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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/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();