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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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/CMakeLists.txt
+1
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@@ -71,6 +71,7 @@ px4_add_module(
EKF/mag_fusion.cpp EKF/mag_fusion.cpp
EKF/optflow_fusion.cpp EKF/optflow_fusion.cpp
EKF/range_finder_consistency_check.cpp EKF/range_finder_consistency_check.cpp
EKF/range_height_control.cpp
EKF/sensor_range_finder.cpp EKF/sensor_range_finder.cpp
EKF/sideslip_fusion.cpp EKF/sideslip_fusion.cpp
EKF/terrain_estimator.cpp EKF/terrain_estimator.cpp
src/modules/ekf2/EKF/CMakeLists.txt
+1
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@@ -56,6 +56,7 @@ add_library(ecl_EKF
mag_fusion.cpp mag_fusion.cpp
optflow_fusion.cpp optflow_fusion.cpp
range_finder_consistency_check.cpp range_finder_consistency_check.cpp
range_height_control.cpp
sensor_range_finder.cpp sensor_range_finder.cpp
sideslip_fusion.cpp sideslip_fusion.cpp
terrain_estimator.cpp terrain_estimator.cpp
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() void Ekf::controlAirDataFusion()
{ {
// control activation and initialisation/reset of wind states required for airspeed fusion // control activation and initialisation/reset of wind states required for airspeed fusion
src/modules/ekf2/EKF/ekf_helper.cpp
-59
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@@ -251,32 +251,6 @@ void Ekf::resetVerticalPositionTo(const float new_vert_pos)
_time_last_hgt_fuse = _time_last_imu; _time_last_hgt_fuse = _time_last_imu;
} }
void Ekf::resetHeightToRng()
{
ECL_INFO("reset height to RNG");
_information_events.flags.reset_hgt_to_rng = true;
float dist_bottom;
if (_control_status.flags.in_air) {
dist_bottom = _range_sensor.getDistBottom();
} else {
// use the parameter rng_gnd_clearance if on ground to avoid a noisy offset initialization (e.g. sonar)
dist_bottom = _params.rng_gnd_clearance;
}
// update the state and associated variance
resetVerticalPositionTo(-(dist_bottom - _rng_hgt_b_est.getBias()));
// the state variance is the same as the observation
P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.range_noise));
_baro_b_est.setBias(_baro_b_est.getBias() + _state_reset_status.posD_change);
_gps_hgt_b_est.setBias(_gps_hgt_b_est.getBias() + _state_reset_status.posD_change);
_ev_hgt_b_est.setBias(_ev_hgt_b_est.getBias() - _state_reset_status.posD_change);
}
void Ekf::resetVerticalVelocityToGps(const gpsSample &gps_sample_delayed) void Ekf::resetVerticalVelocityToGps(const gpsSample &gps_sample_delayed)
{ {
resetVerticalVelocityTo(gps_sample_delayed.vel(2)); resetVerticalVelocityTo(gps_sample_delayed.vel(2));
@@ -1256,39 +1230,6 @@ void Ekf::startMag3DFusion()
} }
} }
void Ekf::startRngHgtFusion()
{
if (!_control_status.flags.rng_hgt) {
if (_params.height_sensor_ref == HeightSensor::RANGE) {
// Range finder is the primary height source, the ground is now the datum used
// to compute the local vertical position
_rng_hgt_b_est.reset();
_height_sensor_ref = HeightSensor::RANGE;
resetHeightToRng();
} else {
_rng_hgt_b_est.setBias(_state.pos(2) + _range_sensor.getDistBottom());
}
_control_status.flags.rng_hgt = true;
_rng_hgt_b_est.setFusionActive();
ECL_INFO("starting RNG height fusion");
}
}
void Ekf::stopRngHgtFusion()
{
if (_control_status.flags.rng_hgt) {
if (_height_sensor_ref == HeightSensor::RANGE) {
_height_sensor_ref = HeightSensor::UNKNOWN;
}
_control_status.flags.rng_hgt = false;
_rng_hgt_b_est.setFusionInactive();
ECL_INFO("stopping range height fusion");
}
}
float Ekf::getGpsHeightVariance() float Ekf::getGpsHeightVariance()
{ {
// observation variance - receiver defined and parameter limited // observation variance - receiver defined and parameter limited
src/modules/ekf2/EKF/range_height_control.cpp
+194
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@@ -0,0 +1,194 @@
/****************************************************************************
*
* 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 gps_control.cpp
* Control functions for ekf range finder height fusion
*/
#include "ekf.h"
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();
}
}
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::startRngHgtFusion()
{
if (!_control_status.flags.rng_hgt) {
if (_params.height_sensor_ref == HeightSensor::RANGE) {
// Range finder is the primary height source, the ground is now the datum used
// to compute the local vertical position
_rng_hgt_b_est.reset();
_height_sensor_ref = HeightSensor::RANGE;
resetHeightToRng();
} else {
_rng_hgt_b_est.setBias(_state.pos(2) + _range_sensor.getDistBottom());
}
_control_status.flags.rng_hgt = true;
_rng_hgt_b_est.setFusionActive();
ECL_INFO("starting RNG height fusion");
}
}
void Ekf::resetHeightToRng()
{
ECL_INFO("reset height to RNG");
_information_events.flags.reset_hgt_to_rng = true;
float dist_bottom;
if (_control_status.flags.in_air) {
dist_bottom = _range_sensor.getDistBottom();
} else {
// use the parameter rng_gnd_clearance if on ground to avoid a noisy offset initialization (e.g. sonar)
dist_bottom = _params.rng_gnd_clearance;
}
// update the state and associated variance
resetVerticalPositionTo(-(dist_bottom - _rng_hgt_b_est.getBias()));
// the state variance is the same as the observation
P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.range_noise));
_baro_b_est.setBias(_baro_b_est.getBias() + _state_reset_status.posD_change);
_gps_hgt_b_est.setBias(_gps_hgt_b_est.getBias() + _state_reset_status.posD_change);
_ev_hgt_b_est.setBias(_ev_hgt_b_est.getBias() - _state_reset_status.posD_change);
}
void Ekf::stopRngHgtFusion()
{
if (_control_status.flags.rng_hgt) {
if (_height_sensor_ref == HeightSensor::RANGE) {
_height_sensor_ref = HeightSensor::UNKNOWN;
}
_control_status.flags.rng_hgt = false;
_rng_hgt_b_est.setFusionInactive();
ECL_INFO("stopping range height fusion");
}
}