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ekf2: move GNSS hgt control to file

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This commit is contained in:
bresch 2022-08-05 18:02:34 +02:00 committed by Daniel Agar
parent b6f76b5eaa
commit 28b4cd0579
5 changed files with 137 additions and 96 deletions
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1
src/modules/ekf2/CMakeLists.txt
View File

@ -59,6 +59,7 @@ px4_add_module(
EKF/estimator_interface.cpp
EKF/ev_height_control.cpp
EKF/fake_pos_control.cpp
EKF/gnss_height_control.cpp
EKF/gps_checks.cpp
EKF/gps_control.cpp
EKF/gps_fusion.cpp

1
src/modules/ekf2/EKF/CMakeLists.txt
View File

@ -44,6 +44,7 @@ add_library(ecl_EKF
estimator_interface.cpp
ev_height_control.cpp
fake_pos_control.cpp
gnss_height_control.cpp
gps_checks.cpp
gps_control.cpp
gps_fusion.cpp

43
src/modules/ekf2/EKF/control.cpp
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@ -685,49 +685,6 @@ bool Ekf::isConditionalRangeAidSuitable()
return is_range_aid_suitable;
}
void Ekf::controlGnssHeightFusion()
{
if (!(_params.gnss_ctrl & GnssCtrl::VPOS)) {
stopGpsHgtFusion();
return;
}
_gps_hgt_b_est.predict(_dt_ekf_avg);
if (_gps_data_ready) {
const bool continuing_conditions_passing = !_gps_intermittent && _gps_checks_passed && _NED_origin_initialised;
const bool starting_conditions_passing = continuing_conditions_passing;
if (_control_status.flags.gps_hgt) {
if (continuing_conditions_passing) {
/* fuseGpsHgt(); */ // Done in fuseGpsPos
const bool is_fusion_failing = isTimedOut(_aid_src_gnss_pos.time_last_fuse[2], _params.hgt_fusion_timeout_max);
if (isHeightResetRequired()) {
// All height sources are failing
resetHeightToGps();
resetVerticalVelocityToGps(_gps_sample_delayed);
} else if (is_fusion_failing) {
// Some other height source is still working
stopGpsHgtFusion();
}
} else {
stopGpsHgtFusion();
}
} else {
if (starting_conditions_passing) {
startGpsHgtFusion();
}
}
} else if (_control_status.flags.gps_hgt && _gps_intermittent) {
stopGpsHgtFusion();
}
}
void Ekf::controlRangeHeightFusion()
{
if (!((_params.rng_ctrl == RngCtrl::CONDITIONAL) || (_params.rng_ctrl == RngCtrl::ENABLED))) {

53
src/modules/ekf2/EKF/ekf_helper.cpp
View File

@ -251,23 +251,6 @@ void Ekf::resetVerticalPositionTo(const float new_vert_pos)
_time_last_hgt_fuse = _time_last_imu;
}
void Ekf::resetHeightToGps()
{
ECL_INFO("reset height to GPS");
_information_events.flags.reset_hgt_to_gps = true;
resetVerticalPositionTo(-(_gps_sample_delayed.hgt - getEkfGlobalOriginAltitude() - _gps_hgt_b_est.getBias()));
// the state variance is the same as the observation
P.uncorrelateCovarianceSetVariance<1>(9, getGpsHeightVariance());
_baro_b_est.setBias(_baro_b_est.getBias() + _state_reset_status.posD_change);
_rng_hgt_b_est.setBias(_rng_hgt_b_est.getBias() + _state_reset_status.posD_change);
_ev_hgt_b_est.setBias(_ev_hgt_b_est.getBias() - _state_reset_status.posD_change);
_aid_src_gnss_pos.time_last_fuse[2] = _time_last_imu;
}
void Ekf::resetHeightToRng()
{
ECL_INFO("reset height to RNG");
@ -1273,42 +1256,6 @@ void Ekf::startMag3DFusion()
}
}
void Ekf::startGpsHgtFusion()
{
if (!_control_status.flags.gps_hgt) {
if (_params.height_sensor_ref == HeightSensor::GNSS) {
_gps_hgt_b_est.reset();
_height_sensor_ref = HeightSensor::GNSS;
resetHeightToGps();
} else {
_gps_hgt_b_est.setBias(_state.pos(2) + (_gps_sample_delayed.hgt - getEkfGlobalOriginAltitude()));
// Reset the timeout value here because the fusion isn't done at the same place and would immediately trigger a timeout
_aid_src_gnss_pos.time_last_fuse[2] = _time_last_imu;
}
_control_status.flags.gps_hgt = true;
_gps_hgt_b_est.setFusionActive();
ECL_INFO("starting GPS height fusion");
}
}
void Ekf::stopGpsHgtFusion()
{
if (_control_status.flags.gps_hgt) {
if (_height_sensor_ref == HeightSensor::GNSS) {
_height_sensor_ref = HeightSensor::UNKNOWN;
}
_control_status.flags.gps_hgt = false;
_gps_hgt_b_est.setFusionInactive();
ECL_INFO("stopping GPS height fusion");
}
}
void Ekf::startRngHgtFusion()
{
if (!_control_status.flags.rng_hgt) {

135
src/modules/ekf2/EKF/gnss_height_control.cpp Normal file
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@ -0,0 +1,135 @@
/****************************************************************************
*
* Copyright (c) 2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file gnss_height_control.cpp
* Control functions for ekf GNSS height fusion
*/
#include "ekf.h"
void Ekf::controlGnssHeightFusion()
{
if (!(_params.gnss_ctrl & GnssCtrl::VPOS)) {
stopGpsHgtFusion();
return;
}
_gps_hgt_b_est.predict(_dt_ekf_avg);
if (_gps_data_ready) {
const bool continuing_conditions_passing = !_gps_intermittent && _gps_checks_passed && _NED_origin_initialised;
const bool starting_conditions_passing = continuing_conditions_passing;
if (_control_status.flags.gps_hgt) {
if (continuing_conditions_passing) {
/* fuseGpsHgt(); */ // Done in fuseGpsPos
const bool is_fusion_failing = isTimedOut(_aid_src_gnss_pos.time_last_fuse[2], _params.hgt_fusion_timeout_max);
if (isHeightResetRequired()) {
// All height sources are failing
resetHeightToGps();
resetVerticalVelocityToGps(_gps_sample_delayed);
} else if (is_fusion_failing) {
// Some other height source is still working
stopGpsHgtFusion();
}
} else {
stopGpsHgtFusion();
}
} else {
if (starting_conditions_passing) {
startGpsHgtFusion();
}
}
} else if (_control_status.flags.gps_hgt && _gps_intermittent) {
stopGpsHgtFusion();
}
}
void Ekf::startGpsHgtFusion()
{
if (!_control_status.flags.gps_hgt) {
if (_params.height_sensor_ref == HeightSensor::GNSS) {
_gps_hgt_b_est.reset();
_height_sensor_ref = HeightSensor::GNSS;
resetHeightToGps();
} else {
_gps_hgt_b_est.setBias(_state.pos(2) + (_gps_sample_delayed.hgt - getEkfGlobalOriginAltitude()));
// Reset the timeout value here because the fusion isn't done at the same place and would immediately trigger a timeout
_aid_src_gnss_pos.time_last_fuse[2] = _time_last_imu;
}
_control_status.flags.gps_hgt = true;
_gps_hgt_b_est.setFusionActive();
ECL_INFO("starting GPS height fusion");
}
}
void Ekf::resetHeightToGps()
{
ECL_INFO("reset height to GPS");
_information_events.flags.reset_hgt_to_gps = true;
resetVerticalPositionTo(-(_gps_sample_delayed.hgt - getEkfGlobalOriginAltitude() - _gps_hgt_b_est.getBias()));
// the state variance is the same as the observation
P.uncorrelateCovarianceSetVariance<1>(9, getGpsHeightVariance());
_baro_b_est.setBias(_baro_b_est.getBias() + _state_reset_status.posD_change);
_rng_hgt_b_est.setBias(_rng_hgt_b_est.getBias() + _state_reset_status.posD_change);
_ev_hgt_b_est.setBias(_ev_hgt_b_est.getBias() - _state_reset_status.posD_change);
_aid_src_gnss_pos.time_last_fuse[2] = _time_last_imu;
}
void Ekf::stopGpsHgtFusion()
{
if (_control_status.flags.gps_hgt) {
if (_height_sensor_ref == HeightSensor::GNSS) {
_height_sensor_ref = HeightSensor::UNKNOWN;
}
_control_status.flags.gps_hgt = false;
_gps_hgt_b_est.setFusionInactive();
ECL_INFO("stopping GPS height fusion");
}
}