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ekf2: add OF estimator aid src status

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This commit is contained in:
Daniel Agar
2022-10-18 14:19:16 -04:00
parent 75c63aee2a
commit 535415a537
15 changed files with 471 additions and 377 deletions
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src/modules/ekf2/EKF/control.cpp
+3 -168
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@@ -317,7 +317,7 @@ void Ekf::controlExternalVisionFusion()
// check if we have been deadreckoning too long
if (isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max)) {
// only reset velocity if we have no another source of aiding constraining it
if (isTimedOut(_time_last_of_fuse, (uint64_t)1E6) &&
if (isTimedOut(_aid_src_optical_flow.time_last_fuse, (uint64_t)1E6) &&
isTimedOut(_time_last_hor_vel_fuse, (uint64_t)1E6)) {
if (_control_status.flags.ev_vel) {
@@ -348,7 +348,7 @@ void Ekf::controlExternalVisionFusion()
// check if we have been deadreckoning too long
if (isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max)) {
// only reset velocity if we have no another source of aiding constraining it
if (isTimedOut(_time_last_of_fuse, (uint64_t)1E6) &&
if (isTimedOut(_aid_src_optical_flow.time_last_fuse, (uint64_t)1E6) &&
isTimedOut(_time_last_hor_pos_fuse, (uint64_t)1E6)) {
resetVelocityToVision();
}
@@ -414,171 +414,6 @@ void Ekf::controlExternalVisionFusion()
}
}
void Ekf::controlOpticalFlowFusion()
{
// Check if on ground motion is un-suitable for use of optical flow
if (!_control_status.flags.in_air) {
updateOnGroundMotionForOpticalFlowChecks();
} else {
resetOnGroundMotionForOpticalFlowChecks();
}
// Accumulate autopilot gyro data across the same time interval as the flow sensor
_imu_del_ang_of += _imu_sample_delayed.delta_ang - _state.delta_ang_bias;
_delta_time_of += _imu_sample_delayed.delta_ang_dt;
if (_flow_data_ready) {
const bool is_quality_good = (_flow_sample_delayed.quality >= _params.flow_qual_min);
const bool is_magnitude_good = !_flow_sample_delayed.flow_xy_rad.longerThan(_flow_sample_delayed.dt * _flow_max_rate);
const bool is_tilt_good = (_R_to_earth(2, 2) > _params.range_cos_max_tilt);
const float delta_time_min = fmaxf(0.7f * _delta_time_of, 0.001f);
const float delta_time_max = fminf(1.3f * _delta_time_of, 0.2f);
const bool is_delta_time_good = _flow_sample_delayed.dt >= delta_time_min && _flow_sample_delayed.dt <= delta_time_max;
const bool is_body_rate_comp_available = calcOptFlowBodyRateComp();
if (is_quality_good
&& is_magnitude_good
&& is_tilt_good
&& is_body_rate_comp_available
&& is_delta_time_good) {
// compensate for body motion to give a LOS rate
_flow_compensated_XY_rad = _flow_sample_delayed.flow_xy_rad - _flow_sample_delayed.gyro_xyz.xy();
} else if (!_control_status.flags.in_air) {
if (!is_delta_time_good) {
// handle special case of SITL and PX4Flow where dt is forced to
// zero when the quaity is 0
_flow_sample_delayed.dt = delta_time_min;
}
// don't allow invalid flow gyro_xyz to propagate
if (!is_body_rate_comp_available) {
if (!PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(0)) || !PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(1)) || !PX4_ISFINITE(_flow_sample_delayed.gyro_xyz(2))) {
_flow_sample_delayed.gyro_xyz.zero();
}
}
// when on the ground with poor flow quality,
// assume zero ground relative velocity and LOS rate
_flow_compensated_XY_rad.setZero();
} else {
// don't use this flow data and wait for the next data to arrive
_flow_data_ready = false;
_flow_compensated_XY_rad.setZero();
}
} else {
_flow_compensated_XY_rad.setZero();
}
// New optical flow data is available and is ready to be fused when the midpoint of the sample falls behind the fusion time horizon
if (_flow_data_ready) {
// Inhibit flow use if motion is un-suitable or we have good quality GPS
// Apply hysteresis to prevent rapid mode switching
const float gps_err_norm_lim = _control_status.flags.opt_flow ? 0.7f : 1.0f;
// Check if we are in-air and require optical flow to control position drift
const bool is_flow_required = _control_status.flags.in_air
&& (_control_status.flags.inertial_dead_reckoning // is doing inertial dead-reckoning so must constrain drift urgently
|| isOnlyActiveSourceOfHorizontalAiding(_control_status.flags.opt_flow)
|| (_control_status.flags.gps && (_gps_error_norm > gps_err_norm_lim))); // is using GPS, but GPS is bad
// inhibit use of optical flow if motion is unsuitable and we are not reliant on it for flight navigation
const bool preflight_motion_not_ok = !_control_status.flags.in_air
&& ((_imu_sample_delayed.time_us > (_time_good_motion_us + (uint64_t)1E5))
|| (_imu_sample_delayed.time_us < (_time_bad_motion_us + (uint64_t)5E6)));
const bool flight_condition_not_ok = _control_status.flags.in_air && !isTerrainEstimateValid();
_inhibit_flow_use = ((preflight_motion_not_ok || flight_condition_not_ok) && !is_flow_required)
|| !_control_status.flags.tilt_align;
// Handle cases where we are using optical flow but we should not use it anymore
if (_control_status.flags.opt_flow) {
if (!(_params.fusion_mode & SensorFusionMask::USE_OPT_FLOW)
|| _inhibit_flow_use) {
stopFlowFusion();
return;
}
}
// optical flow fusion mode selection logic
if ((_params.fusion_mode & SensorFusionMask::USE_OPT_FLOW) // optical flow has been selected by the user
&& !_control_status.flags.opt_flow // we are not yet using flow data
&& !_inhibit_flow_use) {
// If the heading is valid and use is not inhibited , start using optical flow aiding
if (_control_status.flags.yaw_align || _params.mag_fusion_type == MagFuseType::NONE) {
// set the flag and reset the fusion timeout
ECL_INFO("starting optical flow fusion");
_control_status.flags.opt_flow = true;
_time_last_of_fuse = _imu_sample_delayed.time_us;
// 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 = !isOtherSourceOfHorizontalAidingThan(_control_status.flags.opt_flow);
if (flow_aid_only) {
resetHorizontalVelocityToOpticalFlow();
resetHorizontalPositionToOpticalFlow();
}
}
}
if (_control_status.flags.opt_flow) {
// Wait until the midpoint of the flow sample has fallen behind the fusion time horizon
if (_imu_sample_delayed.time_us > (_flow_sample_delayed.time_us - uint32_t(1e6f * _flow_sample_delayed.dt) / 2)) {
// Fuse optical flow LOS rate observations into the main filter only if height above ground has been updated recently
// but use a relaxed time criteria to enable it to coast through bad range finder data
if (isRecent(_time_last_hagl_fuse, (uint64_t)10e6)) {
fuseOptFlow();
_last_known_pos.xy() = _state.pos.xy();
}
_flow_data_ready = false;
}
// handle the case when we have optical flow, are reliant on it, but have not been using it for an extended period
if (isTimedOut(_time_last_of_fuse, _params.reset_timeout_max)
&& !isOtherSourceOfHorizontalAidingThan(_control_status.flags.opt_flow)) {
resetHorizontalVelocityToOpticalFlow();
resetHorizontalPositionToOpticalFlow();
}
}
} else if (_control_status.flags.opt_flow && !isRecent(_flow_sample_delayed.time_us, (uint64_t)10e6)) {
stopFlowFusion();
}
}
void Ekf::updateOnGroundMotionForOpticalFlowChecks()
{
// When on ground check if the vehicle is being shaken or moved in a way that could cause a loss of navigation
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_magnitude_filt > _flow_max_rate) // angular rate exceeds flow sensor limit
|| (_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;
} else {
_time_good_motion_us = _imu_sample_delayed.time_us;
}
}
void Ekf::resetOnGroundMotionForOpticalFlowChecks()
{
_time_bad_motion_us = 0;
_time_good_motion_us = _imu_sample_delayed.time_us;
}
void Ekf::controlGpsYawFusion(const gpsSample &gps_sample, bool gps_checks_passing, bool gps_checks_failing)
{
if (!(_params.gnss_ctrl & GnssCtrl::YAW)
@@ -792,5 +627,5 @@ bool Ekf::hasHorizontalAidingTimedOut() const
{
return isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max)
&& isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max)
&& isTimedOut(_time_last_of_fuse, _params.reset_timeout_max);
&& isTimedOut(_aid_src_optical_flow.time_last_fuse, _params.reset_timeout_max);
}