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Add missing checks for flags.ev_vel

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kamilritz
2019-09-24 07:48:46 +10:00
committed by Paul Riseborough
parent e7d927c899
commit 4511b9ff5e
4 changed files with 23 additions and 16 deletions
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EKF/control.cpp
+13 -11
View File
@@ -453,7 +453,7 @@ void Ekf::controlOpticalFlowFusion()
// Check if we are in-air and require optical flow to control position drift
bool flow_required = _control_status.flags.in_air &&
(_is_dead_reckoning // is doing inertial dead-reckoning so must constrain drift urgently
|| (_control_status.flags.opt_flow && !_control_status.flags.gps && !_control_status.flags.ev_pos) // is completely reliant on optical flow
|| (_control_status.flags.opt_flow && !_control_status.flags.gps && !_control_status.flags.ev_pos && !_control_status.flags.ev_vel) // is completely reliant on optical flow
|| (_control_status.flags.gps && (_gps_error_norm > gps_err_norm_lim))); // is using GPS, but GPS is bad
if (!_inhibit_flow_use && _control_status.flags.opt_flow) {
@@ -504,7 +504,7 @@ void Ekf::controlOpticalFlowFusion()
_time_last_of_fuse = _time_last_imu;
// if we are not using GPS or external vision aiding, then the velocity and position states and covariances need to be set
const bool flow_aid_only = !(_control_status.flags.gps || _control_status.flags.ev_pos);
const bool flow_aid_only = !(_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel);
if (flow_aid_only) {
resetVelocity();
resetPosition();
@@ -521,7 +521,8 @@ void Ekf::controlOpticalFlowFusion()
// handle the case when we have optical flow, are reliant on it, but have not been using it for an extended period
if (_control_status.flags.opt_flow
&& !_control_status.flags.gps
&& !_control_status.flags.ev_pos) {
&& !_control_status.flags.ev_pos
&& !_control_status.flags.ev_vel) {
bool do_reset = ((_time_last_imu - _time_last_of_fuse) > _params.reset_timeout_max);
@@ -714,7 +715,7 @@ void Ekf::controlGpsFusion()
// calculate observation process noise
float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f);
if (_control_status.flags.opt_flow || _control_status.flags.ev_pos) {
if (_control_status.flags.opt_flow || _control_status.flags.ev_pos || _control_status.flags.ev_vel) {
// if we are using other sources of aiding, then relax the upper observation
// noise limit which prevents bad GPS perturbing the position estimate
_posObsNoiseNE = fmaxf(_gps_sample_delayed.hacc, lower_limit);
@@ -743,7 +744,7 @@ void Ekf::controlGpsFusion()
} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)10e6)) {
_control_status.flags.gps = false;
ECL_WARN("EKF GPS data stopped");
} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)1e6) && (_control_status.flags.opt_flow || _control_status.flags.ev_pos)) {
} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)1e6) && (_control_status.flags.opt_flow || _control_status.flags.ev_pos || _control_status.flags.ev_vel)) {
// Handle the case where we are fusing another position source along GPS,
// stop waiting for GPS after 1 s of lost signal
_control_status.flags.gps = false;
@@ -1186,7 +1187,7 @@ void Ekf::rangeAidConditionsMet()
can_use_range_finder = (_terrain_vpos - _state.pos(2) < 0.7f * _params.max_hagl_for_range_aid) && get_terrain_valid();
}
bool horz_vel_valid = (_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.opt_flow)
bool horz_vel_valid = (_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel || _control_status.flags.opt_flow)
&& (_fault_status.value == 0);
if (horz_vel_valid) {
@@ -1471,7 +1472,7 @@ void Ekf::controlMagFusion()
_yaw_angle_observable = _accel_lpf_NE.norm() > 2.0f * _params.mag_acc_gate;
}
_yaw_angle_observable = _yaw_angle_observable && (_control_status.flags.gps || _control_status.flags.ev_pos);
_yaw_angle_observable = _yaw_angle_observable && (_control_status.flags.gps || _control_status.flags.ev_pos); // Do we have to add ev_vel here?
// check if there is enough yaw rotation to make the mag bias states observable
if (!_mag_bias_observable && (fabsf(_yaw_rate_lpf_ef) > _params.mag_yaw_rate_gate)) {
@@ -1610,9 +1611,10 @@ void Ekf::controlMagFusion()
// is available, assume that we are operating indoors and the magnetometer should not be used.
bool user_selected = (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR);
bool not_using_gps = !(_params.fusion_mode & MASK_USE_GPS) || !_control_status.flags.gps;
bool not_using_evpos = !(_params.fusion_mode & MASK_USE_EVPOS) || !_control_status.flags.ev_pos;
bool not_selected_evyaw = !(_params.fusion_mode & MASK_USE_EVYAW);
if (user_selected && not_using_gps && not_using_evpos && not_selected_evyaw) {
bool not_using_evpos = !(_params.fusion_mode & MASK_USE_EVPOS) || !_control_status.flags.ev_pos;
bool not_using_evvel = !(_params.fusion_mode & MASK_USE_EVVEL) || !_control_status.flags.ev_vel;
bool not_selected_evyaw = !(_params.fusion_mode & MASK_USE_EVYAW);
if (user_selected && not_using_gps && not_using_evpos && not_using_evvel && not_selected_evyaw) {
_mag_use_inhibit = true;
} else {
_mag_use_inhibit = false;
@@ -1722,7 +1724,7 @@ void Ekf::controlVelPosFusion()
void Ekf::controlAuxVelFusion()
{
bool data_ready = _auxvel_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_auxvel_sample_delayed);
bool primary_aiding = _control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.opt_flow;
bool primary_aiding = _control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel || _control_status.flags.opt_flow;
if (data_ready && primary_aiding) {
_fuse_hor_vel = _fuse_vert_vel = _fuse_pos = _fuse_height = false;
EKF/ekf_helper.cpp
+8 -3
View File
@@ -53,7 +53,7 @@ bool Ekf::resetVelocity()
Vector3f vel_before_reset = _state.vel;
// reset EKF states
if (_control_status.flags.gps) {
if (_control_status.flags.gps && _gps_check_fail_status.value==0) {
// this reset is only called if we have new gps data at the fusion time horizon
_state.vel = _gps_sample_delayed.vel;
@@ -1074,6 +1074,11 @@ void Ekf::get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv)
vel_err_conservative = math::max(vel_err_conservative, sqrtf(sq(_vel_pos_innov[0]) + sq(_vel_pos_innov[1])));
}
if (_control_status.flags.ev_vel) {
// What is the right thing to do here
// vel_err_conservative = math::max(vel_err_conservative, sqrtf(sq(_vel_pos_innov[0]) + sq(_vel_pos_innov[1])));
}
hvel_err = math::max(hvel_err, vel_err_conservative);
}
@@ -1105,7 +1110,7 @@ void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, fl
bool relying_on_rangefinder = _control_status.flags.rng_hgt && !_params.range_aid;
bool relying_on_optical_flow = _control_status.flags.opt_flow && !(_control_status.flags.gps || _control_status.flags.ev_pos);
bool relying_on_optical_flow = _control_status.flags.opt_flow && !(_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel);
// Do not require limiting by default
*vxy_max = NAN;
@@ -1192,7 +1197,7 @@ void Ekf::get_ekf_soln_status(uint16_t *status)
ekf_solution_status soln_status;
soln_status.flags.attitude = _control_status.flags.tilt_align && _control_status.flags.yaw_align && (_fault_status.value == 0);
soln_status.flags.velocity_horiz = (_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.opt_flow || (_control_status.flags.fuse_beta && _control_status.flags.fuse_aspd)) && (_fault_status.value == 0);
soln_status.flags.velocity_horiz = (_control_status.flags.gps || _control_status.flags.ev_pos|| _control_status.flags.ev_vel || _control_status.flags.opt_flow || (_control_status.flags.fuse_beta && _control_status.flags.fuse_aspd)) && (_fault_status.value == 0);
soln_status.flags.velocity_vert = (_control_status.flags.baro_hgt || _control_status.flags.ev_hgt || _control_status.flags.gps_hgt || _control_status.flags.rng_hgt) && (_fault_status.value == 0);
soln_status.flags.pos_horiz_rel = (_control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.opt_flow) && (_fault_status.value == 0);
soln_status.flags.pos_horiz_abs = (_control_status.flags.gps || _control_status.flags.ev_pos) && (_fault_status.value == 0);
EKF/estimator_interface.cpp
+1 -1
View File
@@ -384,7 +384,7 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
flow_magnitude_good = (flow_rate_magnitude <= _flow_max_rate);
}
bool relying_on_flow = !_control_status.flags.gps && !_control_status.flags.ev_pos;
bool relying_on_flow = !_control_status.flags.gps && !_control_status.flags.ev_pos && !_control_status.flags.ev_vel;
// check quality metric
bool flow_quality_good = (flow->quality >= _params.flow_qual_min);
EKF/gps_checks.cpp
+1 -1
View File
@@ -67,7 +67,7 @@ bool Ekf::collect_gps(const gps_message &gps)
map_projection_init_timestamped(&_pos_ref, lat, lon, _time_last_imu);
// if we are already doing aiding, correct for the change in position since the EKF started navigationg
if (_control_status.flags.opt_flow || _control_status.flags.gps || _control_status.flags.ev_pos) {
if (_control_status.flags.opt_flow || _control_status.flags.gps || _control_status.flags.ev_pos || _control_status.flags.ev_vel) {
double est_lat, est_lon;
map_projection_reproject(&_pos_ref, -_state.pos(0), -_state.pos(1), &est_lat, &est_lon);
map_projection_init_timestamped(&_pos_ref, est_lat, est_lon, _time_last_imu);