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ekf2: move rng height to file

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This commit is contained in:
bresch
2022-08-24 09:16:11 -04:00
committed by Daniel Agar
parent 28b4cd0579
commit 2d39097f60
5 changed files with 196 additions and 155 deletions
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src/modules/ekf2/EKF/control.cpp
-96
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@@ -654,102 +654,6 @@ void Ekf::controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing)
}
}
bool Ekf::isConditionalRangeAidSuitable()
{
bool is_range_aid_suitable = false;
if (_control_status.flags.in_air
&& _range_sensor.isHealthy()
&& isTerrainEstimateValid()) {
// check if we can use range finder measurements to estimate height, use hysteresis to avoid rapid switching
// Note that the 0.7 coefficients and the innovation check are arbitrary values but work well in practice
const float range_hagl = _terrain_vpos - _state.pos(2);
const float range_hagl_max = _control_status.flags.rng_hgt ? _params.max_hagl_for_range_aid : (_params.max_hagl_for_range_aid * 0.7f);
const bool is_in_range = range_hagl < range_hagl_max;
const float hagl_test_ratio = (_hagl_innov * _hagl_innov / (sq(_params.range_aid_innov_gate) * _hagl_innov_var));
const bool is_hagl_stable = _control_status.flags.rng_hgt ? (hagl_test_ratio < 1.f) : (hagl_test_ratio < 0.01f);
if (isHorizontalAidingActive()) {
const float max_vel = _control_status.flags.rng_hgt ? _params.max_vel_for_range_aid : (_params.max_vel_for_range_aid * 0.7f);
const bool is_below_max_speed = !_state.vel.xy().longerThan(max_vel);
is_range_aid_suitable = is_in_range && is_hagl_stable && is_below_max_speed;
} else {
is_range_aid_suitable = is_in_range && is_hagl_stable;
}
}
return is_range_aid_suitable;
}
void Ekf::controlRangeHeightFusion()
{
if (!((_params.rng_ctrl == RngCtrl::CONDITIONAL) || (_params.rng_ctrl == RngCtrl::ENABLED))) {
stopRngHgtFusion();
return;
}
_rng_hgt_b_est.predict(_dt_ekf_avg);
const bool rng_intermittent = !isRecent(_time_last_range, 2 * RNG_MAX_INTERVAL);
// If we are supposed to be using range finder data as the primary height sensor, have bad range measurements
// and are on the ground, then synthesise a measurement at the expected on ground value
if (!_control_status.flags.in_air
&& !_range_sensor.isDataHealthy()
&& _range_sensor.isRegularlySendingData()
&& _range_sensor.isDataReady()) {
_range_sensor.setRange(_params.rng_gnd_clearance);
_range_sensor.setValidity(true); // bypass the checks
}
if (_rng_data_ready) {
updateRngHgt(_aid_src_rng_hgt);
const bool do_conditional_range_aid = (_params.rng_ctrl == RngCtrl::CONDITIONAL) && isConditionalRangeAidSuitable();
const bool continuing_conditions_passing = _range_sensor.isDataHealthy() && !rng_intermittent
&& ((_params.rng_ctrl == RngCtrl::ENABLED) || do_conditional_range_aid);
const bool starting_conditions_passing = continuing_conditions_passing
&& _range_sensor.isRegularlySendingData();
if (_control_status.flags.rng_hgt) {
if (continuing_conditions_passing) {
fuseRngHgt(_aid_src_rng_hgt);
const bool is_fusion_failing = isTimedOut(_aid_src_rng_hgt.time_last_fuse, _params.hgt_fusion_timeout_max);
if (isHeightResetRequired()) {
// All height sources are failing
resetHeightToRng();
resetVerticalVelocityToZero();
} else if (is_fusion_failing) {
// Some other height source is still working
stopRngHgtFusion();
_control_status.flags.rng_fault = true;
_range_sensor.setFaulty();
}
} else {
stopRngHgtFusion();
}
} else {
if (starting_conditions_passing) {
startRngHgtFusion();
}
}
} else if (_control_status.flags.rng_hgt && rng_intermittent) {
stopRngHgtFusion();
}
}
void Ekf::controlAirDataFusion()
{
// control activation and initialisation/reset of wind states required for airspeed fusion