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ekf2: EV overhaul yaw and position fusion (#20501)
- move EV yaw and EV position to new state machines - EV yaw and EV pos now configured via EKF2_EV_CTRL (migrated from EKF2_AID_MASK) - new EV position offset estimator to enable EV position while GPS position is active (no more EV pos delta fusion) - yaw_align now strictly means north (no more rotate external vision aid mask) - automatic switching between EV yaw, and yaw align north based on GPS quality
This commit is contained in:
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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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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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_pos_control.cpp
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* Control functions for ekf external vision position fusion
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*/
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#include "ekf.h"
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static constexpr const char *EV_AID_SRC_NAME = "EV position";
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void Ekf::controlEvPosFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing,
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const bool ev_reset, const bool quality_sufficient, estimator_aid_source2d_s &aid_src)
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{
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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 position aiding
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bool continuing_conditions_passing = (_params.ev_ctrl & static_cast<int32_t>(EvCtrl::HPOS))
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&& _control_status.flags.tilt_align
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&& PX4_ISFINITE(ev_sample.pos(0))
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&& PX4_ISFINITE(ev_sample.pos(1));
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// correct position 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 pos_offset_earth = _R_to_earth * pos_offset_body;
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const bool bias_fusion_was_active = _ev_pos_b_est.fusionActive();
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// rotate measurement into correct earth frame if required
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Vector3f pos{NAN, NAN, NAN};
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Matrix3f pos_cov{};
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switch (ev_sample.pos_frame) {
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case PositionFrame::LOCAL_FRAME_NED:
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if (_control_status.flags.yaw_align) {
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pos = ev_sample.pos - pos_offset_earth;
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pos_cov = matrix::diag(ev_sample.position_var);
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if (_control_status.flags.gps) {
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_ev_pos_b_est.setFusionActive();
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} else {
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_ev_pos_b_est.setFusionInactive();
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}
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} else {
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continuing_conditions_passing = false;
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_ev_pos_b_est.setFusionInactive();
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_ev_pos_b_est.reset();
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}
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break;
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case PositionFrame::LOCAL_FRAME_FRD:
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if (_control_status.flags.ev_yaw) {
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// using EV frame
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pos = ev_sample.pos - pos_offset_earth;
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pos_cov = matrix::diag(ev_sample.position_var);
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_ev_pos_b_est.setFusionInactive();
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_ev_pos_b_est.reset();
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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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pos = R_ev_to_ekf * ev_sample.pos - pos_offset_earth;
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pos_cov = R_ev_to_ekf * matrix::diag(ev_sample.position_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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pos_cov(i, i) = math::max(pos_cov(i, i), orientation_var_max);
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}
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if (_control_status.flags.gps) {
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_ev_pos_b_est.setFusionActive();
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} else {
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_ev_pos_b_est.setFusionInactive();
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}
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}
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break;
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default:
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continuing_conditions_passing = false;
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_ev_pos_b_est.setFusionInactive();
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_ev_pos_b_est.reset();
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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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pos_cov(i, i) = math::max(pos_cov(i, i), sq(_params.gps_pos_noise));
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}
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}
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const Vector2f measurement{pos(0), pos(1)};
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const Vector2f measurement_var{
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math::max(pos_cov(0, 0), sq(_params.ev_pos_noise), sq(0.01f)),
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math::max(pos_cov(1, 1), sq(_params.ev_pos_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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// bias fusion activated (GPS activated)
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if (!bias_fusion_was_active && _ev_pos_b_est.fusionActive()) {
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if (quality_sufficient) {
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// reset the bias estimator
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_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);
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} else if (isOtherSourceOfHorizontalAidingThan(_control_status.flags.ev_pos)) {
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// otherwise stop EV position, when quality is good again it will restart with reset bias
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stopEvPosFusion();
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}
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}
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updateHorizontalPositionAidSrcStatus(ev_sample.time_us,
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measurement - _ev_pos_b_est.getBias(), // observation
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measurement_var + _ev_pos_b_est.getBiasVar(), // observation variance
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math::max(_params.ev_pos_innov_gate, 1.f), // innovation gate
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aid_src);
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// update the bias estimator before updating the main filter but after
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// using its current state to compute the vertical position innovation
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if (measurement_valid && quality_sufficient) {
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_ev_pos_b_est.setMaxStateNoise(Vector2f(sqrtf(measurement_var(0)), sqrtf(measurement_var(1))));
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_ev_pos_b_est.setProcessNoiseSpectralDensity(_params.ev_hgt_bias_nsd); // TODO
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_ev_pos_b_est.fuseBias(measurement - Vector2f(_state.pos.xy()), measurement_var + Vector2f(P(7, 7), P(8, 8)));
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}
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if (!measurement_valid) {
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continuing_conditions_passing = false;
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}
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const bool starting_conditions_passing = common_starting_conditions_passing
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&& continuing_conditions_passing;
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if (_control_status.flags.ev_pos) {
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aid_src.fusion_enabled = true;
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if (continuing_conditions_passing) {
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const bool bias_estimator_change = (bias_fusion_was_active != _ev_pos_b_est.fusionActive());
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const bool reset = ev_reset || yaw_alignment_changed || bias_estimator_change;
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updateEvPosFusion(measurement, measurement_var, quality_sufficient, reset, aid_src);
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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", EV_AID_SRC_NAME);
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stopEvPosFusion();
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}
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} else {
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if (starting_conditions_passing) {
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startEvPosFusion(measurement, measurement_var, aid_src);
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}
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}
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}
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void Ekf::startEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, estimator_aid_source2d_s &aid_src)
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{
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// activate fusion
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// TODO: (_params.position_sensor_ref == PositionSensor::EV)
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if (_control_status.flags.gps) {
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ECL_INFO("starting %s fusion", EV_AID_SRC_NAME);
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_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);
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_ev_pos_b_est.setFusionActive();
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} else {
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ECL_INFO("starting %s fusion, resetting state", EV_AID_SRC_NAME);
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//_position_sensor_ref = PositionSensor::EV;
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_information_events.flags.reset_pos_to_vision = true;
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resetHorizontalPositionTo(measurement, measurement_var);
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_ev_pos_b_est.reset();
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}
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aid_src.time_last_fuse = _imu_sample_delayed.time_us;
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_nb_ev_pos_reset_available = 5;
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_information_events.flags.starting_vision_pos_fusion = true;
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_control_status.flags.ev_pos = true;
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}
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void Ekf::updateEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, bool quality_sufficient, bool reset, estimator_aid_source2d_s &aid_src)
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{
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if (reset) {
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if (quality_sufficient) {
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if (!_control_status.flags.gps) {
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ECL_INFO("reset to %s", EV_AID_SRC_NAME);
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_information_events.flags.reset_pos_to_vision = true;
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resetHorizontalPositionTo(measurement, measurement_var);
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_ev_pos_b_est.reset();
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} else {
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_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);
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}
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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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stopEvPosFusion();
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return;
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}
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} else if (quality_sufficient) {
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fuseHorizontalPosition(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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bool pos_xy_fusion_failing = isTimedOut(_time_last_hor_pos_fuse, _params.no_aid_timeout_max);
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if ((_nb_ev_pos_reset_available > 0) && quality_sufficient) {
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// Data seems good, attempt a reset
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ECL_WARN("%s fusion failing, resetting", EV_AID_SRC_NAME);
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if (_control_status.flags.gps && !pos_xy_fusion_failing) {
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// reset EV position bias
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_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);
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} else {
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_information_events.flags.reset_pos_to_vision = true;
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if (_control_status.flags.gps) {
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resetHorizontalPositionTo(measurement - _ev_pos_b_est.getBias(), measurement_var + _ev_pos_b_est.getBiasVar());
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_ev_pos_b_est.setBias(-Vector2f(_state.pos.xy()) + measurement);
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} else {
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resetHorizontalPositionTo(measurement, measurement_var);
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_ev_pos_b_est.reset();
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}
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}
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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_pos_reset_available--;
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}
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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", EV_AID_SRC_NAME);
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stopEvPosFusion();
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}
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}
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}
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void Ekf::stopEvPosFusion()
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{
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if (_control_status.flags.ev_pos) {
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resetEstimatorAidStatus(_aid_src_ev_pos);
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_control_status.flags.ev_pos = false;
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}
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}
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