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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/covariance.cpp
+18 -7
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@@ -984,13 +984,24 @@ void Ekf::fixCovarianceErrors(bool force_symmetry)
const float down_dvel_bias = _state.delta_vel_bias.dot(Vector3f(_R_to_earth.row(2)));
// check that the vertical component of accel bias is consistent with both the vertical position and velocity innovation
bool bad_acc_bias = (fabsf(down_dvel_bias) > dVel_bias_lim
&& ((down_dvel_bias * _gps_vel_innov(2) < 0.0f && _control_status.flags.gps)
|| (down_dvel_bias * _ev_vel_innov(2) < 0.0f && _control_status.flags.ev_vel))
&& ((down_dvel_bias * _gps_pos_innov(2) < 0.0f && _control_status.flags.gps_hgt)
|| (down_dvel_bias * _baro_hgt_innov < 0.0f && _control_status.flags.baro_hgt)
|| (down_dvel_bias * _rng_hgt_innov < 0.0f && _control_status.flags.rng_hgt)
|| (down_dvel_bias * _ev_pos_innov(2) < 0.0f && _control_status.flags.ev_hgt)));
bool bad_acc_bias = false;
if (fabsf(down_dvel_bias) > dVel_bias_lim) {
bool bad_vz_gps = _control_status.flags.gps && (down_dvel_bias * _aid_src_gnss_vel.innovation[2] < 0.0f);
bool bad_vz_ev = _control_status.flags.ev_vel && (down_dvel_bias * _ev_vel_innov(2) < 0.0f);
if (bad_vz_gps || bad_vz_ev) {
bool bad_z_baro = _control_status.flags.baro_hgt && (down_dvel_bias * _baro_hgt_innov < 0.0f);
bool bad_z_gps = _control_status.flags.gps_hgt && (down_dvel_bias * _aid_src_gnss_pos.innovation[2] < 0.0f);
bool bad_z_rng = _control_status.flags.rng_hgt && (down_dvel_bias * _rng_hgt_innov < 0.0f);
bool bad_z_ev = _control_status.flags.ev_hgt && (down_dvel_bias * _ev_pos_innov(2) < 0.0f);
if (bad_z_baro || bad_z_gps || bad_z_rng || bad_z_ev) {
bad_acc_bias = true;
}
}
}
// record the pass/fail
if (!bad_acc_bias) {