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EKF: Enable GPS flight without magnetometer (#770)

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* EKF: Enable GPS flight without magnetometer

Enables takeoff in a non-GPS flight mode with mag fusion type set to MAG_FUSE_TYPE_NONE. After sufficient movement the EKF will reset the yaw tot he EKF-GSF estimate. After that GPS fusion will commence.

* EKF: Fix unconstrained yaw and yaw variance growth when on ground

* EKF: Ensure first yaw alignment can't be blocked

* EKF: Increase yaw variance limit allowed for alignment

Flight test data indicates that an uncertainty value of 15 deg still provides a reliable yaw estimate and enables an earlier alignment/reset if required.

* EKF: Remove unexecutable code

* EKF: Restructure heading fusion

* EKF: parameterise quarter variance check and retune default value

* EKF: Pass by reference instead of pointer

* EKF: Clarify reset logic

* EKF: Remove incorrect setting of mag field alignment flag

* EKF: Non-functional tidy up

* EKF: Fix non-use of function argument

The updateQuaternion function was using the _heading_innovation class variable instead of setting it using the innovation argument.

* EKF: Fix undefined variable

* EKF: Use single precision atan2

* EKF: remove unnecessary timer reset and unwanted execution of reset function

* EKF: Don't declare a mag fault when non-use is user selected

Doing so produces unnecessary user alerts.
This commit is contained in:
Paul Riseborough
2020-03-30 20:05:38 +11:00
committed by GitHub
parent 3bd09fdcd3
commit 89b5c77d5d
8 changed files with 442 additions and 295 deletions
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EKF/common.h
+3 -2
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@@ -177,7 +177,7 @@ struct auxVelSample {
#define MASK_USE_DRAG (1<<5) ///< set to true to use the multi-rotor drag model to estimate wind
#define MASK_ROTATE_EV (1<<6) ///< set to true to if the EV observations are in a non NED reference frame and need to be rotated before being used
#define MASK_USE_GPSYAW (1<<7) ///< set to true to use GPS yaw data if available
#define MASK_USE_EVVEL (1<<8) ///< sset to true to use external vision velocity data
#define MASK_USE_EVVEL (1<<8) ///< set to true to use external vision velocity data
enum TerrainFusionMask : int32_t {
TerrainFuseRangeFinder = (1 << 0),
@@ -265,6 +265,7 @@ struct parameters {
int32_t mag_fusion_type{0}; ///< integer used to specify the type of magnetometer fusion used
float mag_acc_gate{0.5f}; ///< when in auto select mode, heading fusion will be used when manoeuvre accel is lower than this (m/sec**2)
float mag_yaw_rate_gate{0.25f}; ///< yaw rate threshold used by mode select logic (rad/sec)
float quat_max_variance{0.0001f}; ///< zero innovation yaw measurements will not be fused when the sum of quaternion variance is less than this
// airspeed fusion
float tas_innov_gate{5.0f}; ///< True Airspeed innovation consistency gate size (STD)
@@ -365,7 +366,7 @@ struct parameters {
// Parameters used to control when yaw is reset to the EKF-GSF yaw estimator value
float EKFGSF_tas_default{15.0f}; ///< default airspeed value assumed during fixed wing flight if no airspeed measurement available (m/s)
unsigned EKFGSF_reset_delay{1000000}; ///< Number of uSec of bad innovations on main filter inpost takeoff phase before yaw is reset to EKF-GSF value
float EKFGSF_yaw_err_max{0.2f}; ///< Composite yaw 1-sigma uncertainty threshold used to check for convergence (rad)
float EKFGSF_yaw_err_max{0.262f}; ///< Composite yaw 1-sigma uncertainty threshold used to check for convergence (rad)
};
struct stateSample {