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ekf2: move drag fusion activation from AID_MASK to DRAG_CTRL

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bresch
2023-04-28 22:31:17 -04:00
committed by Daniel Agar
parent 8b4566b6bb
commit 39c2f95669
8 changed files with 50 additions and 11 deletions
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src/modules/ekf2/EKF/airspeed_fusion.cpp
+1 -1
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@@ -57,7 +57,7 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
const bool airspeed_timed_out = isTimedOut(_aid_src_airspeed.time_last_fuse, (uint64_t)10e6);
const bool sideslip_timed_out = isTimedOut(_aid_src_sideslip.time_last_fuse, (uint64_t)10e6);
if (_control_status.flags.fake_pos || (airspeed_timed_out && sideslip_timed_out && !(_params.fusion_mode & SensorFusionMask::USE_DRAG))) {
if (_control_status.flags.fake_pos || (airspeed_timed_out && sideslip_timed_out && (_params.drag_ctrl == 0))) {
_control_status.flags.wind = false;
}
src/modules/ekf2/EKF/common.h
+2 -1
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@@ -162,7 +162,7 @@ enum SensorFusionMask : uint16_t {
DEPRECATED_INHIBIT_ACC_BIAS = (1<<2), ///< set to true to inhibit estimation of accelerometer delta velocity bias
DEPRECATED_USE_EXT_VIS_POS = (1<<3), ///< set to true to use external vision position data
DEPRECATED_USE_EXT_VIS_YAW = (1<<4), ///< set to true to use external vision quaternion data for yaw
USE_DRAG = (1<<5), ///< set to true to use the multi-rotor drag model to estimate wind
DEPRECATED_USE_DRAG = (1<<5), ///< set to true to use the multi-rotor drag model to estimate wind
DEPRECATED_ROTATE_EXT_VIS = (1<<6), ///< set to true to if the EV observations are in a non NED reference frame and need to be rotated before being used
DEPRECATED_USE_GPS_YAW = (1<<7), ///< set to true to use GPS yaw data if available (DEPRECATED, use gnss_ctrl)
DEPRECATED_USE_EXT_VIS_VEL = (1<<8), ///< set to true to use external vision velocity data
@@ -477,6 +477,7 @@ struct parameters {
#if defined(CONFIG_EKF2_DRAG_FUSION)
// multi-rotor drag specific force fusion
int32_t drag_ctrl{0};
float drag_noise{2.5f}; ///< observation noise variance for drag specific force measurements (m/sec**2)**2
float bcoef_x{100.0f}; ///< bluff body drag ballistic coefficient for the X-axis (kg/m**2)
float bcoef_y{100.0f}; ///< bluff body drag ballistic coefficient for the Y-axis (kg/m**2)
src/modules/ekf2/EKF/drag_fusion.cpp
+1 -1
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@@ -44,7 +44,7 @@
void Ekf::controlDragFusion()
{
if ((_params.fusion_mode & SensorFusionMask::USE_DRAG) && _drag_buffer &&
if ((_params.drag_ctrl > 0) && _drag_buffer &&
!_control_status.flags.fake_pos && _control_status.flags.in_air) {
if (!_control_status.flags.wind) {
src/modules/ekf2/EKF/estimator_interface.cpp
+1 -1
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@@ -480,7 +480,7 @@ void EstimatorInterface::setDragData(const imuSample &imu)
{
// down-sample the drag specific force data by accumulating and calculating the mean when
// sufficient samples have been collected
if ((_params.fusion_mode & SensorFusionMask::USE_DRAG)) {
if (_params.drag_ctrl > 0) {
// Allocate the required buffer size if not previously done
if (_drag_buffer == nullptr) {