diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp index 56103a4b7a..b8dcf1e092 100644 --- a/src/modules/ekf2/EKF/control.cpp +++ b/src/modules/ekf2/EKF/control.cpp @@ -363,16 +363,14 @@ void Ekf::controlBetaFusion() void Ekf::controlDragFusion() { if ((_params.fusion_mode & SensorFusionMask::USE_DRAG) && _drag_buffer && - !_control_status.flags.fake_pos && _control_status.flags.in_air && !_mag_inhibit_yaw_reset_req) { + !_control_status.flags.fake_pos && _control_status.flags.in_air) { if (!_control_status.flags.wind) { // reset the wind states and covariances when starting drag accel fusion _control_status.flags.wind = true; resetWind(); - } - dragSample drag_sample; if (_drag_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &drag_sample)) { diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index 758d30d213..220863a40f 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -518,14 +518,10 @@ private: bool _mag_bias_observable{false}; ///< true when there is enough rotation to make magnetometer bias errors observable bool _yaw_angle_observable{false}; ///< true when there is enough horizontal acceleration to make yaw observable uint64_t _time_yaw_started{0}; ///< last system time in usec that a yaw rotation manoeuvre was detected - uint64_t _mag_use_not_inhibit_us{0}; ///< last system time in usec before magnetometer use was inhibited float _last_static_yaw{NAN}; ///< last yaw angle recorded when on ground motion checks were passing (rad) - 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. bool _mag_yaw_reset_req{false}; ///< true when a reset of the yaw using the magnetometer data has been requested 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. - bool _synthetic_mag_z_active{false}; ///< true if we are generating synthetic magnetometer Z measurements - bool _is_yaw_fusion_inhibited{false}; ///< true when yaw sensor use is being inhibited SquareMatrix24f P{}; ///< state covariance matrix @@ -878,12 +874,12 @@ private: // control fusion of magnetometer observations void controlMagFusion(); - void checkHaglYawResetReq(); + bool haglYawResetReq() const; float getTerrainVPos() const { return isTerrainEstimateValid() ? _terrain_vpos : _last_on_ground_posD; } - void runOnGroundYawReset(); bool canResetMagHeading() const; - void runInAirYawReset(); + void runYawReset(); + bool resetMagStates(); void selectMagAuto(); void check3DMagFusionSuitability(); @@ -892,7 +888,6 @@ private: bool canUse3DMagFusion() const; void checkMagDeclRequired(); - void checkMagInhibition(); bool shouldInhibitMag() const; bool magFieldStrengthDisturbed(const Vector3f &mag) const; static bool isMeasuredMatchingExpected(float measured, float expected, float gate); diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index 19b1c31c00..c73d911885 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -1336,12 +1336,12 @@ bool Ekf::resetYawToEKFGSF() _information_events.flags.yaw_aligned_to_imu_gps = true; ECL_INFO("Yaw aligned using IMU and GPS"); - // record a magnetic field alignment event to prevent possibility of the EKF trying to reset the yaw to the mag later in flight - _flt_mag_align_start_time = _imu_sample_delayed.time_us; _control_status.flags.yaw_align = true; _ekfgsf_yaw_reset_time = _imu_sample_delayed.time_us; - _ekfgsf_yaw_reset_count++; + + // reset mag states + resetMagStates(); return true; } diff --git a/src/modules/ekf2/EKF/estimator_interface.h b/src/modules/ekf2/EKF/estimator_interface.h index 6f310982d4..3cd695099b 100644 --- a/src/modules/ekf2/EKF/estimator_interface.h +++ b/src/modules/ekf2/EKF/estimator_interface.h @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2015-2020 Estimation and Control Library (ECL). All rights reserved. + * Copyright (c) 2015-2022 Estimation and Control Library (ECL). All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -44,9 +44,9 @@ #if defined(MODULE_NAME) #include -# define ECL_INFO PX4_DEBUG -# define ECL_WARN PX4_DEBUG -# define ECL_ERR PX4_DEBUG +# define ECL_INFO PX4_INFO // TODO +# define ECL_WARN PX4_WARN // TODO +# define ECL_ERR PX4_ERR // TODO # define ECL_DEBUG PX4_DEBUG #else # define ECL_INFO(X, ...) printf(X "\n", ##__VA_ARGS__) diff --git a/src/modules/ekf2/EKF/gps_control.cpp b/src/modules/ekf2/EKF/gps_control.cpp index fab4306452..a1f28b64e1 100644 --- a/src/modules/ekf2/EKF/gps_control.cpp +++ b/src/modules/ekf2/EKF/gps_control.cpp @@ -41,11 +41,6 @@ void Ekf::controlGpsFusion() { - if (!((_params.gnss_ctrl & GnssCtrl::HPOS) || (_params.gnss_ctrl & GnssCtrl::VEL))) { - stopGpsFusion(); - return; - } - // Check for new GPS data that has fallen behind the fusion time horizon if (_gps_data_ready) { @@ -60,7 +55,8 @@ void Ekf::controlGpsFusion() // GNSS velocity const Vector3f velocity{gps_sample.vel}; - const float vel_var = sq(math::max(gps_sample.sacc, _params.gps_vel_noise)); + const float vel_noise = math::max(gps_sample.sacc, _params.gps_vel_noise); + const float vel_var = sq(vel_noise); const Vector3f vel_obs_var(vel_var, vel_var, vel_var * sq(1.5f)); updateVelocityAidSrcStatus(gps_sample.time_us, velocity, // observation @@ -98,12 +94,20 @@ void Ekf::controlGpsFusion() _yawEstimator.setVelocity(velocity.xy(), vel_noise); } - // if GPS is otherwise ready to go, but yaw_align is blocked by EV give mag a chance to start + // allow GPS to perform yaw align or in flight mag alignment if (_control_status.flags.tilt_align && _NED_origin_initialised && gps_checks_passing && !gps_checks_failing) { - if (!_control_status.flags.yaw_align) { - if (_control_status.flags.ev_yaw && !_control_status.flags.yaw_align) { + if (!_control_status.flags.yaw_align + || (_control_status.flags.mag_hdg && !_control_status.flags.mag_aligned_in_flight) + ) { + if (resetYawToEKFGSF()) { + // Yaw aligned using IMU and GPS + + } else if (resetYawToGps(gps_sample.yaw)) { + ECL_INFO("Yaw aligned using GPS yaw"); + + } else if (_control_status.flags.ev_yaw && !_control_status.flags.yaw_align && !_control_status.flags.in_air) { // give mag a chance to start and yaw align if currently blocked by EV yaw const bool mag_enabled = (_params.mag_fusion_type <= MagFuseType::MAG_3D); @@ -128,7 +132,12 @@ void Ekf::controlGpsFusion() && _NED_origin_initialised; const bool continuing_conditions_passing = mandatory_conditions_passing && !gps_checks_failing; - const bool starting_conditions_passing = continuing_conditions_passing && gps_checks_passing; + + const bool starting_conditions_passing = continuing_conditions_passing + && isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GPS_MAX_INTERVAL) + && _gps_checks_passed + && gps_checks_passing + && !gps_checks_failing; if (_control_status.flags.gps) { if (mandatory_conditions_passing) { @@ -138,30 +147,66 @@ void Ekf::controlGpsFusion() fuseVelocity(_aid_src_gnss_vel); fuseHorizontalPosition(_aid_src_gnss_pos); - if (shouldResetGpsFusion()) { - const bool was_gps_signal_lost = isTimedOut(_time_prev_gps_us, 1'000'000); + const bool is_vel_fusion_failing = isTimedOut(_aid_src_gnss_vel.time_last_fuse, _params.reset_timeout_max); + const bool is_pos_fusion_failing = isTimedOut(_aid_src_gnss_pos.time_last_fuse, _params.reset_timeout_max); - /* 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. - * The total number of resets allowed per boot cycle is limited. - */ - if (isYawFailure() - && _control_status.flags.in_air - && !was_gps_signal_lost - && _ekfgsf_yaw_reset_count < _params.EKFGSF_reset_count_limit - && isTimedOut(_ekfgsf_yaw_reset_time, 5'000'000)) { + // 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. + // The total number of resets allowed per boot cycle is limited. + const bool was_gps_signal_lost = isTimedOut(_time_prev_gps_us, 1'000'000); + + const bool yaw_failure = isYawFailure() && !was_gps_signal_lost + && (_ekfgsf_yaw_reset_count < _params.EKFGSF_reset_count_limit) + && isTimedOut(_ekfgsf_yaw_reset_time, 5'000'000); + + const bool should_reset_gps_fusion = shouldResetGpsFusion(); + + if (should_reset_gps_fusion || (yaw_failure && (is_vel_fusion_failing || is_pos_fusion_failing))) { + + bool yaw_reset = false; + + if (yaw_failure) { // The minimum time interval between resets to the EKF-GSF estimate is limited to allow the EKF-GSF time // to improve its estimate if the previous reset was not successful. if (resetYawToEKFGSF()) { ECL_WARN("GPS emergency yaw reset"); + _ekfgsf_yaw_reset_count++; + yaw_reset = true; + + if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) { + // stop using the magnetometer in the main EKF otherwise it's fusion could drag the yaw around + // and cause another navigation failure + if (_ekfgsf_yaw_reset_count > 1) { + _control_status.flags.mag_fault = true; + _warning_events.flags.emergency_yaw_reset_mag_stopped = true; + } + } + + if (_control_status.flags.gps_yaw) { + _control_status.flags.gps_yaw_fault = true; + _warning_events.flags.emergency_yaw_reset_gps_yaw_stopped = true; + } + + if (_control_status.flags.ev_yaw) { + // Stop the vision for yaw fusion and do not allow it to start again + stopEvYawFusion(); + _inhibit_ev_yaw_use = true; + } } } - ECL_WARN("GPS fusion timeout, resetting velocity and position"); - _information_events.flags.reset_vel_to_gps = true; - _information_events.flags.reset_pos_to_gps = true; - resetVelocityTo(gps_sample.vel, vel_obs_var); - resetHorizontalPositionTo(gps_sample.pos, pos_obs_var); + if (should_reset_gps_fusion || is_vel_fusion_failing || yaw_reset) { + // reset velocity + _information_events.flags.reset_vel_to_gps = true; + resetVelocityTo(velocity, vel_obs_var); + _aid_src_gnss_vel.time_last_fuse = _imu_sample_delayed.time_us; + } + + if (should_reset_gps_fusion || is_pos_fusion_failing || yaw_reset) { + // reset position + _information_events.flags.reset_pos_to_gps = true; + resetHorizontalPositionTo(position, pos_obs_var); + _aid_src_gnss_pos.time_last_fuse = _imu_sample_delayed.time_us; + } } } else { @@ -184,8 +229,10 @@ void Ekf::controlGpsFusion() _inhibit_ev_yaw_use = true; } - ECL_INFO("starting GPS fusion"); - _information_events.flags.starting_gps_fusion = true; + // reset position + _information_events.flags.reset_pos_to_gps = true; + resetHorizontalPositionTo(position, pos_obs_var); + _aid_src_gnss_pos.time_last_fuse = _imu_sample_delayed.time_us; // when already using another velocity source velocity reset is not necessary if (!isHorizontalAidingActive() @@ -198,38 +245,20 @@ void Ekf::controlGpsFusion() _aid_src_gnss_vel.time_last_fuse = _imu_sample_delayed.time_us; } - // reset position - _information_events.flags.reset_pos_to_gps = true; - resetHorizontalPositionTo(position, pos_obs_var); - _aid_src_gnss_pos.time_last_fuse = _imu_sample_delayed.time_us; - + _information_events.flags.starting_gps_fusion = true; + ECL_INFO("starting GPS fusion"); _control_status.flags.gps = true; - - } else if (gps_checks_passing && !_control_status.flags.yaw_align && (_params.mag_fusion_type == MagFuseType::NONE)) { - // If no mag is used, align using the yaw estimator (if available) - if (resetYawToEKFGSF()) { - _information_events.flags.yaw_aligned_to_imu_gps = true; - ECL_INFO("GPS yaw aligned using IMU, resetting vel and pos"); - - // reset velocity - _information_events.flags.reset_vel_to_gps = true; - resetVelocityTo(velocity, vel_obs_var); - _aid_src_gnss_vel.time_last_fuse = _imu_sample_delayed.time_us; - - // reset position - _information_events.flags.reset_pos_to_gps = true; - resetHorizontalPositionTo(position, pos_obs_var); - _aid_src_gnss_pos.time_last_fuse = _imu_sample_delayed.time_us; - } } } - } else if (_control_status.flags.gps && !isNewestSampleRecent(_time_last_gps_buffer_push, (uint64_t)10e6)) { + _time_prev_gps_us = _gps_sample_delayed.time_us; + + } else if (_control_status.flags.gps && isTimedOut(_time_prev_gps_us, (uint64_t)10e6)) { stopGpsFusion(); _warning_events.flags.gps_data_stopped = true; ECL_WARN("GPS data stopped"); - } else if (_control_status.flags.gps && !isNewestSampleRecent(_time_last_gps_buffer_push, (uint64_t)1e6) + } else if (_control_status.flags.gps && isTimedOut(_time_prev_gps_us, 2 * GPS_MAX_INTERVAL) && isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) { // Handle the case where we are fusing another position source along GPS, diff --git a/src/modules/ekf2/EKF/gps_yaw_fusion.cpp b/src/modules/ekf2/EKF/gps_yaw_fusion.cpp index 318dc41744..8b52ec1789 100644 --- a/src/modules/ekf2/EKF/gps_yaw_fusion.cpp +++ b/src/modules/ekf2/EKF/gps_yaw_fusion.cpp @@ -229,6 +229,8 @@ bool Ekf::resetYawToGps(const float gnss_yaw) _aid_src_gnss_yaw.time_last_fuse = _imu_sample_delayed.time_us; _gnss_yaw_signed_test_ratio_lpf.reset(0.f); + resetMagStates(); + return true; } diff --git a/src/modules/ekf2/EKF/height_control.cpp b/src/modules/ekf2/EKF/height_control.cpp index 82dc3174f6..5319a45c32 100644 --- a/src/modules/ekf2/EKF/height_control.cpp +++ b/src/modules/ekf2/EKF/height_control.cpp @@ -61,6 +61,7 @@ void Ekf::checkHeightSensorRefFallback() switch (_params.height_sensor_ref) { default: + /* FALLTHROUGH */ case HeightSensor::UNKNOWN: fallback_list[0] = HeightSensor::GNSS; @@ -149,12 +150,18 @@ void Ekf::checkVerticalAccelerationHealth() // declare a bad vertical acceleration measurement and make the declaration persist // for a minimum of BADACC_PROBATION seconds + const bool bad_acc_vertical = _fault_status.flags.bad_acc_vertical; + if (_fault_status.flags.bad_acc_vertical) { _fault_status.flags.bad_acc_vertical = isRecent(_time_bad_vert_accel, BADACC_PROBATION); } else { _fault_status.flags.bad_acc_vertical = bad_vert_accel; } + + if (!bad_acc_vertical && _fault_status.flags.bad_acc_vertical) { + ECL_WARN("bad vertical acceleration"); + } } Likelihood Ekf::estimateInertialNavFallingLikelihood() const @@ -171,6 +178,7 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const bool failed_min; bool failed_lim; } checks[6] {}; + static constexpr size_t NUM_CHECKS = sizeof(checks) / sizeof(checks[0]); if (_control_status.flags.baro_hgt) { checks[0] = {ReferenceType::PRESSURE, _aid_src_baro_hgt.innovation, _aid_src_baro_hgt.innovation_variance}; @@ -197,7 +205,7 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const } // Compute the check based on innovation ratio for all the sources - for (unsigned i = 0; i < 6; i++) { + for (unsigned i = 0; i < NUM_CHECKS; i++) { if (checks[i].innov_var < FLT_EPSILON) { continue; } @@ -208,13 +216,13 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const } // Check all the sources agains each other - for (unsigned i = 0; i < 6; i++) { + for (unsigned i = 0; i < NUM_CHECKS; i++) { if (checks[i].failed_lim) { // There is a chance that the inertial nav is falling if one source is failing the test likelihood_medium = true; } - for (unsigned j = 0; j < 6; j++) { + for (unsigned j = 0; j < NUM_CHECKS; j++) { if ((checks[i].ref_type != checks[j].ref_type) && checks[i].failed_lim && checks[j].failed_min) { // There is a high chance that the inertial nav is failing if two sources are failing the test diff --git a/src/modules/ekf2/EKF/mag_control.cpp b/src/modules/ekf2/EKF/mag_control.cpp index 19be085ea4..6cd07f53a3 100644 --- a/src/modules/ekf2/EKF/mag_control.cpp +++ b/src/modules/ekf2/EKF/mag_control.cpp @@ -75,7 +75,7 @@ void Ekf::controlMagFusion() resetEstimatorAidStatus(_aid_src_mag_heading); _aid_src_mag_heading.timestamp_sample = mag_sample.time_us; - _aid_src_mag_heading.observation = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();; + _aid_src_mag_heading.observation = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination(); _aid_src_mag_heading.innovation = wrap_pi(getEulerYaw(_R_to_earth) - _aid_src_mag_heading.observation); // compute magnetometer innovations (for estimator_aid_src_mag logging) @@ -104,17 +104,13 @@ void Ekf::controlMagFusion() return; } - _mag_yaw_reset_req |= !_control_status.flags.yaw_align; - _mag_yaw_reset_req |= _mag_inhibit_yaw_reset_req; - 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; +} diff --git a/src/modules/ekf2/EKF/range_height_control.cpp b/src/modules/ekf2/EKF/range_height_control.cpp index 4108098a8d..18cd0171db 100644 --- a/src/modules/ekf2/EKF/range_height_control.cpp +++ b/src/modules/ekf2/EKF/range_height_control.cpp @@ -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; diff --git a/src/modules/ekf2/Utility/PreFlightChecker.cpp b/src/modules/ekf2/Utility/PreFlightChecker.cpp index 4a9369764d..0b705ed83c 100644 --- a/src/modules/ekf2/Utility/PreFlightChecker.cpp +++ b/src/modules/ekf2/Utility/PreFlightChecker.cpp @@ -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) diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c index 571b7d1f26..ef831d6d0e 100644 --- a/src/modules/ekf2/ekf2_params.c +++ b/src/modules/ekf2/ekf2_params.c @@ -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. diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv index 3da6cb91d6..ef9daad4d0 100644 --- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv +++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv @@ -63,329 +63,329 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7 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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()); diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp index 6147875e22..afa6f075d1 100644 --- a/src/modules/logger/logged_topics.cpp +++ b/src/modules/logger/logged_topics.cpp @@ -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);