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ekf2: expand accel bias stability criteria

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This commit is contained in:
Daniel Agar
2022-01-04 13:57:49 -05:00
parent 846f807eff
commit 170849c8f8
5 changed files with 73 additions and 52 deletions
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src/modules/sensors/vehicle_imu/VehicleIMU.cpp
+9 -19
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@@ -683,27 +683,20 @@ void VehicleIMU::PrintStatus()
void VehicleIMU::SensorCalibrationUpdate()
{
// State variance assumed for accelerometer bias storage.
// This is a reference variance used to calculate the fraction of learned accelerometer bias that will be used to update the stored value.
// Larger values cause a larger fraction of the learned biases to be used.
static constexpr float max_var_allowed = 1e-3f;
static constexpr float max_var_ratio = 1e2f;
if (_armed) {
for (int i = 0; i < _estimator_sensor_bias_subs.size(); i++) {
estimator_sensor_bias_s estimator_sensor_bias;
if (_estimator_sensor_bias_subs[i].update(&estimator_sensor_bias)) {
// find corresponding accel bias
if (_accel_calibration.device_id() == estimator_sensor_bias.accel_device_id) {
if ((estimator_sensor_bias.accel_device_id != 0)
&& (_accel_calibration.device_id() == estimator_sensor_bias.accel_device_id)) {
const Vector3f bias{estimator_sensor_bias.accel_bias};
const Vector3f bias_variance{estimator_sensor_bias.accel_bias_variance};
const bool valid = (hrt_elapsed_time(&estimator_sensor_bias.timestamp) < 1_s) &&
(estimator_sensor_bias.accel_device_id != 0) &&
estimator_sensor_bias.accel_bias_stable &&
(bias_variance.max() < max_var_allowed) &&
(bias_variance.max() < max_var_ratio * bias_variance.min());
const bool valid = (hrt_elapsed_time(&estimator_sensor_bias.timestamp) < 1_s) && estimator_sensor_bias.accel_bias_valid
&& estimator_sensor_bias.accel_bias_stable;
if (valid) {
const Vector3f offset_old{_accel_learned_calibration[i].offset};
@@ -728,16 +721,13 @@ void VehicleIMU::SensorCalibrationUpdate()
}
// find corresponding gyro calibration
if (_gyro_calibration.device_id() == estimator_sensor_bias.gyro_device_id) {
if ((estimator_sensor_bias.gyro_device_id != 0)
&& (_gyro_calibration.device_id() == estimator_sensor_bias.gyro_device_id)) {
const Vector3f bias{estimator_sensor_bias.gyro_bias};
const Vector3f bias_variance{estimator_sensor_bias.gyro_bias_variance};
const bool valid = (hrt_elapsed_time(&estimator_sensor_bias.timestamp) < 1_s) &&
(estimator_sensor_bias.gyro_device_id != 0) &&
estimator_sensor_bias.gyro_bias_valid &&
estimator_sensor_bias.gyro_bias_stable &&
(bias_variance.max() < max_var_allowed) &&
(bias_variance.max() < max_var_ratio * bias_variance.min());
const bool valid = (hrt_elapsed_time(&estimator_sensor_bias.timestamp) < 1_s) && estimator_sensor_bias.gyro_bias_valid
&& estimator_sensor_bias.gyro_bias_stable;
if (valid) {
const Vector3f offset_old{_gyro_learned_calibration[i].offset};