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ekf2: conditional range aid change height ref

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This commit is contained in:
Daniel Agar 2025-09-25 18:36:13 -04:00
parent 2ce8258468
commit 2b8fa62936
3 changed files with 17 additions and 6 deletions
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8
src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp
View File

@ -163,6 +163,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
_control_status.flags.rng_hgt = true;
if (!_control_status.flags.opt_flow_terrain && aid_src.innovation_rejected) {
ECL_INFO("starting %s height fusion, resetting terrain", HGT_SRC_NAME);
resetTerrainToRng(aid_src);
resetAidSourceStatusZeroInnovation(aid_src);
}
@ -173,6 +174,13 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
if (_control_status.flags.rng_hgt || _control_status.flags.rng_terrain) {
if (continuing_conditions_passing) {
if (do_conditional_range_aid) {
_height_sensor_ref = HeightSensor::RANGE;
} else if (_height_sensor_ref == HeightSensor::RANGE) {
_height_sensor_ref = HeightSensor::UNKNOWN;
}
if (_range_sensor.isDataHealthy()
&& _control_status.flags.rng_kin_consistent
) {

5
src/modules/ekf2/EKF/height_control.cpp
View File

@ -112,8 +112,11 @@ void Ekf::checkHeightSensorRefFallback()
|| ((fallback_list[i] == HeightSensor::GNSS) && _control_status.flags.gps_hgt)
|| ((fallback_list[i] == HeightSensor::RANGE) && _control_status.flags.rng_hgt)
|| ((fallback_list[i] == HeightSensor::EV) && _control_status.flags.ev_hgt)) {
ECL_INFO("fallback to secondary height reference");
_height_sensor_ref = fallback_list[i];
ECL_WARN("fallback to secondary height reference %d", (int)_height_sensor_ref);
break;
}
}

10
src/modules/ekf2/EKF2.cpp
View File

@ -1059,12 +1059,12 @@ void EKF2::PublishBaroBias(const hrt_abstime &timestamp)
if (_ekf.aid_src_baro_hgt().timestamp_sample != 0) {
const BiasEstimator::status &status = _ekf.getBaroBiasEstimatorStatus();
if (fabsf(status.bias - _last_baro_bias_published) > 1e-6f) {
_estimator_baro_bias_pub.publish(fillEstimatorBiasMsg(status, _ekf.aid_src_baro_hgt().timestamp_sample, timestamp,
_device_id_baro));
//if (fabsf(status.bias - _last_baro_bias_published) > 1e-6f) {
_estimator_baro_bias_pub.publish(fillEstimatorBiasMsg(status, _ekf.aid_src_baro_hgt().timestamp_sample, timestamp,
_device_id_baro));
_last_baro_bias_published = status.bias;
}
_last_baro_bias_published = status.bias;
//}
}
}
#endif // CONFIG_EKF2_BAROMETER