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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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[WIP] EV overhaul contd
This commit is contained in:
Daniel Agar
@@ -363,16 +363,14 @@ void Ekf::controlBetaFusion()
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void Ekf::controlDragFusion()
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{
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if ((_params.fusion_mode & SensorFusionMask::USE_DRAG) && _drag_buffer &&
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!_control_status.flags.fake_pos && _control_status.flags.in_air && !_mag_inhibit_yaw_reset_req) {
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!_control_status.flags.fake_pos && _control_status.flags.in_air) {
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if (!_control_status.flags.wind) {
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// reset the wind states and covariances when starting drag accel fusion
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_control_status.flags.wind = true;
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resetWind();
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}
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dragSample drag_sample;
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if (_drag_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &drag_sample)) {
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@@ -518,14 +518,10 @@ private:
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bool _mag_bias_observable{false}; ///< true when there is enough rotation to make magnetometer bias errors observable
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bool _yaw_angle_observable{false}; ///< true when there is enough horizontal acceleration to make yaw observable
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uint64_t _time_yaw_started{0}; ///< last system time in usec that a yaw rotation manoeuvre was detected
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uint64_t _mag_use_not_inhibit_us{0}; ///< last system time in usec before magnetometer use was inhibited
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float _last_static_yaw{NAN}; ///< last yaw angle recorded when on ground motion checks were passing (rad)
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bool _mag_inhibit_yaw_reset_req{false}; ///< true when magnetometer inhibit has been active for long enough to require a yaw reset when conditions improve.
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bool _mag_yaw_reset_req{false}; ///< true when a reset of the yaw using the magnetometer data has been requested
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bool _mag_decl_cov_reset{false}; ///< true after the fuseDeclination() function has been used to modify the earth field covariances after a magnetic field reset event.
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bool _synthetic_mag_z_active{false}; ///< true if we are generating synthetic magnetometer Z measurements
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bool _is_yaw_fusion_inhibited{false}; ///< true when yaw sensor use is being inhibited
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SquareMatrix24f P{}; ///< state covariance matrix
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@@ -878,12 +874,12 @@ private:
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// control fusion of magnetometer observations
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void controlMagFusion();
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void checkHaglYawResetReq();
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bool haglYawResetReq() const;
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float getTerrainVPos() const { return isTerrainEstimateValid() ? _terrain_vpos : _last_on_ground_posD; }
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void runOnGroundYawReset();
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bool canResetMagHeading() const;
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void runInAirYawReset();
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void runYawReset();
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bool resetMagStates();
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void selectMagAuto();
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void check3DMagFusionSuitability();
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@@ -892,7 +888,6 @@ private:
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bool canUse3DMagFusion() const;
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void checkMagDeclRequired();
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void checkMagInhibition();
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bool shouldInhibitMag() const;
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bool magFieldStrengthDisturbed(const Vector3f &mag) const;
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static bool isMeasuredMatchingExpected(float measured, float expected, float gate);
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@@ -1336,12 +1336,12 @@ bool Ekf::resetYawToEKFGSF()
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_information_events.flags.yaw_aligned_to_imu_gps = true;
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ECL_INFO("Yaw aligned using IMU and GPS");
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// record a magnetic field alignment event to prevent possibility of the EKF trying to reset the yaw to the mag later in flight
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_flt_mag_align_start_time = _imu_sample_delayed.time_us;
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_control_status.flags.yaw_align = true;
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_ekfgsf_yaw_reset_time = _imu_sample_delayed.time_us;
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_ekfgsf_yaw_reset_count++;
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// reset mag states
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resetMagStates();
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return true;
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}
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@@ -1,6 +1,6 @@
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/****************************************************************************
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*
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* Copyright (c) 2015-2020 Estimation and Control Library (ECL). All rights reserved.
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* Copyright (c) 2015-2022 Estimation and Control Library (ECL). 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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@@ -44,9 +44,9 @@
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#if defined(MODULE_NAME)
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#include <px4_platform_common/log.h>
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# define ECL_INFO PX4_DEBUG
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# define ECL_WARN PX4_DEBUG
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# define ECL_ERR PX4_DEBUG
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# define ECL_INFO PX4_INFO // TODO
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# define ECL_WARN PX4_WARN // TODO
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# define ECL_ERR PX4_ERR // TODO
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# define ECL_DEBUG PX4_DEBUG
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#else
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# define ECL_INFO(X, ...) printf(X "\n", ##__VA_ARGS__)
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@@ -41,11 +41,6 @@
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void Ekf::controlGpsFusion()
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{
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if (!((_params.gnss_ctrl & GnssCtrl::HPOS) || (_params.gnss_ctrl & GnssCtrl::VEL))) {
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stopGpsFusion();
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return;
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}
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// Check for new GPS data that has fallen behind the fusion time horizon
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if (_gps_data_ready) {
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@@ -60,7 +55,8 @@ void Ekf::controlGpsFusion()
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// GNSS velocity
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const Vector3f velocity{gps_sample.vel};
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const float vel_var = sq(math::max(gps_sample.sacc, _params.gps_vel_noise));
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const float vel_noise = math::max(gps_sample.sacc, _params.gps_vel_noise);
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const float vel_var = sq(vel_noise);
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const Vector3f vel_obs_var(vel_var, vel_var, vel_var * sq(1.5f));
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updateVelocityAidSrcStatus(gps_sample.time_us,
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velocity, // observation
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@@ -98,12 +94,20 @@ void Ekf::controlGpsFusion()
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_yawEstimator.setVelocity(velocity.xy(), vel_noise);
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}
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// if GPS is otherwise ready to go, but yaw_align is blocked by EV give mag a chance to start
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// allow GPS to perform yaw align or in flight mag alignment
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if (_control_status.flags.tilt_align && _NED_origin_initialised
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&& gps_checks_passing && !gps_checks_failing) {
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if (!_control_status.flags.yaw_align) {
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if (_control_status.flags.ev_yaw && !_control_status.flags.yaw_align) {
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if (!_control_status.flags.yaw_align
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|| (_control_status.flags.mag_hdg && !_control_status.flags.mag_aligned_in_flight)
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) {
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if (resetYawToEKFGSF()) {
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// Yaw aligned using IMU and GPS
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} else if (resetYawToGps(gps_sample.yaw)) {
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ECL_INFO("Yaw aligned using GPS yaw");
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} else if (_control_status.flags.ev_yaw && !_control_status.flags.yaw_align && !_control_status.flags.in_air) {
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// give mag a chance to start and yaw align if currently blocked by EV yaw
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const bool mag_enabled = (_params.mag_fusion_type <= MagFuseType::MAG_3D);
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@@ -128,7 +132,12 @@ void Ekf::controlGpsFusion()
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&& _NED_origin_initialised;
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const bool continuing_conditions_passing = mandatory_conditions_passing && !gps_checks_failing;
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const bool starting_conditions_passing = continuing_conditions_passing && gps_checks_passing;
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const bool starting_conditions_passing = continuing_conditions_passing
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&& isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GPS_MAX_INTERVAL)
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&& _gps_checks_passed
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&& gps_checks_passing
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&& !gps_checks_failing;
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if (_control_status.flags.gps) {
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if (mandatory_conditions_passing) {
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@@ -138,30 +147,66 @@ void Ekf::controlGpsFusion()
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fuseVelocity(_aid_src_gnss_vel);
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fuseHorizontalPosition(_aid_src_gnss_pos);
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if (shouldResetGpsFusion()) {
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const bool was_gps_signal_lost = isTimedOut(_time_prev_gps_us, 1'000'000);
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const bool is_vel_fusion_failing = isTimedOut(_aid_src_gnss_vel.time_last_fuse, _params.reset_timeout_max);
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const bool is_pos_fusion_failing = isTimedOut(_aid_src_gnss_pos.time_last_fuse, _params.reset_timeout_max);
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/* A reset is not performed when getting GPS back after a significant period of no data
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* because the timeout could have been caused by bad GPS.
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* The total number of resets allowed per boot cycle is limited.
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*/
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if (isYawFailure()
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&& _control_status.flags.in_air
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&& !was_gps_signal_lost
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&& _ekfgsf_yaw_reset_count < _params.EKFGSF_reset_count_limit
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&& isTimedOut(_ekfgsf_yaw_reset_time, 5'000'000)) {
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// A reset is not performed when getting GPS back after a significant period of no data because the timeout could have been caused by bad GPS.
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// The total number of resets allowed per boot cycle is limited.
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const bool was_gps_signal_lost = isTimedOut(_time_prev_gps_us, 1'000'000);
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const bool yaw_failure = isYawFailure() && !was_gps_signal_lost
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&& (_ekfgsf_yaw_reset_count < _params.EKFGSF_reset_count_limit)
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&& isTimedOut(_ekfgsf_yaw_reset_time, 5'000'000);
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const bool should_reset_gps_fusion = shouldResetGpsFusion();
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if (should_reset_gps_fusion || (yaw_failure && (is_vel_fusion_failing || is_pos_fusion_failing))) {
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bool yaw_reset = false;
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if (yaw_failure) {
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// The minimum time interval between resets to the EKF-GSF estimate is limited to allow the EKF-GSF time
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// to improve its estimate if the previous reset was not successful.
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if (resetYawToEKFGSF()) {
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ECL_WARN("GPS emergency yaw reset");
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_ekfgsf_yaw_reset_count++;
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yaw_reset = true;
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if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
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// stop using the magnetometer in the main EKF otherwise it's fusion could drag the yaw around
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// and cause another navigation failure
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if (_ekfgsf_yaw_reset_count > 1) {
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_control_status.flags.mag_fault = true;
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_warning_events.flags.emergency_yaw_reset_mag_stopped = true;
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}
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}
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if (_control_status.flags.gps_yaw) {
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_control_status.flags.gps_yaw_fault = true;
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_warning_events.flags.emergency_yaw_reset_gps_yaw_stopped = true;
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}
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if (_control_status.flags.ev_yaw) {
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// Stop the vision for yaw fusion and do not allow it to start again
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stopEvYawFusion();
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_inhibit_ev_yaw_use = true;
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}
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}
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}
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ECL_WARN("GPS fusion timeout, resetting velocity and position");
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_information_events.flags.reset_vel_to_gps = true;
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_information_events.flags.reset_pos_to_gps = true;
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resetVelocityTo(gps_sample.vel, vel_obs_var);
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resetHorizontalPositionTo(gps_sample.pos, pos_obs_var);
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if (should_reset_gps_fusion || is_vel_fusion_failing || yaw_reset) {
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// reset velocity
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_information_events.flags.reset_vel_to_gps = true;
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resetVelocityTo(velocity, vel_obs_var);
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_aid_src_gnss_vel.time_last_fuse = _imu_sample_delayed.time_us;
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}
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if (should_reset_gps_fusion || is_pos_fusion_failing || yaw_reset) {
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// reset position
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_information_events.flags.reset_pos_to_gps = true;
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resetHorizontalPositionTo(position, pos_obs_var);
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_aid_src_gnss_pos.time_last_fuse = _imu_sample_delayed.time_us;
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}
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}
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} else {
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@@ -184,8 +229,10 @@ void Ekf::controlGpsFusion()
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_inhibit_ev_yaw_use = true;
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}
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ECL_INFO("starting GPS fusion");
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_information_events.flags.starting_gps_fusion = true;
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// reset position
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_information_events.flags.reset_pos_to_gps = true;
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resetHorizontalPositionTo(position, pos_obs_var);
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_aid_src_gnss_pos.time_last_fuse = _imu_sample_delayed.time_us;
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// when already using another velocity source velocity reset is not necessary
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if (!isHorizontalAidingActive()
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@@ -198,38 +245,20 @@ void Ekf::controlGpsFusion()
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_aid_src_gnss_vel.time_last_fuse = _imu_sample_delayed.time_us;
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}
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// reset position
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_information_events.flags.reset_pos_to_gps = true;
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resetHorizontalPositionTo(position, pos_obs_var);
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_aid_src_gnss_pos.time_last_fuse = _imu_sample_delayed.time_us;
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_information_events.flags.starting_gps_fusion = true;
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ECL_INFO("starting GPS fusion");
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_control_status.flags.gps = true;
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} else if (gps_checks_passing && !_control_status.flags.yaw_align && (_params.mag_fusion_type == MagFuseType::NONE)) {
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// If no mag is used, align using the yaw estimator (if available)
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if (resetYawToEKFGSF()) {
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_information_events.flags.yaw_aligned_to_imu_gps = true;
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ECL_INFO("GPS yaw aligned using IMU, resetting vel and pos");
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// reset velocity
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_information_events.flags.reset_vel_to_gps = true;
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resetVelocityTo(velocity, vel_obs_var);
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_aid_src_gnss_vel.time_last_fuse = _imu_sample_delayed.time_us;
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// reset position
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_information_events.flags.reset_pos_to_gps = true;
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resetHorizontalPositionTo(position, pos_obs_var);
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_aid_src_gnss_pos.time_last_fuse = _imu_sample_delayed.time_us;
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}
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}
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}
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} else if (_control_status.flags.gps && !isNewestSampleRecent(_time_last_gps_buffer_push, (uint64_t)10e6)) {
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_time_prev_gps_us = _gps_sample_delayed.time_us;
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} else if (_control_status.flags.gps && isTimedOut(_time_prev_gps_us, (uint64_t)10e6)) {
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stopGpsFusion();
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_warning_events.flags.gps_data_stopped = true;
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ECL_WARN("GPS data stopped");
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} else if (_control_status.flags.gps && !isNewestSampleRecent(_time_last_gps_buffer_push, (uint64_t)1e6)
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} else if (_control_status.flags.gps && isTimedOut(_time_prev_gps_us, 2 * GPS_MAX_INTERVAL)
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&& isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
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// Handle the case where we are fusing another position source along GPS,
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@@ -229,6 +229,8 @@ bool Ekf::resetYawToGps(const float gnss_yaw)
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_aid_src_gnss_yaw.time_last_fuse = _imu_sample_delayed.time_us;
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_gnss_yaw_signed_test_ratio_lpf.reset(0.f);
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resetMagStates();
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return true;
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}
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@@ -61,6 +61,7 @@ void Ekf::checkHeightSensorRefFallback()
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switch (_params.height_sensor_ref) {
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default:
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/* FALLTHROUGH */
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case HeightSensor::UNKNOWN:
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fallback_list[0] = HeightSensor::GNSS;
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@@ -149,12 +150,18 @@ void Ekf::checkVerticalAccelerationHealth()
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// declare a bad vertical acceleration measurement and make the declaration persist
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// for a minimum of BADACC_PROBATION seconds
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const bool bad_acc_vertical = _fault_status.flags.bad_acc_vertical;
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if (_fault_status.flags.bad_acc_vertical) {
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_fault_status.flags.bad_acc_vertical = isRecent(_time_bad_vert_accel, BADACC_PROBATION);
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} else {
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_fault_status.flags.bad_acc_vertical = bad_vert_accel;
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}
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if (!bad_acc_vertical && _fault_status.flags.bad_acc_vertical) {
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ECL_WARN("bad vertical acceleration");
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}
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}
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Likelihood Ekf::estimateInertialNavFallingLikelihood() const
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@@ -171,6 +178,7 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
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bool failed_min;
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bool failed_lim;
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} checks[6] {};
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static constexpr size_t NUM_CHECKS = sizeof(checks) / sizeof(checks[0]);
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if (_control_status.flags.baro_hgt) {
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checks[0] = {ReferenceType::PRESSURE, _aid_src_baro_hgt.innovation, _aid_src_baro_hgt.innovation_variance};
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@@ -197,7 +205,7 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
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}
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// Compute the check based on innovation ratio for all the sources
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for (unsigned i = 0; i < 6; i++) {
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for (unsigned i = 0; i < NUM_CHECKS; i++) {
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if (checks[i].innov_var < FLT_EPSILON) {
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continue;
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}
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@@ -208,13 +216,13 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const
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}
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// Check all the sources agains each other
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for (unsigned i = 0; i < 6; i++) {
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for (unsigned i = 0; i < NUM_CHECKS; i++) {
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if (checks[i].failed_lim) {
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// There is a chance that the inertial nav is falling if one source is failing the test
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likelihood_medium = true;
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}
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for (unsigned j = 0; j < 6; j++) {
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for (unsigned j = 0; j < NUM_CHECKS; j++) {
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if ((checks[i].ref_type != checks[j].ref_type) && checks[i].failed_lim && checks[j].failed_min) {
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// There is a high chance that the inertial nav is failing if two sources are failing the test
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@@ -75,7 +75,7 @@ void Ekf::controlMagFusion()
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resetEstimatorAidStatus(_aid_src_mag_heading);
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_aid_src_mag_heading.timestamp_sample = mag_sample.time_us;
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_aid_src_mag_heading.observation = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();;
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_aid_src_mag_heading.observation = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();
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_aid_src_mag_heading.innovation = wrap_pi(getEulerYaw(_R_to_earth) - _aid_src_mag_heading.observation);
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// compute magnetometer innovations (for estimator_aid_src_mag logging)
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@@ -104,17 +104,13 @@ void Ekf::controlMagFusion()
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return;
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}
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_mag_yaw_reset_req |= !_control_status.flags.yaw_align;
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_mag_yaw_reset_req |= _mag_inhibit_yaw_reset_req;
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|
||||
if (mag_data_ready && !_control_status.flags.ev_yaw && !_control_status.flags.gps_yaw) {
|
||||
|
||||
const bool mag_enabled_previously = _control_status_prev.flags.mag_hdg || _control_status_prev.flags.mag_3D;
|
||||
|
||||
// Determine if we should use simple magnetic heading fusion which works better when
|
||||
// there are large external disturbances or the more accurate 3-axis fusion
|
||||
switch (_params.mag_fusion_type) {
|
||||
default:
|
||||
|
||||
// FALLTHROUGH
|
||||
case MagFuseType::AUTO:
|
||||
selectMagAuto();
|
||||
@@ -132,18 +128,10 @@ void Ekf::controlMagFusion()
|
||||
break;
|
||||
}
|
||||
|
||||
const bool mag_enabled = _control_status.flags.mag_hdg || _control_status.flags.mag_3D;
|
||||
|
||||
if (!mag_enabled_previously && mag_enabled) {
|
||||
_mag_yaw_reset_req = true;
|
||||
}
|
||||
|
||||
if (_control_status.flags.in_air) {
|
||||
checkHaglYawResetReq();
|
||||
runInAirYawReset();
|
||||
|
||||
} else {
|
||||
runOnGroundYawReset();
|
||||
if ((_control_status.flags.mag_hdg || _control_status.flags.mag_3D)
|
||||
&& (!_control_status.flags.yaw_align || _mag_yaw_reset_req || haglYawResetReq())
|
||||
) {
|
||||
runYawReset();
|
||||
}
|
||||
|
||||
if (!_control_status.flags.yaw_align) {
|
||||
@@ -152,43 +140,24 @@ void Ekf::controlMagFusion()
|
||||
}
|
||||
|
||||
checkMagDeclRequired();
|
||||
checkMagInhibition();
|
||||
|
||||
runMagAndMagDeclFusions(mag_sample.mag);
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf::checkHaglYawResetReq()
|
||||
bool Ekf::haglYawResetReq() const
|
||||
{
|
||||
// We need to reset the yaw angle after climbing away from the ground to enable
|
||||
// recovery from ground level magnetic interference.
|
||||
if (!_control_status.flags.mag_aligned_in_flight) {
|
||||
if (_control_status.flags.in_air && !_control_status.flags.mag_aligned_in_flight && isTerrainEstimateValid()) {
|
||||
// Check if height has increased sufficiently to be away from ground magnetic anomalies
|
||||
// and request a yaw reset if not already requested.
|
||||
static constexpr float mag_anomalies_max_hagl = 1.5f;
|
||||
const bool above_mag_anomalies = (getTerrainVPos() - _state.pos(2)) > mag_anomalies_max_hagl;
|
||||
_mag_yaw_reset_req = _mag_yaw_reset_req || above_mag_anomalies;
|
||||
return above_mag_anomalies;
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf::runOnGroundYawReset()
|
||||
{
|
||||
if (_mag_yaw_reset_req && !_is_yaw_fusion_inhibited) {
|
||||
const bool has_realigned_yaw = canResetMagHeading() ? resetMagHeading() : false;
|
||||
|
||||
if (has_realigned_yaw) {
|
||||
_mag_yaw_reset_req = false;
|
||||
_control_status.flags.yaw_align = true;
|
||||
|
||||
// Handle the special case where we have not been constraining yaw drift or learning yaw bias due
|
||||
// to assumed invalid mag field associated with indoor operation with a downwards looking flow sensor.
|
||||
if (_mag_inhibit_yaw_reset_req) {
|
||||
_mag_inhibit_yaw_reset_req = false;
|
||||
// Zero the yaw bias covariance and set the variance to the initial alignment uncertainty
|
||||
P.uncorrelateCovarianceSetVariance<1>(12, sq(_params.switch_on_gyro_bias * _dt_ekf_avg));
|
||||
}
|
||||
}
|
||||
}
|
||||
return false;
|
||||
}
|
||||
|
||||
bool Ekf::canResetMagHeading() const
|
||||
@@ -196,7 +165,7 @@ bool Ekf::canResetMagHeading() const
|
||||
return !_control_status.flags.mag_field_disturbed && (_params.mag_fusion_type != MagFuseType::NONE);
|
||||
}
|
||||
|
||||
void Ekf::runInAirYawReset()
|
||||
void Ekf::runYawReset()
|
||||
{
|
||||
// prevent a reset being performed more than once on the same frame
|
||||
if ((_flt_mag_align_start_time == _imu_sample_delayed.time_us)
|
||||
@@ -204,66 +173,40 @@ void Ekf::runInAirYawReset()
|
||||
return;
|
||||
}
|
||||
|
||||
if (_mag_yaw_reset_req && !_is_yaw_fusion_inhibited) {
|
||||
bool has_realigned_yaw = false;
|
||||
|
||||
// use yaw estimator if available
|
||||
if (_control_status.flags.gps && isYawEmergencyEstimateAvailable() &&
|
||||
(_mag_counter != 0) && isNewestSampleRecent(_time_last_mag_buffer_push, 500'000) // mag LPF available
|
||||
) {
|
||||
|
||||
resetQuatStateYaw(_yawEstimator.getYaw(), _yawEstimator.getYawVar());
|
||||
|
||||
_information_events.flags.yaw_aligned_to_imu_gps = true;
|
||||
_ekfgsf_yaw_reset_time = _imu_sample_delayed.time_us;
|
||||
|
||||
// if world magnetic model (inclination, declination, strength) available then use it to reset mag states
|
||||
if (PX4_ISFINITE(_mag_inclination_gps) && PX4_ISFINITE(_mag_declination_gps) && PX4_ISFINITE(_mag_strength_gps)) {
|
||||
// use predicted earth field to reset states
|
||||
const Vector3f mag_earth_pred = Dcmf(Eulerf(0, -_mag_inclination_gps, _mag_declination_gps)) * Vector3f(_mag_strength_gps, 0, 0);
|
||||
_state.mag_I = mag_earth_pred;
|
||||
|
||||
const Dcmf R_to_body = quatToInverseRotMat(_state.quat_nominal);
|
||||
_state.mag_B = _mag_lpf.getState() - (R_to_body * mag_earth_pred);
|
||||
|
||||
} else {
|
||||
// Use the last magnetometer measurements to reset the field states
|
||||
// calculate initial earth magnetic field states
|
||||
_state.mag_I = _R_to_earth * _mag_lpf.getState();
|
||||
_state.mag_B.zero();
|
||||
}
|
||||
|
||||
ECL_DEBUG("resetting mag I: [%.3f, %.3f, %.3f], B: [%.3f, %.3f, %.3f]",
|
||||
(double)_state.mag_I(0), (double)_state.mag_I(1), (double)_state.mag_I(2),
|
||||
(double)_state.mag_B(0), (double)_state.mag_B(1), (double)_state.mag_B(2)
|
||||
);
|
||||
|
||||
resetMagCov();
|
||||
bool has_realigned_yaw = false;
|
||||
|
||||
// use yaw estimator if available
|
||||
if (isYawEmergencyEstimateAvailable()) {
|
||||
if (resetYawToEKFGSF()) {
|
||||
has_realigned_yaw = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (!has_realigned_yaw && canResetMagHeading()) {
|
||||
has_realigned_yaw = resetMagHeading();
|
||||
}
|
||||
if (!has_realigned_yaw && canResetMagHeading()) {
|
||||
has_realigned_yaw = resetMagHeading();
|
||||
}
|
||||
|
||||
if (has_realigned_yaw) {
|
||||
_mag_yaw_reset_req = false;
|
||||
_control_status.flags.yaw_align = true;
|
||||
if (has_realigned_yaw) {
|
||||
_mag_yaw_reset_req = false;
|
||||
_control_status.flags.yaw_align = true;
|
||||
|
||||
|
||||
if (_control_status.flags.in_air) {
|
||||
_control_status.flags.mag_aligned_in_flight = true;
|
||||
|
||||
// record the time for the magnetic field alignment event
|
||||
_flt_mag_align_start_time = _imu_sample_delayed.time_us;
|
||||
|
||||
// Handle the special case where we have not been constraining yaw drift or learning yaw bias due
|
||||
// to assumed invalid mag field associated with indoor operation with a downwards looking flow sensor.
|
||||
if (_mag_inhibit_yaw_reset_req) {
|
||||
_mag_inhibit_yaw_reset_req = false;
|
||||
// Zero the yaw bias covariance and set the variance to the initial alignment uncertainty
|
||||
P.uncorrelateCovarianceSetVariance<1>(12, sq(_params.switch_on_gyro_bias * _dt_ekf_avg));
|
||||
}
|
||||
}
|
||||
|
||||
// Handle the special case where we have not been constraining yaw drift or learning yaw bias due
|
||||
// to assumed invalid mag field associated with indoor operation with a downwards looking flow sensor.
|
||||
if (isTimedOut(_aid_src_mag_heading.time_last_fuse, (uint32_t)5e6)
|
||||
&& isTimedOut(_aid_src_mag.time_last_fuse, (uint32_t)5e6)
|
||||
&& isTimedOut(_aid_src_gnss_yaw.time_last_fuse, (uint32_t)5e6)
|
||||
&& isTimedOut(_aid_src_ev_yaw.time_last_fuse, (uint32_t)5e6)
|
||||
) {
|
||||
// Zero the yaw bias covariance and set the variance to the initial alignment uncertainty
|
||||
P.uncorrelateCovarianceSetVariance<1>(12, sq(_params.switch_on_gyro_bias * _dt_ekf_avg));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -332,20 +275,6 @@ void Ekf::checkMagDeclRequired()
|
||||
_control_status.flags.mag_dec = (_control_status.flags.mag_3D && (not_using_ne_aiding || user_selected));
|
||||
}
|
||||
|
||||
void Ekf::checkMagInhibition()
|
||||
{
|
||||
_is_yaw_fusion_inhibited = shouldInhibitMag();
|
||||
|
||||
if (!_is_yaw_fusion_inhibited) {
|
||||
_mag_use_not_inhibit_us = _imu_sample_delayed.time_us;
|
||||
}
|
||||
|
||||
// If magnetometer use has been inhibited continuously then a yaw reset is required for a valid heading
|
||||
if (uint32_t(_imu_sample_delayed.time_us - _mag_use_not_inhibit_us) > (uint32_t)5e6) {
|
||||
_mag_inhibit_yaw_reset_req = true;
|
||||
}
|
||||
}
|
||||
|
||||
bool Ekf::shouldInhibitMag() const
|
||||
{
|
||||
// If the user has selected auto protection against indoor magnetic field errors, only use the magnetometer
|
||||
@@ -355,8 +284,7 @@ bool Ekf::shouldInhibitMag() const
|
||||
// has explicitly stopped magnetometer use.
|
||||
const bool user_selected = (_params.mag_fusion_type == MagFuseType::INDOOR);
|
||||
|
||||
const bool heading_not_required_for_navigation = !_control_status.flags.gps
|
||||
&& (_control_status.flags.ev_pos && _control_status.flags.yaw_align);
|
||||
const bool heading_not_required_for_navigation = !_control_status.flags.gps;
|
||||
|
||||
return (user_selected && heading_not_required_for_navigation) || _control_status.flags.mag_field_disturbed;
|
||||
}
|
||||
@@ -391,7 +319,7 @@ void Ekf::runMagAndMagDeclFusions(const Vector3f &mag)
|
||||
if (_control_status.flags.mag_3D) {
|
||||
run3DMagAndDeclFusions(mag);
|
||||
|
||||
} else if (_control_status.flags.mag_hdg && !_is_yaw_fusion_inhibited) {
|
||||
} else if (_control_status.flags.mag_hdg && !shouldInhibitMag()) {
|
||||
// Rotate the measurements into earth frame using the zero yaw angle
|
||||
Dcmf R_to_earth = updateYawInRotMat(0.f, _R_to_earth);
|
||||
|
||||
@@ -415,7 +343,7 @@ void Ekf::run3DMagAndDeclFusions(const Vector3f &mag)
|
||||
// For the first few seconds after in-flight alignment we allow the magnetic field state estimates to stabilise
|
||||
// before they are used to constrain heading drift
|
||||
const bool update_all_states = ((_imu_sample_delayed.time_us - _flt_mag_align_start_time) > (uint64_t)5e6)
|
||||
&& !_control_status.flags.mag_fault && !_control_status.flags.mag_field_disturbed;
|
||||
&& !_control_status.flags.mag_fault && !_control_status.flags.mag_field_disturbed;
|
||||
|
||||
if (!_mag_decl_cov_reset) {
|
||||
// After any magnetic field covariance reset event the earth field state
|
||||
@@ -437,3 +365,69 @@ void Ekf::run3DMagAndDeclFusions(const Vector3f &mag)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
bool Ekf::resetMagStates()
|
||||
{
|
||||
bool reset = false;
|
||||
|
||||
// reinit mag states
|
||||
const bool mag_available = (_mag_counter != 0) && isNewestSampleRecent(_time_last_mag_buffer_push, 500'000);
|
||||
|
||||
// if world magnetic model (inclination, declination, strength) available then use it to reset mag states
|
||||
if (PX4_ISFINITE(_mag_inclination_gps) && PX4_ISFINITE(_mag_declination_gps) && PX4_ISFINITE(_mag_strength_gps)) {
|
||||
// use predicted earth field to reset states
|
||||
const Vector3f mag_earth_pred = Dcmf(Eulerf(0, -_mag_inclination_gps,
|
||||
_mag_declination_gps)) * Vector3f(_mag_strength_gps, 0, 0);
|
||||
_state.mag_I = mag_earth_pred;
|
||||
|
||||
// TODO: ECL_DEBUG
|
||||
ECL_INFO("resetting mag I to [%.3f, %.3f, %.3f]",
|
||||
(double)_state.mag_I(0), (double)_state.mag_I(1), (double)_state.mag_I(2));
|
||||
|
||||
if (mag_available) {
|
||||
const Dcmf R_to_body = quatToInverseRotMat(_state.quat_nominal);
|
||||
_state.mag_B = _mag_lpf.getState() - (R_to_body * mag_earth_pred);
|
||||
|
||||
// TODO: ECL_DEBUG
|
||||
ECL_INFO("resetting mag B to [%.3f, %.3f, %.3f]",
|
||||
(double)_state.mag_B(0), (double)_state.mag_B(1), (double)_state.mag_B(2));
|
||||
|
||||
} else {
|
||||
_state.mag_B.zero();
|
||||
}
|
||||
|
||||
reset = true;
|
||||
|
||||
} else if (mag_available) {
|
||||
// Use the last magnetometer measurements to reset the field states
|
||||
|
||||
// calculate initial earth magnetic field states
|
||||
_state.mag_I = _R_to_earth * _mag_lpf.getState();
|
||||
_state.mag_B.zero();
|
||||
|
||||
// TODO: ECL_DEBUG
|
||||
ECL_INFO("resetting mag I to [%.3f, %.3f, %.3f]",
|
||||
(double)_state.mag_I(0), (double)_state.mag_I(1), (double)_state.mag_I(2));
|
||||
|
||||
reset = true;
|
||||
}
|
||||
|
||||
if (reset) {
|
||||
resetMagCov();
|
||||
|
||||
if (mag_available) {
|
||||
if (_control_status.flags.in_air) {
|
||||
// record the start time for the magnetic field alignment
|
||||
_flt_mag_align_start_time = _imu_sample_delayed.time_us;
|
||||
_control_status.flags.mag_aligned_in_flight = true;
|
||||
}
|
||||
|
||||
// clear any pending resets
|
||||
_mag_yaw_reset_req = false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
@@ -163,7 +163,7 @@ bool Ekf::isConditionalRangeAidSuitable()
|
||||
float range_hagl_max = _params.max_hagl_for_range_aid;
|
||||
float max_vel_xy = _params.max_vel_for_range_aid;
|
||||
|
||||
const float hagl_test_ratio = (_hagl_innov * _hagl_innov / (sq(_params.range_aid_innov_gate) * _hagl_innov_var));
|
||||
const float hagl_test_ratio = (sq(_hagl_innov) / (sq(_params.range_aid_innov_gate) * _hagl_innov_var));
|
||||
|
||||
bool is_hagl_stable = (hagl_test_ratio < 1.f);
|
||||
|
||||
@@ -174,7 +174,6 @@ bool Ekf::isConditionalRangeAidSuitable()
|
||||
}
|
||||
|
||||
const float range_hagl = _terrain_vpos - _state.pos(2);
|
||||
|
||||
const bool is_in_range = (range_hagl < range_hagl_max);
|
||||
|
||||
bool is_below_max_speed = true;
|
||||
|
||||
@@ -73,20 +73,35 @@ bool PreFlightChecker::preFlightCheckHorizVelFailed(const estimator_innovations_
|
||||
{
|
||||
bool has_failed = false;
|
||||
|
||||
if (_is_using_gps_aiding || _is_using_ev_vel_aiding) {
|
||||
const Vector2f vel_ne_innov = Vector2f(fmaxf(fabsf(innov.gps_hvel[0]), fabsf(innov.ev_hvel[0])),
|
||||
fmaxf(fabsf(innov.gps_hvel[1]), fabsf(innov.ev_hvel[1])));
|
||||
Vector2f vel_ne_innov_lpf;
|
||||
vel_ne_innov_lpf(0) = _filter_vel_n_innov.update(vel_ne_innov(0), alpha, _vel_innov_spike_lim);
|
||||
vel_ne_innov_lpf(1) = _filter_vel_n_innov.update(vel_ne_innov(1), alpha, _vel_innov_spike_lim);
|
||||
if (_is_using_gps_aiding) {
|
||||
const Vector2f vel_ne_innov{fabsf(innov.gps_hvel[0]), fabsf(innov.gps_hvel[1])};
|
||||
|
||||
const Vector2f vel_ne_innov_lpf {
|
||||
_filter_vel_n_innov.update(vel_ne_innov(0), alpha, _vel_innov_spike_lim),
|
||||
_filter_vel_e_innov.update(vel_ne_innov(1), alpha, _vel_innov_spike_lim)
|
||||
};
|
||||
|
||||
has_failed |= checkInnov2DFailed(vel_ne_innov_lpf, vel_ne_innov, _vel_innov_test_lim, _vel_innov_spike_lim);
|
||||
}
|
||||
|
||||
if (_is_using_ev_vel_aiding) {
|
||||
const Vector2f vel_ne_innov{fabsf(innov.ev_hvel[0]), fabsf(innov.ev_hvel[1])};
|
||||
|
||||
const Vector2f vel_ne_innov_lpf {
|
||||
_filter_vel_n_innov.update(vel_ne_innov(0), alpha, _vel_innov_spike_lim),
|
||||
_filter_vel_e_innov.update(vel_ne_innov(1), alpha, _vel_innov_spike_lim)
|
||||
};
|
||||
|
||||
has_failed |= checkInnov2DFailed(vel_ne_innov_lpf, vel_ne_innov, _vel_innov_test_lim, _vel_innov_spike_lim);
|
||||
}
|
||||
|
||||
if (_is_using_flow_aiding) {
|
||||
const Vector2f flow_innov = Vector2f(innov.flow);
|
||||
Vector2f flow_innov_lpf;
|
||||
flow_innov_lpf(0) = _filter_flow_x_innov.update(flow_innov(0), alpha, _flow_innov_spike_lim);
|
||||
flow_innov_lpf(1) = _filter_flow_y_innov.update(flow_innov(1), alpha, _flow_innov_spike_lim);
|
||||
const Vector2f flow_innov(innov.flow);
|
||||
const Vector2f flow_innov_lpf{
|
||||
_filter_flow_x_innov.update(flow_innov(0), alpha, _flow_innov_spike_lim),
|
||||
_filter_flow_y_innov.update(flow_innov(1), alpha, _flow_innov_spike_lim)
|
||||
};
|
||||
|
||||
has_failed |= checkInnov2DFailed(flow_innov_lpf, flow_innov, _flow_innov_test_lim, 5.f * _flow_innov_spike_lim);
|
||||
}
|
||||
|
||||
@@ -95,9 +110,21 @@ bool PreFlightChecker::preFlightCheckHorizVelFailed(const estimator_innovations_
|
||||
|
||||
bool PreFlightChecker::preFlightCheckVertVelFailed(const estimator_innovations_s &innov, const float alpha)
|
||||
{
|
||||
const float vel_d_innov = fmaxf(fabsf(innov.gps_vvel), fabs(innov.ev_vvel)); // only temporary solution
|
||||
const float vel_d_innov_lpf = _filter_vel_d_innov.update(vel_d_innov, alpha, _vel_innov_spike_lim);
|
||||
return checkInnovFailed(vel_d_innov_lpf, vel_d_innov, _vel_innov_test_lim, _vel_innov_spike_lim);
|
||||
bool has_failed = false;
|
||||
|
||||
if (_is_using_gps_aiding) {
|
||||
const float vel_d_innov = fabsf(innov.gps_vvel);
|
||||
const float vel_d_innov_lpf = _filter_vel_d_innov.update(vel_d_innov, alpha, _vel_innov_spike_lim);
|
||||
has_failed |= checkInnovFailed(vel_d_innov_lpf, vel_d_innov, _vel_innov_test_lim, _vel_innov_spike_lim);
|
||||
}
|
||||
|
||||
if (_is_using_ev_vel_aiding) {
|
||||
const float vel_d_innov = fabsf(innov.ev_vvel);
|
||||
const float vel_d_innov_lpf = _filter_vel_d_innov.update(vel_d_innov, alpha, _vel_innov_spike_lim);
|
||||
has_failed |= checkInnovFailed(vel_d_innov_lpf, vel_d_innov, _vel_innov_test_lim, _vel_innov_spike_lim);
|
||||
}
|
||||
|
||||
return has_failed;
|
||||
}
|
||||
|
||||
bool PreFlightChecker::preFlightCheckHeightFailed(const estimator_innovations_s &innov, const float alpha)
|
||||
|
||||
@@ -1146,10 +1146,10 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_PITCH, 0.0f);
|
||||
*
|
||||
* @group EKF2
|
||||
* @min 0.1
|
||||
* @max 2
|
||||
* @max 3
|
||||
* @unit m/s
|
||||
*/
|
||||
PARAM_DEFINE_FLOAT(EKF2_RNG_A_VMAX, 1.0f);
|
||||
PARAM_DEFINE_FLOAT(EKF2_RNG_A_VMAX, 2.0f);
|
||||
|
||||
/**
|
||||
* Maximum absolute altitude (height above ground level) allowed for conditional range aid mode.
|
||||
|
||||
@@ -63,329 +63,329 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
6090000,1,-0.0095,-0.011,-0.022,0.0053,0.0052,-0.011,0.0021,0.00027,-3.7e+02,-1.6e-05,-5.6e-05,4.3e-07,0,0,1.4e-07,0.19,9.3e-10,0.4,0,0,0,0,0,1.5e-07,0.00038,0.00038,0.00016,0.23,0.23,7,0.1,0.1,0.33,1.8e-08,1.8e-08,5.3e-09,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
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|
||||
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|
||||
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|
||||
6490000,0.71,0.0014,-0.014,0.71,0.0043,0.0083,-0.052,0.0029,0.0025,-3.7e+02,-1.6e-05,-5.6e-05,4.1e-07,0,0,-8.7e-08,0.21,0.0021,0.44,0,0,0,0,0,0.00051,0.00034,0.00034,0.00056,0.22,0.22,1.5,0.16,0.16,0.26,1.4e-08,1.5e-08,4.8e-09,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
7190000,0.7,0.0016,-0.014,0.71,-0.0034,0.011,-0.15,0.0037,0.0093,-3.7e+02,-1.6e-05,-5.6e-05,-1.4e-07,0,0,-4.1e-06,0.21,0.0021,0.44,0,0,0,0,0,0.00018,0.00036,0.00036,0.0002,0.32,0.32,0.24,0.51,0.51,0.15,1.4e-08,1.4e-08,4.7e-09,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
7290000,0.7,0.0016,-0.014,0.71,-0.0052,0.011,-0.15,0.0033,0.01,-3.7e+02,-1.6e-05,-5.6e-05,-1.5e-07,0,0,-1.1e-05,0.21,0.0021,0.44,0,0,0,0,0,0.00017,0.00037,0.00037,0.00018,0.34,0.34,0.2,0.58,0.58,0.14,1.4e-08,1.4e-08,4.7e-09,4e-06,4e-06,3.9e-06,0,0,0,0,0,0,0,0
|
||||
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|
||||
7490000,0.7,0.0017,-0.014,0.71,-0.0076,0.013,-0.16,0.002,0.013,-3.7e+02,-1.6e-05,-5.6e-05,-1.5e-07,0,0,-2e-05,0.21,0.0021,0.44,0,0,0,0,0,0.00015,0.00039,0.00039,0.00016,0.4,0.4,0.15,0.76,0.76,0.12,1.4e-08,1.4e-08,4.7e-09,4e-06,4e-06,3.9e-06,0,0,0,0,0,0,0,0
|
||||
7590000,0.7,0.0017,-0.014,0.71,-0.0098,0.014,-0.17,0.0011,0.014,-3.7e+02,-1.6e-05,-5.6e-05,-1.4e-08,0,0,-2.9e-05,0.21,0.0021,0.44,0,0,0,0,0,0.00014,0.00039,0.00039,0.00015,0.43,0.43,0.14,0.85,0.85,0.12,1.4e-08,1.4e-08,4.7e-09,4e-06,4e-06,3.9e-06,0,0,0,0,0,0,0,0
|
||||
7690000,0.7,0.0018,-0.014,0.71,-0.012,0.015,-0.16,2.3e-05,0.015,-3.7e+02,-1.6e-05,-5.6e-05,-4.5e-08,0,0,-4.9e-05,0.21,0.0021,0.44,0,0,0,0,0,0.00014,0.0004,0.0004,0.00015,0.47,0.47,0.13,0.96,0.96,0.11,1.4e-08,1.4e-08,4.7e-09,4e-06,4e-06,3.9e-06,0,0,0,0,0,0,0,0
|
||||
7790000,0.7,0.0019,-0.014,0.71,-0.014,0.016,-0.16,-0.0013,0.017,-3.7e+02,-1.6e-05,-5.6e-05,-3.7e-07,0,0,-6.9e-05,0.21,0.0021,0.44,0,0,0,0,0,0.00013,0.00041,0.00041,0.00014,0.51,0.51,0.12,1.1,1.1,0.11,1.4e-08,1.4e-08,4.7e-09,4e-06,4e-06,3.8e-06,0,0,0,0,0,0,0,0
|
||||
7890000,0.7,0.0019,-0.014,0.71,-0.017,0.018,-0.16,-0.0028,0.018,-3.7e+02,-1.6e-05,-5.6e-05,-2.7e-07,0,0,-9.5e-05,0.21,0.0021,0.44,0,0,0,0,0,0.00013,0.00042,0.00042,0.00014,0.55,0.55,0.11,1.2,1.2,0.1,1.4e-08,1.4e-08,4.7e-09,4e-06,4e-06,3.8e-06,0,0,0,0,0,0,0,0
|
||||
7990000,0.7,0.0019,-0.014,0.71,-0.019,0.019,-0.16,-0.0046,0.02,-3.7e+02,-1.6e-05,-5.6e-05,-1.6e-07,0,0,-0.00011,0.21,0.0021,0.44,0,0,0,0,0,0.00012,0.00043,0.00043,0.00013,0.6,0.59,0.1,1.3,1.3,0.099,1.4e-08,1.4e-08,4.7e-09,4e-06,4e-06,3.8e-06,0,0,0,0,0,0,0,0
|
||||
8090000,0.7,0.0019,-0.014,0.71,-0.021,0.02,-0.17,-0.0066,0.022,-3.7e+02,-1.6e-05,-5.6e-05,6.1e-08,0,0,-0.00011,0.21,0.0021,0.44,0,0,0,0,0,0.00012,0.00045,0.00045,0.00013,0.65,0.65,0.1,1.5,1.5,0.097,1.4e-08,1.4e-08,4.7e-09,4e-06,4e-06,3.7e-06,0,0,0,0,0,0,0,0
|
||||
8190000,0.7,0.0019,-0.014,0.71,-0.024,0.021,-0.18,-0.0088,0.023,-3.7e+02,-1.6e-05,-5.6e-05,-2.1e-07,0,0,-0.00013,0.21,0.0021,0.44,0,0,0,0,0,0.00012,0.00046,0.00046,0.00012,0.69,0.69,0.099,1.7,1.7,0.094,1.4e-08,1.4e-08,4.6e-09,4e-06,4e-06,3.7e-06,0,0,0,0,0,0,0,0
|
||||
8290000,0.7,0.002,-0.014,0.71,-0.026,0.022,-0.17,-0.011,0.025,-3.7e+02,-1.6e-05,-5.6e-05,-4e-07,0,0,-0.00017,0.21,0.0021,0.44,0,0,0,0,0,0.00011,0.00047,0.00047,0.00012,0.75,0.75,0.097,1.9,1.9,0.091,1.4e-08,1.4e-08,4.6e-09,4e-06,4e-06,3.6e-06,0,0,0,0,0,0,0,0
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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17890000,0.71,0.00019,-0.013,0.71,0.0092,-0.00047,0.00065,-0.0012,-0.0022,-3.7e+02,-1.3e-05,-6.1e-05,4.4e-06,-1.9e-05,5.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.6e-05,0.00014,0.00014,8.4e-05,0.037,0.037,0.016,0.052,0.052,0.048,7.1e-10,7.1e-10,7.6e-10,3.2e-06,3.2e-06,1.1e-07,0,0,0,0,0,0,0,0
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17990000,0.71,0.00014,-0.013,0.71,0.011,-0.0022,0.0019,-0.00053,-0.0019,-3.7e+02,-1.3e-05,-6.1e-05,4.4e-06,-1.8e-05,5.4e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.6e-05,0.00013,0.00013,8.4e-05,0.032,0.032,0.016,0.045,0.045,0.047,6.4e-10,6.4e-10,7.5e-10,3.1e-06,3.1e-06,1e-07,0,0,0,0,0,0,0,0
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18090000,0.71,0.00014,-0.013,0.71,0.012,-0.0024,0.0043,0.00061,-0.0022,-3.7e+02,-1.3e-05,-6.1e-05,4e-06,-1.8e-05,5.4e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.6e-05,0.00014,0.00014,8.3e-05,0.036,0.036,0.016,0.051,0.051,0.047,6.4e-10,6.4e-10,7.3e-10,3.1e-06,3.1e-06,9.7e-08,0,0,0,0,0,0,0,0
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18190000,0.71,0.00011,-0.013,0.71,0.012,-0.0013,0.0056,0.0015,-0.0017,-3.7e+02,-1.3e-05,-6.1e-05,4.2e-06,-1.7e-05,5.4e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.6e-05,0.00013,0.00013,8.3e-05,0.032,0.032,0.015,0.045,0.045,0.047,5.8e-10,5.8e-10,7.2e-10,3.1e-06,3.1e-06,9.2e-08,0,0,0,0,0,0,0,0
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18290000,0.71,4.9e-05,-0.012,0.71,0.012,-0.0019,0.0068,0.0027,-0.0018,-3.7e+02,-1.3e-05,-6.1e-05,4.1e-06,-1.7e-05,5.4e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.5e-05,0.00013,0.00013,8.3e-05,0.035,0.035,0.015,0.051,0.051,0.046,5.8e-10,5.8e-10,7e-10,3.1e-06,3.1e-06,8.9e-08,0,0,0,0,0,0,0,0
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18390000,0.71,6.5e-05,-0.013,0.71,0.014,-0.0002,0.0079,0.0032,-0.0014,-3.7e+02,-1.3e-05,-6.1e-05,4.4e-06,-1.7e-05,5.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.5e-05,0.00013,0.00013,8.3e-05,0.031,0.031,0.014,0.045,0.045,0.046,5.3e-10,5.3e-10,6.9e-10,3.1e-06,3.1e-06,8.4e-08,0,0,0,0,0,0,0,0
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18490000,0.71,8e-05,-0.012,0.71,0.014,0.00021,0.0076,0.0047,-0.0014,-3.7e+02,-1.3e-05,-6.1e-05,4.5e-06,-1.7e-05,5.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.5e-05,0.00013,0.00013,8.2e-05,0.034,0.034,0.014,0.051,0.051,0.046,5.3e-10,5.3e-10,6.7e-10,3.1e-06,3.1e-06,8.2e-08,0,0,0,0,0,0,0,0
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18590000,0.71,8.5e-05,-0.012,0.71,0.013,0.00045,0.0057,0.0035,-0.0012,-3.7e+02,-1.4e-05,-6.1e-05,4.9e-06,-1.7e-05,5.9e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.5e-05,0.00012,0.00012,8.2e-05,0.03,0.03,0.014,0.045,0.045,0.045,4.8e-10,4.8e-10,6.6e-10,3.1e-06,3.1e-06,7.8e-08,0,0,0,0,0,0,0,0
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18690000,0.71,5.4e-05,-0.012,0.71,0.014,-0.00024,0.0038,0.0049,-0.0011,-3.7e+02,-1.4e-05,-6.1e-05,4.8e-06,-1.7e-05,5.9e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.4e-05,0.00013,0.00012,8.2e-05,0.034,0.034,0.013,0.051,0.051,0.045,4.8e-10,4.8e-10,6.5e-10,3.1e-06,3.1e-06,7.5e-08,0,0,0,0,0,0,0,0
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18790000,0.71,8.4e-05,-0.012,0.71,0.012,6.5e-05,0.0035,0.0038,-0.00091,-3.7e+02,-1.4e-05,-6.1e-05,4.6e-06,-1.7e-05,6.3e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.4e-05,0.00012,0.00012,8.2e-05,0.03,0.03,0.013,0.045,0.045,0.045,4.4e-10,4.4e-10,6.3e-10,3.1e-06,3.1e-06,7.2e-08,0,0,0,0,0,0,0,0
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18890000,0.71,0.00011,-0.012,0.71,0.013,0.00056,0.0041,0.005,-0.00085,-3.7e+02,-1.4e-05,-6.1e-05,5e-06,-1.7e-05,6.3e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.4e-05,0.00012,0.00012,8.1e-05,0.033,0.033,0.013,0.051,0.051,0.045,4.4e-10,4.4e-10,6.2e-10,3.1e-06,3.1e-06,7e-08,0,0,0,0,0,0,0,0
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18990000,0.71,9.4e-05,-0.012,0.71,0.014,0.0015,0.0028,0.0063,-0.0007,-3.7e+02,-1.4e-05,-6.1e-05,5.2e-06,-1.7e-05,6.2e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.4e-05,0.00012,0.00012,8.1e-05,0.029,0.029,0.012,0.045,0.045,0.044,4e-10,4e-10,6.1e-10,3e-06,3e-06,6.6e-08,0,0,0,0,0,0,0,0
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19090000,0.71,7.9e-05,-0.012,0.71,0.015,0.0021,0.0058,0.0078,-0.0005,-3.7e+02,-1.4e-05,-6.1e-05,5.2e-06,-1.7e-05,6.2e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.4e-05,0.00012,0.00012,8.1e-05,0.032,0.032,0.012,0.051,0.051,0.044,4e-10,4e-10,6e-10,3e-06,3e-06,6.5e-08,0,0,0,0,0,0,0,0
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19190000,0.71,8.1e-05,-0.012,0.71,0.015,0.0021,0.0058,0.0086,-0.00045,-3.7e+02,-1.4e-05,-6.1e-05,5.3e-06,-1.7e-05,6.1e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.3e-05,0.00012,0.00011,8.1e-05,0.028,0.028,0.012,0.045,0.045,0.044,3.6e-10,3.6e-10,5.9e-10,3e-06,3e-06,6.2e-08,0,0,0,0,0,0,0,0
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19290000,0.71,0.0001,-0.012,0.71,0.015,0.0013,0.0086,0.01,-0.00027,-3.7e+02,-1.4e-05,-6.1e-05,5.2e-06,-1.7e-05,6.1e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.3e-05,0.00012,0.00012,8e-05,0.031,0.031,0.012,0.05,0.05,0.044,3.6e-10,3.6e-10,5.7e-10,3e-06,3e-06,6e-08,0,0,0,0,0,0,0,0
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19390000,0.71,0.00012,-0.012,0.71,0.013,0.00039,0.012,0.008,-0.00028,-3.7e+02,-1.4e-05,-6.1e-05,5.3e-06,-1.8e-05,6.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.3e-05,0.00011,0.00011,8e-05,0.028,0.028,0.012,0.045,0.045,0.043,3.3e-10,3.3e-10,5.6e-10,3e-06,3e-06,5.8e-08,0,0,0,0,0,0,0,0
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19490000,0.71,0.00014,-0.012,0.71,0.012,-0.00033,0.0088,0.0092,-0.00028,-3.7e+02,-1.4e-05,-6.1e-05,5.6e-06,-1.8e-05,6.5e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.3e-05,0.00011,0.00011,8e-05,0.03,0.03,0.011,0.05,0.05,0.043,3.3e-10,3.3e-10,5.5e-10,3e-06,3e-06,5.6e-08,0,0,0,0,0,0,0,0
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19590000,0.71,0.00019,-0.012,0.71,0.0097,-0.0013,0.0081,0.0075,-0.0003,-3.7e+02,-1.4e-05,-6.1e-05,5.9e-06,-1.8e-05,6.8e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,8e-05,0.027,0.027,0.011,0.044,0.044,0.042,3e-10,3e-10,5.4e-10,3e-06,3e-06,5.4e-08,0,0,0,0,0,0,0,0
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19690000,0.71,0.00019,-0.012,0.71,0.01,-0.0035,0.0096,0.0085,-0.00055,-3.7e+02,-1.4e-05,-6.1e-05,5.7e-06,-1.8e-05,6.8e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,8e-05,0.029,0.029,0.011,0.05,0.05,0.042,3e-10,3e-10,5.3e-10,3e-06,3e-06,5.2e-08,0,0,0,0,0,0,0,0
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19790000,0.71,0.00026,-0.012,0.71,0.0078,-0.0044,0.01,0.0068,-0.00044,-3.7e+02,-1.4e-05,-6.1e-05,5.8e-06,-1.8e-05,7.1e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,7.9e-05,0.026,0.026,0.011,0.044,0.044,0.042,2.7e-10,2.7e-10,5.2e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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19890000,0.71,0.0002,-0.012,0.71,0.0065,-0.0047,0.011,0.0076,-0.00091,-3.7e+02,-1.4e-05,-6.1e-05,6.2e-06,-1.8e-05,7.1e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.2e-05,0.00011,0.00011,7.9e-05,0.029,0.029,0.011,0.05,0.05,0.042,2.7e-10,2.7e-10,5.1e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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19990000,0.71,0.00019,-0.012,0.71,0.0041,-0.0053,0.014,0.0062,-0.00076,-3.7e+02,-1.4e-05,-6.1e-05,6.7e-06,-1.7e-05,7.3e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.1e-05,0.00011,0.00011,7.9e-05,0.026,0.026,0.01,0.044,0.044,0.041,2.5e-10,2.5e-10,5e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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20090000,0.71,0.00018,-0.012,0.71,0.0039,-0.0073,0.014,0.0065,-0.0014,-3.7e+02,-1.4e-05,-6.1e-05,7.1e-06,-1.7e-05,7.3e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.1e-05,0.00011,0.00011,7.9e-05,0.028,0.028,0.01,0.05,0.05,0.042,2.5e-10,2.5e-10,4.9e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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20190000,0.71,0.00029,-0.012,0.71,0.0015,-0.008,0.017,0.0042,-0.0011,-3.7e+02,-1.4e-05,-6e-05,7.3e-06,-1.6e-05,7.6e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.1e-05,0.0001,0.0001,7.9e-05,0.025,0.025,0.01,0.044,0.044,0.041,2.3e-10,2.3e-10,4.8e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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20290000,0.71,0.00025,-0.012,0.71,0.00038,-0.0096,0.015,0.0043,-0.002,-3.7e+02,-1.4e-05,-6e-05,7.4e-06,-1.6e-05,7.6e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.1e-05,0.00011,0.00011,7.8e-05,0.027,0.027,0.0099,0.049,0.049,0.041,2.3e-10,2.3e-10,4.7e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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20390000,0.71,0.00027,-0.012,0.71,-0.0021,-0.01,0.017,0.0024,-0.0015,-3.7e+02,-1.4e-05,-6e-05,7.4e-06,-1.4e-05,7.8e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8.1e-05,0.0001,0.0001,7.8e-05,0.024,0.024,0.0097,0.044,0.044,0.041,2.1e-10,2.1e-10,4.7e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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20490000,0.71,0.00032,-0.012,0.71,-0.0025,-0.011,0.016,0.0022,-0.0026,-3.7e+02,-1.4e-05,-6e-05,7.2e-06,-1.4e-05,7.8e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8e-05,0.0001,0.0001,7.8e-05,0.027,0.027,0.0096,0.049,0.049,0.041,2.1e-10,2.1e-10,4.6e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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20590000,0.71,0.00034,-0.012,0.71,-0.0022,-0.011,0.013,0.0019,-0.0021,-3.7e+02,-1.4e-05,-6e-05,7.1e-06,-1.3e-05,7.8e-05,-0.0013,0.21,0.0021,0.44,0,0,0,0,0,8e-05,0.0001,0.0001,7.8e-05,0.024,0.024,0.0094,0.044,0.044,0.04,2e-10,2e-10,4.5e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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@@ -65,287 +65,287 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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18490000,0.98,-0.0073,-0.011,0.19,0.008,-0.0073,0.041,0.0069,-0.0029,0.097,-1.5e-05,-6e-05,3.6e-06,9.9e-05,2.5e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,3.1e-06,0.00013,0.00012,8.3e-05,0.035,0.035,0.0087,0.051,0.051,0.035,5.4e-10,5.4e-10,6.9e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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18590000,0.98,-0.0071,-0.011,0.19,0.0064,-0.0067,0.041,0.0055,-0.0022,0.099,-1.5e-05,-6e-05,3.3e-06,9.8e-05,2.7e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,3e-06,0.00012,0.00012,8.3e-05,0.031,0.031,0.0087,0.045,0.045,0.035,4.9e-10,4.9e-10,6.8e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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18690000,0.98,-0.0071,-0.011,0.19,0.0065,-0.0056,0.039,0.0062,-0.0028,0.098,-1.5e-05,-6e-05,3.5e-06,0.0001,2.4e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,3e-06,0.00012,0.00012,8.2e-05,0.034,0.034,0.0087,0.051,0.051,0.035,4.9e-10,4.9e-10,6.6e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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18790000,0.98,-0.007,-0.011,0.19,0.0055,-0.0054,0.038,0.0062,-0.0023,0.096,-1.5e-05,-6e-05,3.4e-06,0.00011,2.2e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,3e-06,0.00012,0.00012,8.2e-05,0.03,0.03,0.0087,0.045,0.045,0.035,4.4e-10,4.4e-10,6.5e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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18890000,0.98,-0.007,-0.011,0.19,0.0042,-0.005,0.036,0.0067,-0.0029,0.093,-1.5e-05,-6e-05,3.3e-06,0.00011,1.9e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,3e-06,0.00012,0.00012,8.2e-05,0.033,0.033,0.0087,0.051,0.051,0.035,4.4e-10,4.4e-10,6.4e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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18990000,0.98,-0.007,-0.011,0.19,0.0026,-0.0052,0.037,0.0055,-0.0023,0.096,-1.5e-05,-6e-05,3.2e-06,0.00011,2e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,3e-06,0.00012,0.00011,8.1e-05,0.029,0.029,0.0086,0.045,0.045,0.035,4e-10,4e-10,6.3e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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19090000,0.98,-0.0071,-0.011,0.19,0.00058,-0.0056,0.037,0.0058,-0.0028,0.093,-1.5e-05,-6e-05,3.4e-06,0.00011,1.7e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,3e-06,0.00012,0.00012,8.1e-05,0.032,0.032,0.0087,0.051,0.051,0.036,4e-10,4e-10,6.1e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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19190000,0.98,-0.007,-0.011,0.19,-0.00089,-0.0053,0.037,0.0048,-0.0023,0.092,-1.5e-05,-6e-05,3e-06,0.00012,1.6e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.9e-06,0.00011,0.00011,8e-05,0.028,0.028,0.0086,0.045,0.045,0.036,3.7e-10,3.7e-10,6e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19290000,0.98,-0.0069,-0.011,0.19,-0.0017,-0.0051,0.037,0.0047,-0.0028,0.091,-1.5e-05,-6e-05,2.9e-06,0.00012,1.4e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.9e-06,0.00011,0.00011,8e-05,0.031,0.031,0.0087,0.05,0.05,0.036,3.7e-10,3.7e-10,5.9e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19390000,0.98,-0.007,-0.011,0.19,-0.0022,-0.0017,0.038,0.0041,-0.00095,0.09,-1.5e-05,-6e-05,2.8e-06,0.00012,1.5e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.9e-06,0.00011,0.00011,8e-05,0.028,0.028,0.0086,0.045,0.045,0.036,3.3e-10,3.3e-10,5.8e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19490000,0.98,-0.0071,-0.011,0.19,-0.003,-0.0017,0.038,0.0038,-0.0011,0.09,-1.5e-05,-6e-05,2.5e-06,0.00012,1.3e-05,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.9e-06,0.00011,0.00011,7.9e-05,0.03,0.03,0.0087,0.05,0.05,0.036,3.3e-10,3.3e-10,5.7e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19590000,0.98,-0.007,-0.011,0.19,-0.0041,-0.0046,0.039,0.0044,-0.0022,0.09,-1.5e-05,-6e-05,2.4e-06,0.00013,9.6e-06,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.9e-06,0.00011,0.00011,7.9e-05,0.027,0.027,0.0086,0.044,0.044,0.036,3e-10,3e-10,5.6e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19690000,0.98,-0.007,-0.011,0.19,-0.0057,-0.0032,0.038,0.0039,-0.0026,0.09,-1.5e-05,-6e-05,2.6e-06,0.00013,7.7e-06,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.9e-06,0.00011,0.00011,7.8e-05,0.03,0.03,0.0086,0.05,0.05,0.036,3e-10,3e-10,5.5e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19790000,0.98,-0.0071,-0.011,0.19,-0.0057,-0.0018,0.036,0.0064,-0.0021,0.085,-1.5e-05,-6e-05,2.4e-06,0.00014,4e-06,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.8e-06,0.00011,0.0001,7.8e-05,0.026,0.026,0.0086,0.044,0.044,0.036,2.8e-10,2.8e-10,5.4e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19890000,0.98,-0.0072,-0.011,0.19,-0.0058,-0.0015,0.036,0.0058,-0.0022,0.084,-1.5e-05,-6e-05,2.2e-06,0.00014,2.2e-06,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.8e-06,0.00011,0.00011,7.7e-05,0.029,0.029,0.0086,0.05,0.05,0.036,2.8e-10,2.8e-10,5.3e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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19990000,0.98,-0.0072,-0.011,0.19,-0.0054,-0.0015,0.033,0.0061,-0.00071,0.081,-1.5e-05,-5.9e-05,2.3e-06,0.00014,2.9e-07,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.8e-06,0.0001,0.0001,7.7e-05,0.026,0.026,0.0085,0.044,0.044,0.036,2.5e-10,2.5e-10,5.2e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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20090000,0.98,-0.0072,-0.011,0.19,-0.0049,-0.0037,0.033,0.0056,-0.00098,0.084,-1.5e-05,-5.9e-05,2.2e-06,0.00014,4.2e-07,-0.0014,0.2,0.002,0.43,0,0,0,0,0,2.8e-06,0.0001,0.0001,7.7e-05,0.028,0.028,0.0086,0.05,0.05,0.036,2.5e-10,2.5e-10,5.1e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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20190000,0.98,-0.0072,-0.011,0.19,-0.0039,-0.0012,0.034,0.0066,-0.00071,0.084,-1.5e-05,-5.9e-05,2e-06,0.00015,-8.7e-07,-0.0013,0.2,0.002,0.43,0,0,0,0,0,2.8e-06,0.0001,0.0001,7.6e-05,0.025,0.025,0.0085,0.044,0.044,0.036,2.3e-10,2.3e-10,5e-10,2.9e-06,2.9e-06,5e-08,0,0,0,0,0,0,0,0
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33590000,0.98,-0.0079,-0.013,0.18,0.0057,-0.058,-0.12,0.063,-0.017,-0.026,-1.4e-05,-5.6e-05,2.5e-06,0.00028,-0.00023,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.6e-06,5.3e-05,5.2e-05,4.4e-05,0.04,0.041,0.006,0.04,0.04,0.034,2.6e-11,2.6e-11,9e-11,2.6e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33690000,0.98,-0.0079,-0.013,0.18,0.0011,-0.058,-0.12,0.063,-0.023,-0.038,-1.4e-05,-5.6e-05,2.5e-06,0.00028,-0.00023,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.6e-06,5.3e-05,5.2e-05,4.4e-05,0.048,0.048,0.0059,0.046,0.046,0.034,2.6e-11,2.6e-11,8.9e-11,2.6e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33790000,0.98,-0.0077,-0.013,0.18,-0.0022,-0.048,-0.11,0.067,-0.018,-0.048,-1.4e-05,-5.6e-05,2.4e-06,0.00026,-0.00026,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.6e-06,4.7e-05,4.6e-05,4.4e-05,0.044,0.045,0.0059,0.041,0.041,0.034,2.6e-11,2.6e-11,8.8e-11,2.5e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33890000,0.98,-0.0077,-0.013,0.18,-0.0064,-0.045,-0.11,0.067,-0.023,-0.06,-1.4e-05,-5.6e-05,2.5e-06,0.00026,-0.00026,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.6e-06,4.7e-05,4.6e-05,4.3e-05,0.052,0.052,0.0058,0.047,0.047,0.033,2.6e-11,2.6e-11,8.7e-11,2.5e-06,2.6e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33990000,0.98,-0.0074,-0.013,0.18,-0.0061,-0.031,-0.11,0.07,-0.015,-0.069,-1.4e-05,-5.6e-05,2.4e-06,0.00024,-0.00029,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.6e-06,4.1e-05,4.1e-05,4.3e-05,0.047,0.047,0.0058,0.042,0.042,0.033,2.6e-11,2.6e-11,8.7e-11,2.5e-06,2.5e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34090000,0.98,-0.0074,-0.013,0.18,-0.01,-0.031,-0.11,0.069,-0.018,-0.081,-1.4e-05,-5.6e-05,2.4e-06,0.00024,-0.00029,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.6e-06,4.1e-05,4.1e-05,4.3e-05,0.054,0.054,0.0058,0.049,0.049,0.033,2.6e-11,2.6e-11,8.6e-11,2.5e-06,2.5e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34190000,0.98,-0.0073,-0.013,0.18,-0.011,-0.02,-0.11,0.072,-0.013,-0.091,-1.4e-05,-5.6e-05,2.4e-06,0.00022,-0.00031,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,3.7e-05,3.6e-05,4.3e-05,0.048,0.048,0.0058,0.043,0.043,0.033,2.6e-11,2.6e-11,8.5e-11,2.4e-06,2.4e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34290000,0.98,-0.0071,-0.013,0.18,-0.012,-0.02,-0.11,0.071,-0.015,-0.1,-1.4e-05,-5.6e-05,2.4e-06,0.00022,-0.00031,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,3.7e-05,3.6e-05,4.3e-05,0.054,0.055,0.0058,0.05,0.05,0.033,2.6e-11,2.6e-11,8.5e-11,2.4e-06,2.4e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34390000,0.98,-0.007,-0.013,0.18,-0.013,-0.01,-0.11,0.073,-0.01,-0.11,-1.4e-05,-5.6e-05,2.4e-06,0.00021,-0.00032,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,3.3e-05,3.3e-05,4.3e-05,0.047,0.047,0.0059,0.044,0.044,0.033,2.6e-11,2.6e-11,8.4e-11,2.3e-06,2.3e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34490000,0.98,-0.0071,-0.013,0.18,-0.016,-0.009,-0.11,0.071,-0.011,-0.12,-1.4e-05,-5.6e-05,2.4e-06,0.00021,-0.00032,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,3.3e-05,3.3e-05,4.3e-05,0.053,0.053,0.0059,0.051,0.051,0.032,2.6e-11,2.6e-11,8.3e-11,2.3e-06,2.3e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34590000,0.98,-0.007,-0.013,0.18,-0.015,-0.0045,0.69,0.073,-0.0088,-0.098,-1.4e-05,-5.6e-05,2.3e-06,0.0002,-0.00032,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,3.1e-05,3.1e-05,4.3e-05,0.044,0.044,0.0059,0.045,0.045,0.032,2.6e-11,2.6e-11,8.3e-11,2.2e-06,2.2e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34690000,0.98,-0.007,-0.013,0.18,-0.018,-0.0021,1.7,0.071,-0.0091,0.02,-1.4e-05,-5.6e-05,2.3e-06,0.0002,-0.00032,-0.0011,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,3.1e-05,3.1e-05,4.2e-05,0.047,0.047,0.006,0.052,0.052,0.032,2.6e-11,2.6e-11,8.2e-11,2.2e-06,2.2e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34790000,0.98,-0.007,-0.012,0.18,-0.02,0.0026,2.6,0.072,-0.0068,0.2,-1.4e-05,-5.6e-05,2.3e-06,0.00021,-0.00034,-0.001,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,2.9e-05,2.9e-05,4.2e-05,0.04,0.04,0.0061,0.045,0.045,0.032,2.6e-11,2.6e-11,8.1e-11,2e-06,2e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34890000,0.98,-0.007,-0.012,0.18,-0.024,0.0053,3.6,0.07,-0.0062,0.49,-1.4e-05,-5.6e-05,2.3e-06,0.00021,-0.00034,-0.001,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,3e-05,2.9e-05,4.2e-05,0.043,0.043,0.0061,0.052,0.052,0.032,2.6e-11,2.6e-11,8.1e-11,2e-06,2e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
|
||||
|
@@ -106,10 +106,10 @@ TEST_F(EKFYawEstimatorTest, inAirYawAlignment)
|
||||
EXPECT_NEAR(yaw_est, yaw, tolerance_rad);
|
||||
EXPECT_LT(yaw_est_var, tolerance_rad);
|
||||
|
||||
// 2 resets: 1 after IMU+GNSS yaw alignment and 1 when starting GNSS aiding
|
||||
// 1 reset when starting GNSS aiding
|
||||
reset_logging_checker.capturePostResetState();
|
||||
EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(2));
|
||||
EXPECT_TRUE(reset_logging_checker.isHorizontalPositionResetCounterIncreasedBy(2));
|
||||
EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(1));
|
||||
EXPECT_TRUE(reset_logging_checker.isHorizontalPositionResetCounterIncreasedBy(1));
|
||||
|
||||
EXPECT_TRUE(_ekf->local_position_is_valid());
|
||||
EXPECT_TRUE(_ekf->global_position_is_valid());
|
||||
|
||||
@@ -192,6 +192,26 @@ void LoggedTopics::add_default_topics()
|
||||
// add_optional_topic_multi("estimator_aid_src_optical_flow", 100, MAX_ESTIMATOR_INSTANCES);
|
||||
// add_optional_topic_multi("estimator_aid_src_ev_yaw", 100, MAX_ESTIMATOR_INSTANCES);
|
||||
|
||||
// TODO: temporary
|
||||
add_topic_multi("estimator_aid_src_airspeed", 10, MAX_ESTIMATOR_INSTANCES);
|
||||
add_topic_multi("estimator_aid_src_aux_vel", 10, MAX_ESTIMATOR_INSTANCES);
|
||||
add_topic_multi("estimator_aid_src_baro_hgt", 10, MAX_ESTIMATOR_INSTANCES);
|
||||
add_topic_multi("estimator_aid_src_ev_hgt", 10, MAX_ESTIMATOR_INSTANCES);
|
||||
add_topic_multi("estimator_aid_src_ev_pos", 10, MAX_ESTIMATOR_INSTANCES);
|
||||
add_topic_multi("estimator_aid_src_ev_vel", 10, MAX_ESTIMATOR_INSTANCES);
|
||||
add_topic_multi("estimator_aid_src_ev_yaw", 10, MAX_ESTIMATOR_INSTANCES);
|
||||
add_topic_multi("estimator_aid_src_fake_hgt", 10, MAX_ESTIMATOR_INSTANCES);
|
||||
add_topic_multi("estimator_aid_src_fake_pos", 10, MAX_ESTIMATOR_INSTANCES);
|
||||
add_topic_multi("estimator_aid_src_gnss_hgt", 10, MAX_ESTIMATOR_INSTANCES);
|
||||
add_topic_multi("estimator_aid_src_gnss_pos", 10, MAX_ESTIMATOR_INSTANCES);
|
||||
add_topic_multi("estimator_aid_src_gnss_vel", 10, MAX_ESTIMATOR_INSTANCES);
|
||||
add_topic_multi("estimator_aid_src_gnss_yaw", 10, MAX_ESTIMATOR_INSTANCES);
|
||||
add_topic_multi("estimator_aid_src_mag", 10, MAX_ESTIMATOR_INSTANCES);
|
||||
add_topic_multi("estimator_aid_src_mag_heading", 10, MAX_ESTIMATOR_INSTANCES);
|
||||
add_topic_multi("estimator_aid_src_optical_flow", 10, MAX_ESTIMATOR_INSTANCES);
|
||||
add_topic_multi("estimator_aid_src_rng_hgt", 10, MAX_ESTIMATOR_INSTANCES);
|
||||
add_topic_multi("estimator_aid_src_sideslip", 10, MAX_ESTIMATOR_INSTANCES);
|
||||
|
||||
// log all raw sensors at minimal rate (at least 1 Hz)
|
||||
add_topic_multi("battery_status", 200, 2);
|
||||
add_topic_multi("differential_pressure", 1000, 2);
|
||||
|
||||
Reference in New Issue
Block a user