diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index 73595f1e6f..0ee5ebdace 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -695,20 +695,20 @@ private: // fuse single velocity and position measurement bool fuseVelPosHeight(const float innov, const float innov_var, const int obs_index); - void resetVelocityTo(const Vector3f &vel); - void resetHorizontalVelocityTo(const Vector2f &new_horz_vel); - void resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var = NAN); + void resetVelocityTo(const Vector3f &vel, const Vector3f &new_vel_var); + + void resetHorizontalVelocityTo(const Vector2f &new_horz_vel, const Vector2f &new_horz_vel_var); + void resetHorizontalVelocityTo(const Vector2f &new_horz_vel, float vel_var) { resetHorizontalVelocityTo(new_horz_vel, Vector2f(vel_var, vel_var)); } - void resetVelocityToGps(const gpsSample &gps_sample); - void resetHorizontalVelocityToOpticalFlow(const flowSample &flow_sample); void resetVelocityToVision(); void resetHorizontalVelocityToZero(); - void resetHorizontalPositionToGps(const gpsSample &gps_sample); + void resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var); void resetHorizontalPositionToVision(); - void resetHorizontalPositionToOpticalFlow(); void resetHorizontalPositionToLastKnown(); - void resetHorizontalPositionTo(const Vector2f &new_horz_pos); + + void resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f &new_horz_pos_var); + void resetHorizontalPositionTo(const Vector2f &new_horz_pos, const float pos_var = NAN) { resetHorizontalPositionTo(new_horz_pos, Vector2f(pos_var, pos_var)); } bool isHeightResetRequired() const; @@ -1025,7 +1025,6 @@ private: void startAirspeedFusion(); void stopAirspeedFusion(); - void startGpsFusion(const gpsSample &gps_sample); void stopGpsFusion(); void stopGpsPosFusion(); void stopGpsVelFusion(); diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index c1187ba7cf..1cbdf456ad 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -44,51 +44,11 @@ #include #include -void Ekf::resetVelocityToGps(const gpsSample &gps_sample) -{ - _information_events.flags.reset_vel_to_gps = true; - ECL_INFO("reset velocity to GPS"); - resetVelocityTo(gps_sample.vel); - P.uncorrelateCovarianceSetVariance<3>(4, sq(gps_sample.sacc)); -} - -void Ekf::resetHorizontalVelocityToOpticalFlow(const flowSample &flow_sample) -{ - _information_events.flags.reset_vel_to_flow = true; - ECL_INFO("reset velocity to flow"); - // constrain height above ground to be above minimum possible - const float heightAboveGndEst = fmaxf((_terrain_vpos - _state.pos(2)), _params.rng_gnd_clearance); - - // calculate absolute distance from focal point to centre of frame assuming a flat earth - const float range = heightAboveGndEst / _range_sensor.getCosTilt(); - - if ((range - _params.rng_gnd_clearance) > 0.3f) { - // we should have reliable OF measurements so - // calculate X and Y body relative velocities from OF measurements - Vector3f vel_optflow_body; - vel_optflow_body(0) = - range * _flow_compensated_XY_rad(1) / flow_sample.dt; - vel_optflow_body(1) = range * _flow_compensated_XY_rad(0) / flow_sample.dt; - vel_optflow_body(2) = 0.0f; - - // rotate from body to earth frame - const Vector3f vel_optflow_earth = _R_to_earth * vel_optflow_body; - - resetHorizontalVelocityTo(Vector2f(vel_optflow_earth)); - - } else { - resetHorizontalVelocityTo(Vector2f{0.f, 0.f}); - } - - // reset the horizontal velocity variance using the optical flow noise variance - P.uncorrelateCovarianceSetVariance<2>(4, sq(range) * calcOptFlowMeasVar(flow_sample)); -} - void Ekf::resetVelocityToVision() { _information_events.flags.reset_vel_to_vision = true; ECL_INFO("reset to vision velocity"); - resetVelocityTo(getVisionVelocityInEkfFrame()); - P.uncorrelateCovarianceSetVariance<3>(4, getVisionVelocityVarianceInEkfFrame()); + resetVelocityTo(getVisionVelocityInEkfFrame(), getVisionVelocityVarianceInEkfFrame()); } void Ekf::resetHorizontalVelocityToZero() @@ -96,21 +56,28 @@ void Ekf::resetHorizontalVelocityToZero() _information_events.flags.reset_vel_to_zero = true; ECL_INFO("reset velocity to zero"); // Used when falling back to non-aiding mode of operation - resetHorizontalVelocityTo(Vector2f{0.f, 0.f}); - P.uncorrelateCovarianceSetVariance<2>(4, 25.0f); + resetHorizontalVelocityTo(Vector2f{0.f, 0.f}, 25.f); } -void Ekf::resetVelocityTo(const Vector3f &new_vel) +void Ekf::resetVelocityTo(const Vector3f &new_vel, const Vector3f &new_vel_var) { - resetHorizontalVelocityTo(Vector2f(new_vel)); - resetVerticalVelocityTo(new_vel(2)); + resetHorizontalVelocityTo(Vector2f(new_vel), Vector2f(new_vel_var(0), new_vel_var(1))); + resetVerticalVelocityTo(new_vel(2), new_vel_var(2)); } -void Ekf::resetHorizontalVelocityTo(const Vector2f &new_horz_vel) +void Ekf::resetHorizontalVelocityTo(const Vector2f &new_horz_vel, const Vector2f &new_horz_vel_var) { const Vector2f delta_horz_vel = new_horz_vel - Vector2f(_state.vel); _state.vel.xy() = new_horz_vel; + if (PX4_ISFINITE(new_horz_vel_var(0))) { + P.uncorrelateCovarianceSetVariance<1>(4, math::max(sq(0.01f), new_horz_vel_var(0))); + } + + if (PX4_ISFINITE(new_horz_vel_var(1))) { + P.uncorrelateCovarianceSetVariance<1>(5, math::max(sq(0.01f), new_horz_vel_var(1))); + } + for (uint8_t index = 0; index < _output_buffer.get_length(); index++) { _output_buffer[index].vel.xy() += delta_horz_vel; } @@ -148,14 +115,6 @@ void Ekf::resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var) _time_last_ver_vel_fuse = _imu_sample_delayed.time_us; } -void Ekf::resetHorizontalPositionToGps(const gpsSample &gps_sample) -{ - _information_events.flags.reset_pos_to_gps = true; - ECL_INFO("reset position to GPS"); - resetHorizontalPositionTo(gps_sample.pos); - P.uncorrelateCovarianceSetVariance<2>(7, sq(gps_sample.hacc)); -} - void Ekf::resetHorizontalPositionToVision() { _information_events.flags.reset_pos_to_vision = true; @@ -166,45 +125,33 @@ void Ekf::resetHorizontalPositionToVision() _ev_pos = _R_ev_to_ekf * _ev_sample_delayed.pos; } - resetHorizontalPositionTo(Vector2f(_ev_pos)); - P.uncorrelateCovarianceSetVariance<2>(7, _ev_sample_delayed.posVar.slice<2, 1>(0, 0)); + resetHorizontalPositionTo(Vector2f(_ev_pos), _ev_sample_delayed.posVar.slice<2, 1>(0, 0)); // let the next odometry update know that the previous value of states cannot be used to calculate the change in position _hpos_prev_available = false; } -void Ekf::resetHorizontalPositionToOpticalFlow() -{ - _information_events.flags.reset_pos_to_last_known = true; - - if (!_control_status.flags.in_air) { - ECL_INFO("reset horizontal position to (0, 0)"); - // we are likely starting OF for the first time so reset the horizontal position - resetHorizontalPositionTo(Vector2f(0.f, 0.f)); - - } else { - ECL_INFO("reset horizontal position to last known"); - resetHorizontalPositionTo(_last_known_pos.xy()); - } - - // estimate is relative to initial position in this mode, so we start with zero error. - P.uncorrelateCovarianceSetVariance<2>(7, 0.0f); -} - void Ekf::resetHorizontalPositionToLastKnown() { _information_events.flags.reset_pos_to_last_known = true; ECL_INFO("reset position to last known position"); // Used when falling back to non-aiding mode of operation - resetHorizontalPositionTo(_last_known_pos.xy()); - P.uncorrelateCovarianceSetVariance<2>(7, sq(_params.pos_noaid_noise)); + resetHorizontalPositionTo(_last_known_pos.xy(), sq(_params.pos_noaid_noise)); } -void Ekf::resetHorizontalPositionTo(const Vector2f &new_horz_pos) +void Ekf::resetHorizontalPositionTo(const Vector2f &new_horz_pos, const Vector2f &new_horz_pos_var) { const Vector2f delta_horz_pos{new_horz_pos - Vector2f{_state.pos}}; _state.pos.xy() = new_horz_pos; + if (PX4_ISFINITE(new_horz_pos_var(0))) { + P.uncorrelateCovarianceSetVariance<1>(7, math::max(sq(0.01f), new_horz_pos_var(0))); + } + + if (PX4_ISFINITE(new_horz_pos_var(1))) { + P.uncorrelateCovarianceSetVariance<1>(8, math::max(sq(0.01f), new_horz_pos_var(1))); + } + for (uint8_t index = 0; index < _output_buffer.get_length(); index++) { _output_buffer[index].pos.xy() += delta_horz_pos; } @@ -1356,22 +1303,6 @@ void Ekf::stopAirspeedFusion() _control_status.flags.fuse_aspd = false; } -void Ekf::startGpsFusion(const gpsSample &gps_sample) -{ - if (!_control_status.flags.gps) { - resetHorizontalPositionToGps(gps_sample); - - // when already using another velocity source velocity reset is not necessary - if (!_control_status.flags.opt_flow && !_control_status.flags.ev_vel) { - resetVelocityToGps(gps_sample); - } - - _information_events.flags.starting_gps_fusion = true; - ECL_INFO("starting GPS fusion"); - _control_status.flags.gps = true; - } -} - void Ekf::stopGpsFusion() { if (_control_status.flags.gps) { diff --git a/src/modules/ekf2/EKF/gps_control.cpp b/src/modules/ekf2/EKF/gps_control.cpp index bff29a7f74..982b61cb05 100644 --- a/src/modules/ekf2/EKF/gps_control.cpp +++ b/src/modules/ekf2/EKF/gps_control.cpp @@ -59,10 +59,11 @@ void Ekf::controlGpsFusion() controlGpsYawFusion(gps_sample, gps_checks_passing, gps_checks_failing); // GNSS velocity - const float vel_obs_var = sq(math::max(gps_sample.sacc, _params.gps_vel_noise)); + const float vel_var = sq(math::max(gps_sample.sacc, _params.gps_vel_noise)); + const Vector3f vel_obs_var(vel_var, vel_var, vel_var * sq(1.5f)); updateVelocityAidSrcStatus(gps_sample.time_us, gps_sample.vel, // observation - Vector3f(vel_obs_var, vel_obs_var, vel_obs_var * sq(1.5f)), // observation variance + vel_obs_var, // observation variance math::max(_params.gps_vel_innov_gate, 1.f), // innovation gate _aid_src_gnss_vel); _aid_src_gnss_vel.fusion_enabled = (_params.gnss_ctrl & GnssCtrl::VEL); @@ -79,10 +80,11 @@ void Ekf::controlGpsFusion() } } - const float pos_obs_var = sq(pos_noise); + const float pos_var = sq(pos_noise); + const Vector2f pos_obs_var(pos_var, pos_var); updateHorizontalPositionAidSrcStatus(gps_sample.time_us, gps_sample.pos, // observation - Vector2f(pos_obs_var, pos_obs_var), // observation variance + pos_obs_var, // observation variance math::max(_params.gps_pos_innov_gate, 1.f), // innovation gate _aid_src_gnss_pos); _aid_src_gnss_pos.fusion_enabled = (_params.gnss_ctrl & GnssCtrl::HPOS); @@ -129,9 +131,11 @@ void Ekf::controlGpsFusion() } } - ECL_WARN("GPS fusion timeout - resetting"); - resetVelocityToGps(gps_sample); - resetHorizontalPositionToGps(gps_sample); + ECL_WARN("GPS fusion timeout, resetting velocity and position"); + _information_events.flags.reset_vel_to_gps = true; + _information_events.flags.reset_pos_to_gps = true; + resetVelocityTo(gps_sample.vel, vel_obs_var); + resetHorizontalPositionTo(gps_sample.pos, pos_obs_var); } } else { @@ -165,7 +169,20 @@ void Ekf::controlGpsFusion() _inhibit_ev_yaw_use = true; } else { - startGpsFusion(gps_sample); + ECL_INFO("starting GPS fusion"); + _information_events.flags.starting_gps_fusion = true; + + // reset position + _information_events.flags.reset_pos_to_gps = true; + resetHorizontalPositionTo(gps_sample.pos, pos_obs_var); + + // when already using another velocity source velocity reset is not necessary + if (!isHorizontalAidingActive()) { + _information_events.flags.reset_vel_to_gps = true; + resetVelocityTo(gps_sample.vel, vel_obs_var); + } + + _control_status.flags.gps = true; } } else if (gps_checks_passing && !_control_status.flags.yaw_align && (_params.mag_fusion_type == MagFuseType::NONE)) { @@ -173,8 +190,12 @@ void Ekf::controlGpsFusion() if (resetYawToEKFGSF()) { _information_events.flags.yaw_aligned_to_imu_gps = true; ECL_INFO("Yaw aligned using IMU and GPS"); - resetVelocityToGps(gps_sample); - resetHorizontalPositionToGps(gps_sample); + + ECL_INFO("reset velocity and position to GPS"); + _information_events.flags.reset_vel_to_gps = true; + _information_events.flags.reset_pos_to_gps = true; + resetVelocityTo(gps_sample.vel, vel_obs_var); + resetHorizontalPositionTo(gps_sample.pos, pos_obs_var); } } } diff --git a/src/modules/ekf2/EKF/optical_flow_control.cpp b/src/modules/ekf2/EKF/optical_flow_control.cpp index 0545f24f65..f31f9eb936 100644 --- a/src/modules/ekf2/EKF/optical_flow_control.cpp +++ b/src/modules/ekf2/EKF/optical_flow_control.cpp @@ -77,11 +77,12 @@ void Ekf::controlOpticalFlowFusion() _delta_time_of = _imu_sample_delayed.delta_ang_dt; is_delta_time_good = true; - } + } if (is_quality_good && !is_delta_time_good) { ECL_DEBUG("Optical flow: bad delta time: OF dt %.6f s (min: %.3f, max: %.3f), IMU dt %.6f s", - (double)_flow_sample_delayed.dt, (double)delta_time_min, (double)delta_time_max, (double)_imu_sample_delayed.delta_ang_dt); + (double)_flow_sample_delayed.dt, (double)delta_time_min, (double)delta_time_max, + (double)_imu_sample_delayed.delta_ang_dt); } } @@ -166,12 +167,25 @@ void Ekf::controlOpticalFlowFusion() // if we are not using GPS or external vision aiding, then the velocity and position states and covariances need to be set if (!isHorizontalAidingActive()) { - resetHorizontalVelocityToOpticalFlow(_flow_sample_delayed); - resetHorizontalPositionToOpticalFlow(); + ECL_INFO("reset velocity to flow"); + _information_events.flags.reset_vel_to_flow = true; + resetHorizontalVelocityTo(_flow_vel_ne, calcOptFlowMeasVar(_flow_sample_delayed)); + + // reset position, estimate is relative to initial position in this mode, so we start with zero error + if (!_control_status.flags.in_air) { + ECL_INFO("reset position to zero"); + resetHorizontalPositionTo(Vector2f(0.f, 0.f), 0.f); + _last_known_pos.xy() = _state.pos.xy(); + + } else { + _information_events.flags.reset_pos_to_last_known = true; + ECL_INFO("reset position to last known position"); + resetHorizontalPositionTo(_last_known_pos.xy(), 0.f); + } } - _control_status.flags.opt_flow = true; _aid_src_optical_flow.time_last_fuse = _imu_sample_delayed.time_us; + _control_status.flags.opt_flow = true; return; } @@ -190,11 +204,19 @@ void Ekf::controlOpticalFlowFusion() } // handle the case when we have optical flow, are reliant on it, but have not been using it for an extended period - if (isTimedOut(_aid_src_optical_flow.time_last_fuse, _params.reset_timeout_max) + if (isTimedOut(_aid_src_optical_flow.time_last_fuse, _params.no_aid_timeout_max) && !isOtherSourceOfHorizontalAidingThan(_control_status.flags.opt_flow)) { - resetHorizontalVelocityToOpticalFlow(_flow_sample_delayed); - resetHorizontalPositionToOpticalFlow(); + ECL_INFO("reset velocity to flow"); + _information_events.flags.reset_vel_to_flow = true; + resetHorizontalVelocityTo(_flow_vel_ne, calcOptFlowMeasVar(_flow_sample_delayed)); + + // reset position, estimate is relative to initial position in this mode, so we start with zero error + ECL_INFO("reset position to last known"); + _information_events.flags.reset_pos_to_last_known = true; + resetHorizontalPositionTo(_last_known_pos.xy(), 0.f); + + _aid_src_optical_flow.time_last_fuse = _imu_sample_delayed.time_us; } } diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv index 864f7f218c..53b864653f 100644 --- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv +++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv @@ -103,124 +103,124 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7 10090000,0.7,0.0023,-0.014,0.71,-0.061,0.039,-0.097,-0.079,0.059,-3.7e+02,-1.5e-05,-5.6e-05,-3.7e-07,0,0,-0.00091,0.21,0.002,0.44,0,0,0,0,0,9.6e-05,0.00067,0.00067,9.8e-05,2,2,0.08,7.5,7.5,0.085,1.2e-08,1.2e-08,4e-09,4e-06,4e-06,1.6e-06,0,0,0,0,0,0,0,0 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