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EKF: Add GPS height option and improve height recovery

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This commit is contained in:
Paul Riseborough
2016-03-16 10:40:51 +11:00
parent 63b0cf4360
commit 6b2e2dba90
10 changed files with 261 additions and 112 deletions
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EKF/ekf_helper.cpp
+18 -8
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@@ -90,8 +90,8 @@ void Ekf::resetHeight()
if (_control_status.flags.rng_hgt) {
rangeSample range_newest = _range_buffer.get_newest();
if (_time_last_imu - range_newest.time_us < 200000) {
_state.pos(2) = _hgt_at_alignment - range_newest.rng;
if (_time_last_imu - range_newest.time_us < 2 * RNG_MAX_INTERVAL) {
_state.pos(2) = _hgt_sensor_offset - range_newest.rng;
} else {
// TODO: reset to last known range based estimate
@@ -105,18 +105,28 @@ void Ekf::resetHeight()
// initialize vertical position with newest baro measurement
baroSample baro_newest = _baro_buffer.get_newest();
if (_time_last_imu - baro_newest.time_us < 200000) {
_state.pos(2) = _hgt_at_alignment - baro_newest.hgt;
if (_time_last_imu - baro_newest.time_us < 2 * BARO_MAX_INTERVAL) {
_state.pos(2) = _hgt_sensor_offset - baro_newest.hgt + _baro_hgt_offset;
} else {
// TODO: reset to last known baro based estimate
}
// the baro height offset should be zero if baro is our primary height source
_baro_hgt_offset = 0.0f;
} else if (_control_status.flags.gps_hgt) {
// initialize vertical position and velocity with newest gps measurement
gpsSample gps_newest = _gps_buffer.get_newest();
} else {
// TODO: reset to GPS height
if (_time_last_imu - gps_newest.time_us < 2 * GPS_MAX_INTERVAL) {
_state.pos(2) = _hgt_sensor_offset - gps_newest.hgt + _gps_alt_ref;
_state.vel(2) = gps_newest.vel(2);
} else {
// TODO: reset to last known gps based estimate
}
// reset the baro offset which is subtracted from the baro reading if we need to use it as a backup
baroSample baro_newest = _baro_buffer.get_newest();
_baro_hgt_offset = baro_newest.hgt + _state.pos(2);
}
}