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EKF angle constants in degrees for readability (#465)

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* EKF angle constants in degrees for readability

* EKF make FILTER_UPDATE_PERIOD_MS static constexpr and add FILTER_UPDATE_PERIOD_S

* EKF controlOpticalFlowFusion() use constants and update comments

* EKF controlMagFusion() use angle in degrees

* EKF move earth spin rate to geo and update usage

* EKF: Fix numerical constant error and clean up comments

Comments do not need to contain numerical values when the code makes these clear.
This commit is contained in:
Daniel Agar
2018-07-05 08:55:22 +10:00
committed by Paul Riseborough
parent cebdc3d829
commit 41953ab582
7 changed files with 29 additions and 29 deletions
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EKF/control.cpp
+9 -8
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@@ -58,7 +58,7 @@ void Ekf::controlFusionModes()
// Once the tilt variances have reduced to equivalent of 3deg uncertainty, re-set the yaw and magnetic field states
// and declare the tilt alignment complete
if ((angle_err_var_vec(0) + angle_err_var_vec(1)) < sq(0.05235f)) {
if ((angle_err_var_vec(0) + angle_err_var_vec(1)) < sq(math::radians(3.0f))) {
_control_status.flags.tilt_align = true;
_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
@@ -346,11 +346,13 @@ void Ekf::controlOpticalFlowFusion()
// Check if on ground motion is un-suitable for use of optical flow
if (!_control_status.flags.in_air) {
// When on ground check if the vehicle is being shaken or moved in a way that could cause a loss of navigation
float accel_norm = _accel_vec_filt.norm();
bool motion_is_excessive = ((accel_norm > 14.7f) // accel greater than 1.5g
|| (accel_norm < 4.9f) // accel less than 0.5g
const float accel_norm = _accel_vec_filt.norm();
const bool motion_is_excessive = ((accel_norm > (CONSTANTS_ONE_G * 1.5f)) // upper g limit
|| (accel_norm < (CONSTANTS_ONE_G * 0.5f)) // lower g limit
|| (_ang_rate_mag_filt > _flow_max_rate) // angular rate exceeds flow sensor limit
|| (_R_to_earth(2,2) < 0.866f)); // tilted more than 30 degrees
|| (_R_to_earth(2,2) < cosf(math::radians(30.0f)))); // tilted excessively
if (motion_is_excessive) {
_time_bad_motion_us = _imu_sample_delayed.time_us;
@@ -516,8 +518,7 @@ void Ekf::controlGpsFusion()
if (_mag_inhibit_yaw_reset_req) {
_mag_inhibit_yaw_reset_req = false;
// Zero the yaw bias covariance and set the variance to the initial alignment uncertainty
float dt = 0.001f * (float)FILTER_UPDATE_PERIOD_MS;
setDiag(P, 12, 12, sq(_params.switch_on_gyro_bias * dt));
setDiag(P, 12, 12, sq(_params.switch_on_gyro_bias * FILTER_UPDATE_PERIOD_S));
}
}
@@ -1307,7 +1308,7 @@ void Ekf::controlMagFusion()
} else if (_mag_bias_observable) {
// monitor yaw rotation in 45 deg sections.
// a rotation of 45 deg is sufficient to make the mag bias observable
if (fabsf(_yaw_delta_ef) > 0.7854f) {
if (fabsf(_yaw_delta_ef) > math::radians(45.0f)) {
_time_yaw_started = _imu_sample_delayed.time_us;
_yaw_delta_ef = 0.0f;
}