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Ekf: extract baro height offset computation

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bresch 2020-04-16 08:25:53 +02:00 committed by Mathieu Bresciani
parent 6b64cf0770
commit 30d69aa45b
3 changed files with 18 additions and 10 deletions
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11
EKF/control.cpp
View File

@ -1050,16 +1050,7 @@ void Ekf::controlHeightFusion()
break;
}
// calculate a filtered offset between the baro origin and local NED origin if we are not using the baro as a height reference
if (!_control_status.flags.baro_hgt && _baro_data_ready) {
float local_time_step = 1e-6f * _delta_time_baro_us;
local_time_step = math::constrain(local_time_step, 0.0f, 1.0f);
// apply a 10 second first order low pass filter to baro offset
float offset_rate_correction = 0.1f * (_baro_sample_delayed.hgt + _state.pos(
2) - _baro_hgt_offset);
_baro_hgt_offset += local_time_step * math::constrain(offset_rate_correction, -0.1f, 0.1f);
}
updateBaroHgtOffset();
if (isTimedOut(_time_last_hgt_fuse, 2 * RNG_MAX_INTERVAL) && _control_status.flags.rng_hgt
&& (!_range_sensor.isDataHealthy())) {

2
EKF/ekf.h
View File

@ -761,6 +761,8 @@ private:
void startBaroHgtFusion();
void startGpsHgtFusion();
void updateBaroHgtOffset();
// calculate the measurement variance for the optical flow sensor
float calcOptFlowMeasVar();

15
EKF/ekf_helper.cpp
View File

@ -1498,6 +1498,21 @@ void Ekf::startGpsHgtFusion()
}
}
void Ekf::updateBaroHgtOffset()
{
// calculate a filtered offset between the baro origin and local NED origin if we are not
// using the baro as a height reference
if (!_control_status.flags.baro_hgt && _baro_data_ready) {
float local_time_step = 1e-6f * _delta_time_baro_us;
local_time_step = math::constrain(local_time_step, 0.0f, 1.0f);
// apply a 10 second first order low pass filter to baro offset
float offset_rate_correction = 0.1f * (_baro_sample_delayed.hgt + _state.pos(
2) - _baro_hgt_offset);
_baro_hgt_offset += local_time_step * math::constrain(offset_rate_correction, -0.1f, 0.1f);
}
}
// update the rotation matrix which rotates EV measurements into the EKF's navigation frame
void Ekf::calcExtVisRotMat()
{