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Add check for stuck range finder measurements

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This commit is contained in:
ChristophTobler 2017-07-31 17:59:16 +02:00
parent 41f4b62cdb
commit 7252284628
2 changed files with 39 additions and 0 deletions
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30
EKF/control.cpp
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@ -105,6 +105,8 @@ void Ekf::controlFusionModes()
_range_data_ready = _range_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_range_sample_delayed)
&& (_R_rng_to_earth_2_2 > 0.7071f);
checkForStuckRange();
_flow_data_ready = _flow_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_flow_sample_delayed)
&& (_R_to_earth(2, 2) > 0.7071f);
_ev_data_ready = _ext_vision_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_ev_sample_delayed);
@ -947,6 +949,34 @@ bool Ekf::rangeAidConditionsMet(bool in_range_aid_mode)
}
}
void Ekf::checkForStuckRange()
{
if (_range_data_ready && _range_sample_delayed.time_us - _time_last_rng_ready > 10e6 &&
_control_status.flags.in_air) {
_rng_stuck = true;
//require a variance of rangefinder values to check for "stuck" measurements
if (_rng_check_max_val - _rng_check_min_val > 1.0f) {
_time_last_rng_ready = _range_sample_delayed.time_us;
_rng_check_min_val = 0.0f;
_rng_check_max_val = 0.0f;
_rng_stuck = false;
} else {
if (_range_sample_delayed.rng > _rng_check_max_val)
_rng_check_max_val = _range_sample_delayed.rng;
if (_rng_check_min_val < 0.1f || _range_sample_delayed.rng < _rng_check_min_val)
_rng_check_min_val = _range_sample_delayed.rng;
_range_data_ready = false;
}
} else if (_range_data_ready) {
_time_last_rng_ready = _range_sample_delayed.time_us;
}
}
void Ekf::controlAirDataFusion()
{
// control activation and initialisation/reset of wind states required for airspeed fusion