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EKF: Publish innovation test ratios

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This commit is contained in:
Paul Riseborough
2016-10-06 09:02:29 +02:00
committed by Lorenz Meier
parent 5ab90048e1
commit 744b79c1b2
5 changed files with 43 additions and 7 deletions
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EKF/ekf_helper.cpp
+23
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@@ -696,6 +696,29 @@ void Ekf::get_ekf_accuracy(float *ekf_eph, float *ekf_epv, bool *dead_reckoning)
memcpy(dead_reckoning, &temp3, sizeof(bool));
}
// get EKF innovation consistency check status information comprising of:
// status - a bitmask integer containing the pass/fail status for each EKF measurement innovation consistency check
// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
// Where a measurement type is a vector quantity, eg magnetoemter, GPS position, etc, the maximum value is returned.
void Ekf::get_innovation_test_status(uint16_t *status, float *mag, float *vel, float *pos, float *hgt, float *tas, float *hagl)
{
// return the integer bitmask containing the consistency check pass/fail satus
*status = _innov_check_fail_status.value;
// return the largest magnetometer innovation test ratio
*mag = sqrtf(math::max(_yaw_test_ratio,math::max(math::max(_mag_test_ratio[0],_mag_test_ratio[1]),_mag_test_ratio[2])));
// return the largest NED velocity innovation test ratio
*vel = sqrtf(math::max(math::max(_vel_pos_test_ratio[0],_vel_pos_test_ratio[1]),_vel_pos_test_ratio[2]));
// return the largest NE position innovation test ratio
*pos = sqrtf(math::max(_vel_pos_test_ratio[3],_vel_pos_test_ratio[4]));
// return the vertical position innovation test ratio
*hgt = sqrtf(_vel_pos_test_ratio[5]);
// return the airspeed fusion innovation test ratio
*tas = sqrtf(_tas_test_ratio);
// return the terrain height innovation test ratio
*hagl = sqrt(_terr_test_ratio);
}
// fuse measurement
void Ekf::fuse(float *K, float innovation)
{