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EKF: Enable optical flow reversion to work if flow data is lost

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Also improve reporting.
This commit is contained in:
Paul Riseborough
2017-10-12 08:02:54 +11:00
parent cdf6e6cd36
commit 1119a9b0ac
1 changed files with 16 additions and 14 deletions
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EKF/control.cpp
+16 -14
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@@ -300,6 +300,7 @@ void Ekf::controlOpticalFlowFusion()
// set the flag and reset the fusion timeout
_control_status.flags.opt_flow = true;
_time_last_of_fuse = _time_last_imu;
ECL_INFO("EKF Starting Optical Flow Use");
// if we are not using GPS then the velocity and position states and covariances need to be set
if (!_control_status.flags.gps) {
@@ -365,20 +366,6 @@ void Ekf::controlOpticalFlowFusion()
}
// handle the case when we are relying on optical flow fusion and lose it
if (_control_status.flags.opt_flow && !_control_status.flags.gps && !_control_status.flags.ev_pos) {
// We are relying on flow aiding to constrain attitude drift so after 5s without aiding we need to do something
if ((_time_last_imu - _time_last_of_fuse > 5e6)) {
// Switch to the non-aiding mode, zero the velocity states
// and set the synthetic position to the current estimate
_control_status.flags.opt_flow = false;
_last_known_posNE(0) = _state.pos(0);
_last_known_posNE(1) = _state.pos(1);
_state.vel.setZero();
}
}
// Accumulate autopilot gyro data across the same time interval as the flow sensor
_imu_del_ang_of += _imu_sample_delayed.delta_ang - _state.gyro_bias;
_delta_time_of += _imu_sample_delayed.delta_ang_dt;
@@ -395,6 +382,21 @@ void Ekf::controlOpticalFlowFusion()
}
}
// handle the case when we are relying on optical flow fusion and lose it
if (_control_status.flags.opt_flow && !_control_status.flags.gps && !_control_status.flags.ev_pos) {
// We are relying on flow aiding to constrain attitude drift so after 5s without aiding we need to do something
if ((_time_last_imu - _time_last_of_fuse > 5e6)) {
// Switch to the non-aiding mode, zero the velocity states
// and set the synthetic position to the current estimate
_control_status.flags.opt_flow = false;
_last_known_posNE(0) = _state.pos(0);
_last_known_posNE(1) = _state.pos(1);
_state.vel.setZero();
ECL_WARN("EKF Stopping Optical Flow Use");
}
}
}
void Ekf::controlGpsFusion()