSTANCES{9};
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static_assert(EKF2_MAX_INSTANCES <= ORB_MULTI_MAX_INSTANCES, "EKF2_MAX_INSTANCES must be <= ORB_MULTI_MAX_INSTANCES");
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class EKF2Selector : public ModuleParams, public px4::ScheduledWorkItem
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{
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public:
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EKF2Selector();
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~EKF2Selector() override;
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bool Start();
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void Stop();
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void PrintStatus();
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private:
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static constexpr uint8_t INVALID_INSTANCE = UINT8_MAX;
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void Run() override;
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void PublishVehicleAttitude(bool reset = false);
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void PublishVehicleLocalPosition(bool reset = false);
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void PublishVehicleGlobalPosition(bool reset = false);
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void SelectInstance(uint8_t instance);
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// Update the error scores for all available instances
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bool UpdateErrorScores();
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// Subscriptions (per estimator instance)
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struct EstimatorInstance {
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EstimatorInstance(EKF2Selector *selector, uint8_t i) :
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estimator_attitude_sub{selector, ORB_ID(estimator_attitude), i},
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estimator_status_sub{selector, ORB_ID(estimator_status), i},
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estimator_local_position_sub{ORB_ID(estimator_local_position), i},
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estimator_global_position_sub{ORB_ID(estimator_global_position), i},
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estimator_odometry_sub{ORB_ID(estimator_odometry), i},
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estimator_visual_odometry_aligned_sub{ORB_ID(estimator_visual_odometry_aligned), i},
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instance(i)
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{}
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uORB::SubscriptionCallbackWorkItem estimator_attitude_sub;
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uORB::SubscriptionCallbackWorkItem estimator_status_sub;
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uORB::Subscription estimator_local_position_sub;
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uORB::Subscription estimator_global_position_sub;
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uORB::Subscription estimator_odometry_sub;
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uORB::Subscription estimator_visual_odometry_aligned_sub;
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estimator_status_s estimator_status{};
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hrt_abstime time_last_selected{0};
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float combined_test_ratio{0.f};
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float relative_test_ratio{0.f};
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bool healthy{false};
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const uint8_t instance;
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};
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static constexpr float _rel_err_score_lim{1.0f}; // +- limit applied to the relative error score
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static constexpr float _rel_err_thresh{0.5f}; // the relative score difference needs to be greater than this to switch from an otherwise healthy instance
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EstimatorInstance _instance[EKF2_MAX_INSTANCES] {
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{this, 0},
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{this, 1},
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{this, 2},
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{this, 3},
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{this, 4},
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{this, 5},
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{this, 6},
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{this, 7},
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{this, 8},
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};
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static constexpr uint8_t IMU_STATUS_SIZE = (sizeof(sensors_status_imu_s::gyro_inconsistency_rad_s) / sizeof(
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sensors_status_imu_s::gyro_inconsistency_rad_s[0]));
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static_assert(IMU_STATUS_SIZE == sizeof(estimator_selector_status_s::accumulated_gyro_error) / sizeof(
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estimator_selector_status_s::accumulated_gyro_error[0]),
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"increase estimator_selector_status_s::accumulated_gyro_error size");
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static_assert(IMU_STATUS_SIZE == sizeof(estimator_selector_status_s::accumulated_accel_error) / sizeof(
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estimator_selector_status_s::accumulated_accel_error[0]),
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"increase estimator_selector_status_s::accumulated_accel_error size");
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static_assert(EKF2_MAX_INSTANCES == sizeof(estimator_selector_status_s::combined_test_ratio) / sizeof(
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estimator_selector_status_s::combined_test_ratio[0]),
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"increase estimator_selector_status_s::combined_test_ratio size");
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float _accumulated_gyro_error[IMU_STATUS_SIZE] {};
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float _accumulated_accel_error[IMU_STATUS_SIZE] {};
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hrt_abstime _last_update_us{0};
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bool _gyro_fault_detected{false};
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bool _accel_fault_detected{false};
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uint8_t _available_instances{0};
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uint8_t _selected_instance{INVALID_INSTANCE};
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uint32_t _instance_changed_count{0};
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hrt_abstime _last_instance_change{0};
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// vehicle_attitude: reset counters
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vehicle_attitude_s _attitude_last{};
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matrix::Quatf _delta_q_reset{};
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uint8_t _quat_reset_counter{0};
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// vehicle_local_position: reset counters
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vehicle_local_position_s _local_position_last{};
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matrix::Vector2f _delta_xy_reset{};
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float _delta_z_reset{0.f};
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matrix::Vector2f _delta_vxy_reset{};
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float _delta_vz_reset{0.f};
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float _delta_heading_reset{0};
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uint8_t _xy_reset_counter{0};
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uint8_t _z_reset_counter{0};
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uint8_t _vxy_reset_counter{0};
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uint8_t _vz_reset_counter{0};
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uint8_t _heading_reset_counter{0};
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// vehicle_global_position: reset counters
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vehicle_global_position_s _global_position_last{};
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double _delta_lat_reset{0};
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double _delta_lon_reset{0};
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float _delta_alt_reset{0.f};
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uint8_t _lat_lon_reset_counter{0};
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uint8_t _alt_reset_counter{0};
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int _lockstep_component{-1};
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uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
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uORB::Subscription _sensors_status_imu{ORB_ID(sensors_status_imu)};
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// Publications
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uORB::Publication<estimator_selector_status_s> _estimator_selector_status_pub{ORB_ID(estimator_selector_status)};
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uORB::Publication<sensor_selection_s> _sensor_selection_pub{ORB_ID(sensor_selection)};
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uORB::Publication<vehicle_attitude_s> _vehicle_attitude_pub{ORB_ID(vehicle_attitude)};
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uORB::Publication<vehicle_global_position_s> _vehicle_global_position_pub{ORB_ID(vehicle_global_position)};
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uORB::Publication<vehicle_local_position_s> _vehicle_local_position_pub{ORB_ID(vehicle_local_position)};
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uORB::Publication<vehicle_odometry_s> _vehicle_odometry_pub{ORB_ID(vehicle_odometry)};
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uORB::Publication<vehicle_odometry_s> _vehicle_visual_odometry_aligned_pub{ORB_ID(vehicle_visual_odometry_aligned)};
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DEFINE_PARAMETERS(
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(ParamFloat<px4::params::EKF2_SEL_ERR_RED>) _param_ekf2_sel_err_red,
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(ParamFloat<px4::params::EKF2_SEL_IMU_RAT>) _param_ekf2_sel_imu_angle_rate,
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(ParamFloat<px4::params::EKF2_SEL_IMU_ANG>) _param_ekf2_sel_imu_angle,
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(ParamFloat<px4::params::EKF2_SEL_IMU_ACC>) _param_ekf2_sel_imu_accel,
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(ParamFloat<px4::params::EKF2_SEL_IMU_VEL>) _param_ekf2_sel_imu_velocity
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)
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};
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