ekf2: cleanup zero innovation heading fusion

- refactor updateQuaternion() to compute the yaw jacobian directly (respecting the rotation sequence determination) - fuseHeading()/fuseYaw321()/fuseYaw312() helpers are eliminated and now mag heading fusion and EV yaw fusion compute the innovation in place - clear up logic for performing zero innovation heading fusion when quaternion variance exceeds threshold (no more _is_yaw_fusion_inhibited flag manipulation) - when at rest continue fusing last static heading with very low variance even if other heading sources are active
2026-10-23 02:23:34 +08:00 · 2022-07-19 11:58:27 -04:00
parent ed14151734
commit 39453405a0
11 changed files with 948 additions and 990 deletions
@@ -0,0 +1,84 @@
+/****************************************************************************
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+
+/**
+ * @file zero_innovation_heading_update.cpp
+ * Control function for ekf heading update when at rest or no other heading source available
+ */
+
+#include "ekf.h"
+
+void Ekf::controlZeroInnovationHeadingUpdate()
+{
+	const bool yaw_aiding = _control_status.flags.mag_hdg || _control_status.flags.mag_3D
+				|| _control_status.flags.ev_yaw || _control_status.flags.gps_yaw;
+
+	if (!_control_status.flags.tilt_align) {
+		// fuse zero heading innovation during the leveling fine alignment step to keep the yaw variance low
+		float innovation = 0.f;
+		float obs_var = _control_status.flags.vehicle_at_rest ? 0.001f : 0.1f;
+		fuseYaw(innovation, obs_var);
+
+		_last_static_yaw = NAN;
+
+	} else if (_control_status.flags.vehicle_at_rest) {
+		// When at rest or no source of yaw aiding is active yaw fusion is run selectively to enable yaw gyro
+		// bias learning when stationary on ground and to prevent uncontrolled yaw variance growth
+		const float euler_yaw = getEulerYaw(_R_to_earth);
+
+		if (PX4_ISFINITE(_last_static_yaw)) {
+			// fuse last static yaw at a limited rate (every 200 milliseconds)
+			if (!yaw_aiding && isTimedOut(_time_last_heading_fuse, (uint64_t)200'000)) {
+				float innovation = wrap_pi(euler_yaw - _last_static_yaw);
+				float obs_var = 0.01f;
+				fuseYaw(innovation, obs_var);
+			}
+
+		} else {
+			// record static yaw when transitioning to at rest
+			_last_static_yaw = euler_yaw;
+		}
+
+	} else {
+		// vehicle moving and tilt alignment completed
+
+		// fuse zero innovation at a limited rate (every 200 milliseconds)
+		if (!yaw_aiding && isTimedOut(_time_last_heading_fuse, (uint64_t)200'000)) {
+			float innovation = 0.f;
+			float obs_var = 0.01f;
+			fuseYaw(innovation, obs_var);
+		}
+
+		_last_static_yaw = NAN;
+	}
+}