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ekf2: estimator aid source status (GPS pos, GPS vel)

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Daniel Agar
2022-05-23 16:21:49 -04:00
parent 1ae467e9cd
commit 639222dd65
16 changed files with 813 additions and 628 deletions
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src/modules/ekf2/EKF/control.cpp
+19 -5
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@@ -778,6 +778,24 @@ void Ekf::checkVerticalAccelerationHealth()
bool is_inertial_nav_falling = false;
bool are_vertical_pos_and_vel_independant = false;
if (_control_status.flags.gps) {
// velocity
auto &gps_vel = _aid_src_gnss_vel;
if (gps_vel.time_last_fuse[2] > _vert_vel_fuse_time_us) {
_vert_vel_fuse_time_us = gps_vel.time_last_fuse[2];
_vert_vel_innov_ratio = gps_vel.innovation[2] / sqrtf(gps_vel.innovation_variance[2]);
}
// position
auto &gps_pos = _aid_src_gnss_pos;
if (gps_pos.time_last_fuse[2] > _vert_pos_fuse_attempt_time_us) {
_vert_pos_fuse_attempt_time_us = gps_pos.time_last_fuse[2];
_vert_pos_innov_ratio = gps_pos.innovation[2] / sqrtf(gps_pos.innovation_variance[2]);
}
}
if (isRecent(_vert_pos_fuse_attempt_time_us, 1000000)) {
if (isRecent(_vert_vel_fuse_time_us, 1000000)) {
// If vertical position and velocity come from independent sensors then we can
@@ -930,11 +948,7 @@ void Ekf::controlHeightFusion()
}
} else if (_control_status.flags.gps_hgt) {
if (_gps_data_ready) {
fuseGpsHgt();
}
// handled by gps fusion
} else if (_control_status.flags.rng_hgt) {
if (_range_sensor.isDataHealthy()) {