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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/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());