fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-10 11:51:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: GPS, baro and range finder control parameters

Browse Source 
Also remove the legacy "range aid" than can be achieved by setting the
height reference to range finder and the range finder control parameter
to "conditional".

Conditional range aiding cal also be set when the height reference isn't
the range finder. This prevents the ratchetting effect due to switching
between references.
This commit is contained in:
bresch
2022-08-24 09:16:11 -04:00
committed by Daniel Agar
parent 578e1339ca
commit 8962cf2d25
13 changed files with 151 additions and 109 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/ekf2_params.c
+75 -46
View File
@@ -600,44 +600,39 @@ PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 3.0f);
* Integer bitmask controlling data fusion and aiding methods.
*
* Set bits in the following positions to enable:
* 0 : Set to true to use GPS data if available
* 0 : Deprecated, use EKF2_GPS_CTRL instead
* 1 : Set to true to use optical flow data if available
* 2 : Set to true to inhibit IMU delta velocity bias estimation
* 3 : Set to true to enable vision position fusion
* 4 : Set to true to enable vision yaw fusion. Cannot be used if bit position 7 is true.
* 5 : Set to true to enable multi-rotor drag specific force fusion
* 6 : set to true if the EV observations are in a non NED reference frame and need to be rotated before being used
* 7 : Set to true to enable GPS yaw fusion. Cannot be used if bit position 4 is true.
* 7 : Deprecated, use EKF2_GPS_CTRL instead
* 8 : Set to true to enable vision velocity fusion
* 9 : Set to true to enable barometer height fusion.
* 10 : Set to true to enable GPS height fusion.
* 11 : Set to true to enable range finder height fusion.
* 12 : Set to true to enable vision height fusion.
*
* @group EKF2
* @min 0
* @max 8091
* @bit 0 position: GPS
* @bit 1 velocity: optical flow
* @max 511
* @bit 0 unused
* @bit 1 use optical flow
* @bit 2 inhibit IMU bias estimation
* @bit 3 position: vision
* @bit 4 yaw: vision
* @bit 5 wind: multi-rotor drag fusion
* @bit 3 vision position fusion
* @bit 4 vision yaw fusion
* @bit 5 multi-rotor drag fusion
* @bit 6 rotate external vision
* @bit 7 yaw: GPS
* @bit 8 velocity: vision
* @bit 9 height: barometer
* @bit 10 height: GPS
* @bit 11 height: range finder
* @bit 12 height: vision
* @bit 7 unused
* @bit 8 vision velocity fusion
* @reboot_required true
*/
PARAM_DEFINE_INT32(EKF2_AID_MASK, 513);
PARAM_DEFINE_INT32(EKF2_AID_MASK, 0);
/**
* Determines the primary source of height data used by the EKF.
* Determines the reference source of height data used by the EKF.
*
* The range sensor option should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.
* When multiple height sources are enabled at the same time, the height estimate will
* always converge towards the reference height source selected by this parameter.
*
* The range sensor and vision options should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.
*
* @group EKF2
* @value 0 Barometric pressure
@@ -646,7 +641,61 @@ PARAM_DEFINE_INT32(EKF2_AID_MASK, 513);
* @value 3 Vision
* @reboot_required true
*/
PARAM_DEFINE_INT32(EKF2_HGT_MODE, 0);
PARAM_DEFINE_INT32(EKF2_HGT_REF, 1);
/**
* Barometric sensor height aiding
*
* If this parameter is enabled then the estimator will make use of the barometric height measurements to estimate it's height in addition to other
* height sources (if activated).
*
* @group EKF2
* @boolean
*/
PARAM_DEFINE_INT32(EKF2_BARO_CTRL, 1);
/**
* GNSS sensor aiding
*
* Set bits in the following positions to enable:
* 0 : Longitude and latitude fusion
* 1 : Altitude fusion
* 2 : 3D velocity fusion
* 3 : Dual antenna heading fusion
*
* @group EKF2
* @min 0
* @max 15
* @bit 0 Lon/lat
* @bit 1 Altitude
* @bit 2 3D velocity
* @bit 3 Dual antenna heading
*/
PARAM_DEFINE_INT32(EKF2_GPS_CTRL, 7);
/**
* Range sensor height aiding
*
* WARNING: Range finder measurements are less reliable and can experience unexpected errors.
* For these reasons, if accurate control of height relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead,
* unless baro errors are severe enough to cause problems with landing and takeoff.
*
* To en-/disable range finder for terrain height estimation, use EKF2_TERR_MASK instead.
*
* If this parameter is enabled then the estimator will make use of the range finder measurements to estimate it's height in addition to other
* height sources (if activated). Range sensor aiding can be enabled (i.e.: always use) or set in "conditional" mode.
*
* Conditional mode: This enables the range finder to be used during low speed (< EKF2_RNG_A_VMAX) and low altitude (< EKF2_RNG_A_HMAX)
* operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state
* estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does
* not occur until above EKF2_RNG_A_HMAX.
*
* @group EKF2
* @value 0 Disable range fusion
* @value 1 Enabled (conditional mode)
* @value 2 Enabled
*/
PARAM_DEFINE_INT32(EKF2_RNG_CTRL, 1);
/**
* Integer bitmask controlling fusion sources of the terrain estimator
@@ -1056,30 +1105,10 @@ PARAM_DEFINE_FLOAT(EKF2_ANGERR_INIT, 0.1f);
PARAM_DEFINE_FLOAT(EKF2_RNG_PITCH, 0.0f);
/**
* Range sensor aid.
*
* If this parameter is enabled then the estimator will make use of the range finder measurements
* to estimate it's height even if range sensor is not the primary height source. It will only do so if conditions
* for range measurement fusion are met. This enables the range finder to be used during low speed and low altitude
* operation, eg takeoff and landing, where baro interference from rotor wash is excessive and can corrupt EKF state
* estimates. It is intended to be used where a vertical takeoff and landing is performed, and horizontal flight does
* not occur until above EKF2_RNG_A_HMAX. If vehicle motion causes repeated switching between the primary height
* sensor and range finder, an offset in the local position origin can accumulate. Also range finder measurements
* are less reliable and can experience unexpected errors. For these reasons, if accurate control of height
* relative to ground is required, it is recommended to use the MPC_ALT_MODE parameter instead, unless baro errors
* are severe enough to cause problems with landing and takeoff.
*
* @group EKF2
* @value 0 Range aid disabled
* @value 1 Range aid enabled
*/
PARAM_DEFINE_INT32(EKF2_RNG_AID, 1);
/**
* Maximum horizontal velocity allowed for range aid mode.
* Maximum horizontal velocity allowed for conditional range aid mode.
*
* If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements
* to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).
* to estimate it's height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).
*
* @group EKF2
* @min 0.1
@@ -1089,10 +1118,10 @@ PARAM_DEFINE_INT32(EKF2_RNG_AID, 1);
PARAM_DEFINE_FLOAT(EKF2_RNG_A_VMAX, 1.0f);
/**
* Maximum absolute altitude (height above ground level) allowed for range aid mode.
* Maximum absolute altitude (height above ground level) allowed for conditional range aid mode.
*
* If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements
* to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).
* to estimate it's height. This only applies when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).
*
* @group EKF2
* @min 1.0