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ekf2: estimator aid source status (range height)

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This commit is contained in:
Daniel Agar
2022-05-25 09:25:12 -04:00
parent 1e25aee6fa
commit 58ea6235fe
9 changed files with 63 additions and 27 deletions
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src/modules/ekf2/EKF/ekf.h
+8 -8
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@@ -90,9 +90,9 @@ public:
void getBaroHgtInnovVar(float &baro_hgt_innov_var) const { baro_hgt_innov_var = _aid_src_baro_hgt.innovation_variance; }
void getBaroHgtInnovRatio(float &baro_hgt_innov_ratio) const { baro_hgt_innov_ratio = _aid_src_baro_hgt.test_ratio; }
void getRngHgtInnov(float &rng_hgt_innov) const { rng_hgt_innov = _rng_hgt_innov; }
void getRngHgtInnovVar(float &rng_hgt_innov_var) const { rng_hgt_innov_var = _rng_hgt_innov_var; }
void getRngHgtInnovRatio(float &rng_hgt_innov_ratio) const { rng_hgt_innov_ratio = _rng_hgt_test_ratio; }
void getRngHgtInnov(float &rng_hgt_innov) const { rng_hgt_innov = _aid_src_rng_hgt.innovation; }
void getRngHgtInnovVar(float &rng_hgt_innov_var) const { rng_hgt_innov_var = _aid_src_rng_hgt.innovation_variance; }
void getRngHgtInnovRatio(float &rng_hgt_innov_ratio) const { rng_hgt_innov_ratio = _aid_src_rng_hgt.test_ratio; }
void getAuxVelInnov(float aux_vel_innov[2]) const;
void getAuxVelInnovVar(float aux_vel_innov[2]) const;
@@ -341,6 +341,7 @@ public:
const BaroBiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
const auto &aid_src_baro_hgt() const { return _aid_src_baro_hgt; }
const auto &aid_src_rng_hgt() const { return _aid_src_rng_hgt; }
const auto &aid_src_fake_pos() const { return _aid_src_fake_pos; }
@@ -388,6 +389,7 @@ private:
// booleans true when fresh sensor data is available at the fusion time horizon
bool _gps_data_ready{false}; ///< true when new GPS data has fallen behind the fusion time horizon and is available to be fused
bool _baro_data_ready{false}; ///< true when new baro height data has fallen behind the fusion time horizon and is available to be fused
bool _rng_data_ready{false};
bool _flow_data_ready{false}; ///< true when the leading edge of the optical flow integration period has fallen behind the fusion time horizon
bool _ev_data_ready{false}; ///< true when new external vision system data has fallen behind the fusion time horizon and is available to be fused
bool _tas_data_ready{false}; ///< true when new true airspeed data has fallen behind the fusion time horizon and is available to be fused
@@ -454,9 +456,6 @@ private:
Vector3f _ev_pos_innov{}; ///< external vision position innovations (m)
Vector3f _ev_pos_innov_var{}; ///< external vision position innovation variances (m**2)
float _rng_hgt_innov{}; ///< range hgt innovations (m)
float _rng_hgt_innov_var{}; ///< range hgt innovation variances (m**2)
Vector3f _aux_vel_innov{}; ///< horizontal auxiliary velocity innovations: (m/sec)
Vector3f _aux_vel_innov_var{}; ///< horizontal auxiliary velocity innovation variances: ((m/sec)**2)
@@ -493,6 +492,7 @@ private:
Vector2f _flow_compensated_XY_rad{}; ///< measured delta angle of the image about the X and Y body axes after removal of body rotation (rad), RH rotation is positive
estimator_aid_source_1d_s _aid_src_baro_hgt{};
estimator_aid_source_1d_s _aid_src_rng_hgt{};
estimator_aid_source_2d_s _aid_src_fake_pos{};
@@ -646,11 +646,11 @@ private:
void fuseDrag(const dragSample &drag_sample);
void fuseBaroHgt(estimator_aid_source_1d_s &baro_hgt);
void fuseRngHgt();
void fuseRngHgt(estimator_aid_source_1d_s &range_hgt);
void fuseEvHgt();
void updateBaroHgt(const baroSample &baro_sample, estimator_aid_source_1d_s &baro_hgt);
void updateRngHgt(estimator_aid_source_1d_s &rng_hgt);
// fuse single velocity and position measurement
bool fuseVelPosHeight(const float innov, const float innov_var, const int obs_index);