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ekf: use PDOP instead of GDOP as the TDOP (part of GDOP) is usually not available

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PDOP is the position dillution of precision and is given by sqrt(VDOP^2+HDOP^2)
This commit is contained in:
bresch
2019-11-25 16:05:44 +02:00
committed by Kabir Mohammed
parent 362a2dfa08
commit 6b5f011bc2
3 changed files with 8 additions and 8 deletions
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EKF/common.h
+3 -3
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@@ -69,7 +69,7 @@ struct gps_message {
float vel_ned[3]; ///< GPS ground speed NED float vel_ned[3]; ///< GPS ground speed NED
bool vel_ned_valid; ///< GPS ground speed is valid bool vel_ned_valid; ///< GPS ground speed is valid
uint8_t nsats; ///< number of satellites used uint8_t nsats; ///< number of satellites used
float gdop; ///< geometric dilution of precision float pdop; ///< position dilution of precision
}; };
struct flow_message { struct flow_message {
@@ -317,7 +317,7 @@ struct parameters {
float req_vacc{8.0f}; ///< maximum acceptable vertical position error (m) float req_vacc{8.0f}; ///< maximum acceptable vertical position error (m)
float req_sacc{1.0f}; ///< maximum acceptable speed error (m/s) float req_sacc{1.0f}; ///< maximum acceptable speed error (m/s)
int32_t req_nsats{6}; ///< minimum acceptable satellite count int32_t req_nsats{6}; ///< minimum acceptable satellite count
float req_gdop{2.0f}; ///< maximum acceptable geometric dilution of precision float req_pdop{2.0f}; ///< maximum acceptable position dilution of precision
float req_hdrift{0.3f}; ///< maximum acceptable horizontal drift speed (m/s) float req_hdrift{0.3f}; ///< maximum acceptable horizontal drift speed (m/s)
float req_vdrift{0.5f}; ///< maximum acceptable vertical drift speed (m/s) float req_vdrift{0.5f}; ///< maximum acceptable vertical drift speed (m/s)
@@ -423,7 +423,7 @@ union gps_check_fail_status_u {
struct { struct {
uint16_t fix : 1; ///< 0 - true if the fix type is insufficient (no 3D solution) uint16_t fix : 1; ///< 0 - true if the fix type is insufficient (no 3D solution)
uint16_t nsats : 1; ///< 1 - true if number of satellites used is insufficient uint16_t nsats : 1; ///< 1 - true if number of satellites used is insufficient
uint16_t gdop : 1; ///< 2 - true if geometric dilution of precision is insufficient uint16_t pdop : 1; ///< 2 - true if position dilution of precision is insufficient
uint16_t hacc : 1; ///< 3 - true if reported horizontal accuracy is insufficient uint16_t hacc : 1; ///< 3 - true if reported horizontal accuracy is insufficient
uint16_t vacc : 1; ///< 4 - true if reported vertical accuracy is insufficient uint16_t vacc : 1; ///< 4 - true if reported vertical accuracy is insufficient
uint16_t sacc : 1; ///< 5 - true if reported speed accuracy is insufficient uint16_t sacc : 1; ///< 5 - true if reported speed accuracy is insufficient
EKF/gps_checks.cpp
+4 -4
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@@ -47,7 +47,7 @@
// GPS pre-flight check bit locations // GPS pre-flight check bit locations
#define MASK_GPS_NSATS (1<<0) #define MASK_GPS_NSATS (1<<0)
#define MASK_GPS_GDOP (1<<1) #define MASK_GPS_PDOP (1<<1)
#define MASK_GPS_HACC (1<<2) #define MASK_GPS_HACC (1<<2)
#define MASK_GPS_VACC (1<<3) #define MASK_GPS_VACC (1<<3)
#define MASK_GPS_SACC (1<<4) #define MASK_GPS_SACC (1<<4)
@@ -121,8 +121,8 @@ bool Ekf::gps_is_good(const gps_message &gps)
// Check the number of satellites // Check the number of satellites
_gps_check_fail_status.flags.nsats = (gps.nsats < _params.req_nsats); _gps_check_fail_status.flags.nsats = (gps.nsats < _params.req_nsats);
// Check the geometric dilution of precision // Check the position dilution of precision
_gps_check_fail_status.flags.gdop = (gps.gdop > _params.req_gdop); _gps_check_fail_status.flags.pdop = (gps.pdop > _params.req_pdop);
// Check the reported horizontal and vertical position accuracy // Check the reported horizontal and vertical position accuracy
_gps_check_fail_status.flags.hacc = (gps.eph > _params.req_hacc); _gps_check_fail_status.flags.hacc = (gps.eph > _params.req_hacc);
@@ -228,7 +228,7 @@ bool Ekf::gps_is_good(const gps_message &gps)
if ( if (
_gps_check_fail_status.flags.fix || _gps_check_fail_status.flags.fix ||
(_gps_check_fail_status.flags.nsats && (_params.gps_check_mask & MASK_GPS_NSATS)) || (_gps_check_fail_status.flags.nsats && (_params.gps_check_mask & MASK_GPS_NSATS)) ||
(_gps_check_fail_status.flags.gdop && (_params.gps_check_mask & MASK_GPS_GDOP)) || (_gps_check_fail_status.flags.pdop && (_params.gps_check_mask & MASK_GPS_PDOP)) ||
(_gps_check_fail_status.flags.hacc && (_params.gps_check_mask & MASK_GPS_HACC)) || (_gps_check_fail_status.flags.hacc && (_params.gps_check_mask & MASK_GPS_HACC)) ||
(_gps_check_fail_status.flags.vacc && (_params.gps_check_mask & MASK_GPS_VACC)) || (_gps_check_fail_status.flags.vacc && (_params.gps_check_mask & MASK_GPS_VACC)) ||
(_gps_check_fail_status.flags.sacc && (_params.gps_check_mask & MASK_GPS_SACC)) || (_gps_check_fail_status.flags.sacc && (_params.gps_check_mask & MASK_GPS_SACC)) ||
test/test_EKF_basics.cpp
+1 -1
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@@ -88,7 +88,7 @@ class EkfInitializationTest : public ::testing::Test {
_gps_message.vel_ned[2] = 0.0f; _gps_message.vel_ned[2] = 0.0f;
_gps_message.vel_ned_valid = 1; _gps_message.vel_ned_valid = 1;
_gps_message.nsats = 16; _gps_message.nsats = 16;
_gps_message.gdop = 0.0f; _gps_message.pdop = 0.0f;
update_with_const_sensors(_init_duration_us); update_with_const_sensors(_init_duration_us);