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ekf2: move range buffer pop to controlRangeHeightFusion()

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This commit is contained in:
Daniel Agar
2023-02-22 09:08:33 -05:00
parent 08f111f694
commit 60856ebe62
3 changed files with 50 additions and 46 deletions
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src/modules/ekf2/EKF/range_height_control.cpp
+50 -1
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@@ -42,12 +42,61 @@ void Ekf::controlRangeHeightFusion()
{
static constexpr const char *HGT_SRC_NAME = "RNG";
bool rng_data_ready = false;
if (_range_buffer) {
// Get range data from buffer and check validity
rng_data_ready = _range_buffer->pop_first_older_than(_time_delayed_us, _range_sensor.getSampleAddress());
_range_sensor.setDataReadiness(rng_data_ready);
// update range sensor angle parameters in case they have changed
_range_sensor.setPitchOffset(_params.rng_sens_pitch);
_range_sensor.setCosMaxTilt(_params.range_cos_max_tilt);
_range_sensor.setQualityHysteresis(_params.range_valid_quality_s);
_range_sensor.runChecks(_time_delayed_us, _R_to_earth);
if (_range_sensor.isDataHealthy()) {
// correct the range data for position offset relative to the IMU
const Vector3f pos_offset_body = _params.rng_pos_body - _params.imu_pos_body;
const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
_range_sensor.setRange(_range_sensor.getRange() + pos_offset_earth(2) / _range_sensor.getCosTilt());
// Run the kinematic consistency check when not moving horizontally
if (_control_status.flags.in_air && !_control_status.flags.fixed_wing
&& (sq(_state.vel(0)) + sq(_state.vel(1)) < fmaxf(P(4, 4) + P(5, 5), 0.1f))) {
const float dist_dependant_var = sq(_params.range_noise_scaler * _range_sensor.getDistBottom());
const float var = sq(_params.range_noise) + dist_dependant_var;
_rng_consistency_check.setGate(_params.range_kin_consistency_gate);
_rng_consistency_check.update(_range_sensor.getDistBottom(), math::max(var, 0.001f), _state.vel(2), P(6, 6), _time_delayed_us);
}
} else {
// If we are supposed to be using range finder data as the primary height sensor, have bad range measurements
// and are on the ground, then synthesise a measurement at the expected on ground value
if (!_control_status.flags.in_air
&& _range_sensor.isRegularlySendingData()
&& _range_sensor.isDataReady()) {
_range_sensor.setRange(_params.rng_gnd_clearance);
_range_sensor.setValidity(true); // bypass the checks
}
}
_control_status.flags.rng_kin_consistent = _rng_consistency_check.isKinematicallyConsistent();
} else {
return;
}
auto &aid_src = _aid_src_rng_hgt;
HeightBiasEstimator &bias_est = _rng_hgt_b_est;
bias_est.predict(_dt_ekf_avg);
if (_rng_data_ready && _range_sensor.getSampleAddress()) {
if (rng_data_ready && _range_sensor.getSampleAddress()) {
const float measurement = math::max(_range_sensor.getDistBottom(), _params.rng_gnd_clearance);
const float measurement_var = sq(_params.range_noise) + sq(_params.range_noise_scaler * _range_sensor.getDistBottom());