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ekf: refactor fake position control logic

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This commit is contained in:
bresch
2022-01-25 15:07:48 +01:00
committed by Mathieu Bresciani
parent 42404ade77
commit 1502d77df2
6 changed files with 134 additions and 61 deletions
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src/modules/ekf2/EKF/control.cpp
-58
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@@ -1066,64 +1066,6 @@ void Ekf::controlDragFusion()
}
}
void Ekf::controlFakePosFusion()
{
// if we aren't doing any aiding, fake position measurements at the last known position to constrain drift
// Coincide fake measurements with baro data for efficiency with a minimum fusion rate of 5Hz
if (!isHorizontalAidingActive()
&& !(_control_status.flags.fuse_aspd && _control_status.flags.fuse_beta)) {
// We now need to use a synthetic position observation to prevent unconstrained drift of the INS states.
_using_synthetic_position = true;
// Fuse synthetic position observations every 200msec
if (isTimedOut(_time_last_fake_pos, (uint64_t)2e5)) {
// Reset position and velocity states if we re-commence this aiding method
if (isTimedOut(_time_last_fake_pos, (uint64_t)4e5)) {
_last_known_posNE = _state.pos.xy();
resetHorizontalPosition();
resetVelocity();
_fuse_hpos_as_odom = false;
if (_time_last_fake_pos != 0) {
_warning_events.flags.stopping_navigation = true;
ECL_WARN("stopping navigation");
}
}
_time_last_fake_pos = _time_last_imu;
Vector3f fake_pos_obs_var;
if (_control_status.flags.in_air && _control_status.flags.tilt_align) {
fake_pos_obs_var(0) = fake_pos_obs_var(1) = sq(fmaxf(_params.pos_noaid_noise, _params.gps_pos_noise));
} else if (_control_status.flags.vehicle_at_rest) {
// Accelerate tilt fine alignment by fusing more
// aggressively when the vehicle is at rest
fake_pos_obs_var(0) = fake_pos_obs_var(1) = sq(0.1f);
} else {
fake_pos_obs_var(0) = fake_pos_obs_var(1) = sq(0.5f);
}
_gps_pos_innov.xy() = Vector2f(_state.pos) - _last_known_posNE;
const Vector2f fake_pos_innov_gate(3.0f, 3.0f);
fuseHorizontalPosition(_gps_pos_innov, fake_pos_innov_gate, fake_pos_obs_var,
_gps_pos_innov_var, _gps_pos_test_ratio, true);
}
} else {
_using_synthetic_position = false;
}
}
void Ekf::controlAuxVelFusion()
{
bool data_ready = false;