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ekf2: add kconfig option to enable/disable external vision fusion

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This commit is contained in:
Daniel Agar
2023-03-20 10:12:17 -04:00
parent d47f96f1a5
commit 4363b09421
17 changed files with 209 additions and 68 deletions
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src/modules/ekf2/EKF/ekf_helper.cpp
+28 -2
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@@ -150,7 +150,9 @@ void Ekf::resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f
_state_reset_status.reset_count.posNE++;
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
_ev_pos_b_est.setBias(_ev_pos_b_est.getBias() - _state_reset_status.posNE_change);
#endif // CONFIG_EKF2_EXTERNAL_VISION
//_gps_pos_b_est.setBias(_gps_pos_b_est.getBias() + _state_reset_status.posNE_change);
// Reset the timout timer
@@ -196,7 +198,9 @@ void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_v
_state_reset_status.reset_count.posD++;
_baro_b_est.setBias(_baro_b_est.getBias() + delta_z);
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
_ev_hgt_b_est.setBias(_ev_hgt_b_est.getBias() - delta_z);
#endif // CONFIG_EKF2_EXTERNAL_VISION
_gps_hgt_b_est.setBias(_gps_hgt_b_est.getBias() + delta_z);
_rng_hgt_b_est.setBias(_rng_hgt_b_est.getBias() + delta_z);
@@ -304,6 +308,7 @@ void Ekf::getGpsVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &v
vpos = _aid_src_gnss_hgt.test_ratio;
}
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
void Ekf::getEvVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) const
{
hvel[0] = _aid_src_ev_vel.innovation[0];
@@ -334,6 +339,7 @@ void Ekf::getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vp
hpos = fmaxf(_aid_src_ev_pos.test_ratio[0], _aid_src_ev_pos.test_ratio[1]);
vpos = _aid_src_ev_hgt.test_ratio;
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
#if defined(CONFIG_EKF2_AUXVEL)
void Ekf::getAuxVelInnov(float aux_vel_innov[2]) const
@@ -466,9 +472,11 @@ void Ekf::get_ekf_gpos_accuracy(float *ekf_eph, float *ekf_epv) const
hpos_err = math::max(hpos_err, Vector2f(_aid_src_gnss_pos.innovation).norm());
}
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_control_status.flags.ev_pos) {
hpos_err = math::max(hpos_err, Vector2f(_aid_src_ev_pos.innovation).norm());
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
}
*ekf_eph = hpos_err;
@@ -489,9 +497,11 @@ void Ekf::get_ekf_lpos_accuracy(float *ekf_eph, float *ekf_epv) const
hpos_err = math::max(hpos_err, Vector2f(_aid_src_gnss_pos.innovation).norm());
}
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_control_status.flags.ev_pos) {
hpos_err = math::max(hpos_err, Vector2f(_aid_src_ev_pos.innovation).norm());
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
}
*ekf_eph = hpos_err;
@@ -516,14 +526,17 @@ void Ekf::get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv) const
if (_control_status.flags.gps) {
vel_err_conservative = math::max(vel_err_conservative, Vector2f(_aid_src_gnss_pos.innovation).norm());
}
} else if (_control_status.flags.ev_pos) {
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_control_status.flags.ev_pos) {
vel_err_conservative = math::max(vel_err_conservative, Vector2f(_aid_src_ev_pos.innovation).norm());
}
if (_control_status.flags.ev_vel) {
vel_err_conservative = math::max(vel_err_conservative, Vector2f(_aid_src_ev_vel.innovation).norm());
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
hvel_err = math::max(hvel_err, vel_err_conservative);
}
@@ -637,6 +650,12 @@ void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, f
}
#endif // CONFIG_EKF2_GNSS_YAW
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_control_status.flags.ev_yaw) {
mag = math::max(mag, sqrtf(_aid_src_ev_yaw.test_ratio));
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
// return the largest velocity and position innovation test ratio
vel = NAN;
pos = NAN;
@@ -649,6 +668,7 @@ void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, f
pos = math::max(gps_pos, FLT_MIN);
}
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_control_status.flags.ev_vel) {
float ev_vel = sqrtf(Vector3f(_aid_src_ev_vel.test_ratio).max());
vel = math::max(vel, ev_vel, FLT_MIN);
@@ -658,6 +678,7 @@ void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, f
float ev_pos = sqrtf(Vector2f(_aid_src_ev_pos.test_ratio).max());
pos = math::max(pos, ev_pos, FLT_MIN);
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
if (isOnlyActiveSourceOfHorizontalAiding(_control_status.flags.opt_flow)) {
float of_vel = sqrtf(Vector2f(_aid_src_optical_flow.test_ratio).max());
@@ -683,10 +704,12 @@ void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, f
n_hgt_sources++;
}
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_control_status.flags.ev_hgt) {
hgt_sum += sqrtf(_aid_src_ev_hgt.test_ratio);
n_hgt_sources++;
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
if (n_hgt_sources > 0) {
hgt = math::max(hgt_sum / static_cast<float>(n_hgt_sources), FLT_MIN);
@@ -1136,9 +1159,12 @@ bool Ekf::resetYawToEKFGSF()
_control_status.flags.gps_yaw_fault = true;
_warning_events.flags.emergency_yaw_reset_gps_yaw_stopped = true;
} else if (_control_status.flags.ev_yaw) {
}
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_control_status.flags.ev_yaw) {
_inhibit_ev_yaw_use = true;
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
return true;
}