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ekf2: move EV vel to new state machine, introduce EKF2_EV_CTRL param
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Daniel Agar
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/****************************************************************************
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*
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* Copyright (c) 2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ev_vel_control.cpp
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* Control functions for ekf external vision velocity fusion
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*/
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#include "ekf.h"
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void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, bool starting_conditions_passing, bool ev_reset,
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bool quality_sufficient, estimator_aid_source3d_s &aid_src)
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{
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static constexpr const char *AID_SRC_NAME = "EV velocity";
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const bool yaw_alignment_changed = (!_control_status_prev.flags.ev_yaw && _control_status.flags.ev_yaw)
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|| (_control_status_prev.flags.yaw_align != _control_status.flags.yaw_align);
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// determine if we should use EV velocity aiding
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bool continuing_conditions_passing = (_params.ev_ctrl & static_cast<int32_t>(EvCtrl::VEL))
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&& _control_status.flags.tilt_align
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&& ev_sample.vel.isAllFinite();
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// correct velocity for offset relative to IMU
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const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;
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const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body;
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const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body;
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// rotate measurement into correct earth frame if required
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Vector3f vel{NAN, NAN, NAN};
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Matrix3f vel_cov{};
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switch (ev_sample.vel_frame) {
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case VelocityFrame::LOCAL_FRAME_NED:
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if (_control_status.flags.yaw_align) {
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vel = ev_sample.vel - vel_offset_earth;
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vel_cov = matrix::diag(ev_sample.velocity_var);
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} else {
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continuing_conditions_passing = false;
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}
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break;
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case VelocityFrame::LOCAL_FRAME_FRD:
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if (_control_status.flags.ev_yaw) {
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// using EV frame
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vel = ev_sample.vel - vel_offset_earth;
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vel_cov = matrix::diag(ev_sample.velocity_var);
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} else {
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// rotate EV to the EKF reference frame
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const Quatf q_error((_state.quat_nominal * ev_sample.quat.inversed()).normalized());
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const Dcmf R_ev_to_ekf = Dcmf(q_error);
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vel = R_ev_to_ekf * ev_sample.vel - vel_offset_earth;
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vel_cov = R_ev_to_ekf * matrix::diag(ev_sample.velocity_var) * R_ev_to_ekf.transpose();
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// increase minimum variance to include EV orientation variance
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// TODO: do this properly
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const float orientation_var_max = ev_sample.orientation_var.max();
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for (int i = 0; i < 2; i++) {
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vel_cov(i, i) = math::max(vel_cov(i, i), orientation_var_max);
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}
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}
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break;
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case VelocityFrame::BODY_FRAME_FRD:
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vel = _R_to_earth * (ev_sample.vel - vel_offset_body);
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vel_cov = _R_to_earth * matrix::diag(ev_sample.velocity_var) * _R_to_earth.transpose();
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break;
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default:
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continuing_conditions_passing = false;
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break;
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}
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// increase minimum variance if GPS active (position reference)
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if (_control_status.flags.gps) {
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for (int i = 0; i < 2; i++) {
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vel_cov(i, i) = math::max(vel_cov(i, i), sq(_params.gps_vel_noise));
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}
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}
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const Vector3f measurement{vel};
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const Vector3f measurement_var{
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math::max(vel_cov(0, 0), sq(_params.ev_vel_noise), sq(0.01f)),
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math::max(vel_cov(1, 1), sq(_params.ev_vel_noise), sq(0.01f)),
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math::max(vel_cov(2, 2), sq(_params.ev_vel_noise), sq(0.01f))
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};
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const bool measurement_valid = measurement.isAllFinite() && measurement_var.isAllFinite();
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updateVelocityAidSrcStatus(ev_sample.time_us,
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measurement, // observation
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measurement_var, // observation variance
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math::max(_params.ev_vel_innov_gate, 1.f), // innovation gate
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aid_src);
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if (!measurement_valid) {
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continuing_conditions_passing = false;
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}
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starting_conditions_passing &= continuing_conditions_passing
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&& ((Vector3f(aid_src.test_ratio).max() < 0.1f) || !isHorizontalAidingActive());
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if (_control_status.flags.ev_vel) {
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aid_src.fusion_enabled = true;
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if (continuing_conditions_passing) {
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if ((ev_reset && isOnlyActiveSourceOfHorizontalAiding(_control_status.flags.ev_vel)) || yaw_alignment_changed) {
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if (quality_sufficient) {
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ECL_INFO("reset to %s", AID_SRC_NAME);
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_information_events.flags.reset_vel_to_vision = true;
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resetVelocityTo(measurement, measurement_var);
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aid_src.time_last_fuse = _imu_sample_delayed.time_us;
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} else {
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// EV has reset, but quality isn't sufficient
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// we have no choice but to stop EV and try to resume once quality is acceptable
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stopEvVelFusion();
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return;
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}
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} else if (quality_sufficient) {
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fuseVelocity(aid_src);
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} else {
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aid_src.innovation_rejected = true;
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}
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const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.no_aid_timeout_max); // 1 second
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if (is_fusion_failing) {
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if ((_nb_ev_vel_reset_available > 0) && quality_sufficient) {
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// Data seems good, attempt a reset
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_information_events.flags.reset_vel_to_vision = true;
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ECL_WARN("%s fusion failing, resetting", AID_SRC_NAME);
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resetVelocityTo(measurement, measurement_var);
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aid_src.time_last_fuse = _imu_sample_delayed.time_us;
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if (_control_status.flags.in_air) {
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_nb_ev_vel_reset_available--;
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}
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} else if (starting_conditions_passing) {
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// Data seems good, but previous reset did not fix the issue
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// something else must be wrong, declare the sensor faulty and stop the fusion
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//_control_status.flags.ev_vel_fault = true;
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ECL_WARN("stopping %s fusion, starting conditions failing", AID_SRC_NAME);
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stopEvVelFusion();
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} else {
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// A reset did not fix the issue but all the starting checks are not passing
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// This could be a temporary issue, stop the fusion without declaring the sensor faulty
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ECL_WARN("stopping %s, fusion failing", AID_SRC_NAME);
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stopEvVelFusion();
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}
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}
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} else {
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// Stop fusion but do not declare it faulty
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ECL_WARN("stopping %s fusion, continuing conditions failing", AID_SRC_NAME);
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stopEvVelFusion();
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}
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} else {
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if (starting_conditions_passing) {
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// activate fusion, only reset if necessary
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if (!isHorizontalAidingActive() || yaw_alignment_changed) {
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ECL_INFO("starting %s fusion, resetting state", AID_SRC_NAME);
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_information_events.flags.reset_vel_to_vision = true;
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resetVelocityTo(measurement, measurement_var);
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} else {
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ECL_INFO("starting %s fusion", AID_SRC_NAME);
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}
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aid_src.time_last_fuse = _imu_sample_delayed.time_us;
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_nb_ev_vel_reset_available = 5;
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_information_events.flags.starting_vision_vel_fusion = true;
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_control_status.flags.ev_vel = true;
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}
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}
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}
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void Ekf::stopEvVelFusion()
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{
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if (_control_status.flags.ev_vel) {
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resetEstimatorAidStatus(_aid_src_ev_vel);
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_control_status.flags.ev_vel = false;
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}
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}
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