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ekf2: allow filter init with only IMU (#21041)

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- if mag enabled heading init is now pushed to controlMagFusion()
This commit is contained in:
Daniel Agar
2023-02-13 22:07:15 -05:00
committed by GitHub
parent d69d99b191
commit 2ea25804a1
9 changed files with 798 additions and 800 deletions
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src/modules/ekf2/EKF/covariance.cpp
+6
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@@ -556,6 +556,12 @@ void Ekf::resetQuatCov()
rot_vec_var.setAll(sq(_params.initial_tilt_err));
initialiseQuatCovariances(rot_vec_var);
// update the yaw angle variance using the variance of the measurement
if (_params.mag_fusion_type <= MagFuseType::MAG_3D) {
// using magnetic heading tuning parameter
increaseQuatYawErrVariance(sq(fmaxf(_params.mag_heading_noise, 1.0e-2f)));
}
}
void Ekf::zeroQuatCov()
src/modules/ekf2/EKF/ekf.cpp
+2 -48
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@@ -52,6 +52,8 @@ bool Ekf::init(uint64_t timestamp)
void Ekf::reset()
{
ECL_INFO("reset");
_state.vel.setZero();
_state.pos.setZero();
_state.delta_ang_bias.setZero();
@@ -196,61 +198,13 @@ bool Ekf::initialiseFilter()
_gyro_lpf.update(imu_init.delta_ang / imu_init.delta_ang_dt);
}
// Sum the magnetometer measurements
if (_mag_buffer) {
magSample mag_sample;
if (_mag_buffer->pop_first_older_than(_time_delayed_us, &mag_sample)) {
if (mag_sample.time_us != 0) {
if (_mag_counter == 0) {
_mag_lpf.reset(mag_sample.mag);
} else {
_mag_lpf.update(mag_sample.mag);
}
_mag_counter++;
}
}
}
if (!initialiseTilt()) {
return false;
}
// calculate the initial magnetic field and yaw alignment
// but do not mark the yaw alignement complete as it needs to be
// reset once the leveling phase is done
if (_params.mag_fusion_type <= MagFuseType::MAG_3D) {
if (_mag_counter > 1) {
// rotate the magnetometer measurements into earth frame using a zero yaw angle
// the angle of the projection onto the horizontal gives the yaw angle
const Vector3f mag_earth_pred = updateYawInRotMat(0.f, _R_to_earth) * _mag_lpf.getState();
float yaw_new = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();
// update the rotation matrix using the new yaw value
_R_to_earth = updateYawInRotMat(yaw_new, Dcmf(_state.quat_nominal));
_state.quat_nominal = _R_to_earth;
// set the earth magnetic field states using the updated rotation
_state.mag_I = _R_to_earth * _mag_lpf.getState();
_state.mag_B.zero();
} else {
// not enough mag samples accumulated
return false;
}
}
// initialise the state covariance matrix now we have starting values for all the states
initialiseCovariance();
// update the yaw angle variance using the variance of the measurement
if (_params.mag_fusion_type <= MagFuseType::MAG_3D) {
// using magnetic heading tuning parameter
increaseQuatYawErrVariance(sq(fmaxf(_params.mag_heading_noise, 1.0e-2f)));
}
// Initialise the terrain estimator
initHagl();
src/modules/ekf2/EKF/ekf_helper.cpp
+2 -3
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@@ -222,8 +222,7 @@ bool Ekf::resetMagHeading()
const Vector3f mag_init = _mag_lpf.getState();
const bool mag_available = (_mag_counter != 0) && isNewestSampleRecent(_time_last_mag_buffer_push, 500'000)
&& !magFieldStrengthDisturbed(mag_init);
const bool mag_available = (_mag_counter > 1) && !magFieldStrengthDisturbed(mag_init);
// low pass filtered mag required
if (!mag_available) {
@@ -244,7 +243,7 @@ bool Ekf::resetMagHeading()
float yaw_new = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();
float yaw_new_variance = sq(fmaxf(_params.mag_heading_noise, 1.e-2f));
ECL_INFO("reset mag heading %.3f -> %.3f rad", (double)getEulerYaw(_R_to_earth), (double)yaw_new);
ECL_INFO("reset mag heading %.3f -> %.3f rad (declination %.1f)", (double)getEulerYaw(_R_to_earth), (double)yaw_new, (double)getMagDeclination());
// update quaternion states and corresponding covarainces
resetQuatStateYaw(yaw_new, yaw_new_variance);
src/modules/ekf2/EKF/mag_control.cpp
+43 -4
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@@ -95,7 +95,7 @@ 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)
@@ -116,6 +116,45 @@ void Ekf::controlMagFusion()
_control_status.flags.mag_aligned_in_flight = false;
}
if (mag_data_ready && !_control_status.flags.tilt_align && !_control_status.flags.yaw_align) {
// calculate the initial magnetic field and yaw alignment
// but do not mark the yaw alignement complete as it needs to be
// reset once the leveling phase is done
if (_params.mag_fusion_type <= MagFuseType::MAG_3D) {
if ((_mag_counter > 1) && isTimedOut(_aid_src_mag_heading.time_last_fuse, (uint64_t)100'000)) {
// rotate the magnetometer measurements into earth frame using a zero yaw angle
// the angle of the projection onto the horizontal gives the yaw angle
const Vector3f mag_earth_pred = updateYawInRotMat(0.f, _R_to_earth) * _mag_lpf.getState();
const float yaw_new = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination();
const float yaw_prev = getEulerYaw(_R_to_earth);
if (fabsf(yaw_new - yaw_prev) > math::radians(1.f)) {
ECL_INFO("mag heading init %.3f -> %.3f rad (declination %.1f)", (double)yaw_prev, (double)yaw_new, (double)getMagDeclination());
// update the rotation matrix using the new yaw value
_R_to_earth = updateYawInRotMat(yaw_new, Dcmf(_state.quat_nominal));
_state.quat_nominal = _R_to_earth;
// reset the output predictor state history to match the EKF initial values
_output_predictor.alignOutputFilter(_state.quat_nominal, _state.vel, _state.pos);
// set the earth magnetic field states using the updated rotation
_state.mag_I = _R_to_earth * _mag_lpf.getState();
_state.mag_B.zero();
_aid_src_mag_heading.time_last_fuse = _time_delayed_us;
_time_last_heading_fuse = _time_delayed_us;
_last_static_yaw = NAN;
}
}
}
return;
}
if (_params.mag_fusion_type >= MagFuseType::NONE
|| _control_status.flags.mag_fault
|| !_control_status.flags.tilt_align) {
@@ -225,9 +264,9 @@ void Ekf::runInAirYawReset()
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
) {
if (_control_status.flags.gps && isYawEmergencyEstimateAvailable()
&& (_mag_counter > 1) // mag LPF available
) {
resetQuatStateYaw(_yawEstimator.getYaw(), _yawEstimator.getYawVar());
src/modules/ekf2/EKF/zero_innovation_heading_update.cpp
+1 -1
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@@ -49,7 +49,7 @@ void Ekf::controlZeroInnovationHeadingUpdate()
float obs_var = _control_status.flags.vehicle_at_rest ? 0.001f : 0.1f;
estimator_aid_source1d_s unused;
fuseYaw(innovation, obs_var, unused);
_time_last_heading_fuse = 0;
_last_static_yaw = NAN;
} else if (_control_status.flags.vehicle_at_rest) {