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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/ekf_helper.cpp
+30 -9
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@@ -544,8 +544,8 @@ bool Ekf::resetMagHeading(const Vector3f &mag_init, bool increase_yaw_var, bool
yaw_new_variance = sq(fmaxf(_params.mag_heading_noise, 1.0e-2f));
}
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR && _mag_use_inhibit) {
// we are operating without knowing the earth frame yaw angle
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_INDOOR && _yaw_use_inhibit) {
// we are operating temporarily without knowing the earth frame yaw angle
return true;
} else {
@@ -1723,7 +1723,9 @@ void Ekf::resetQuatStateYaw(float yaw, float yaw_variance, bool update_buffer)
_state_reset_status.quat_counter++;
}
// Reset main nav filter yaw to value from EKF-GSF and reset velocity and position to GPS
// Resets the main Nav EKf yaw to the estimator from the EKF-GSF yaw estimator
// Resets the horizontal velocity and position to the default navigation sensor
// Returns true if the reset was successful
bool Ekf::resetYawToEKFGSF()
{
// don't allow reet using the EKF-GSF estimate until the filter has started fusing velocity
@@ -1737,14 +1739,18 @@ bool Ekf::resetYawToEKFGSF()
resetVelocity();
resetPosition();
// stop using the magnetometer in the main EKF otherwise it's fusion could drag the yaw around
// and cause another navigation failure
_control_status.flags.mag_fault = true;
// record a magnetic field alignment event to prevent possibility of the EKF trying to reset the yaw to the mag later in flight
_flt_mag_align_start_time = _imu_sample_delayed.time_us;
_control_status.flags.yaw_align = true;
ECL_INFO_TIMESTAMPED("Emergency yaw reset - magnetometer use stopped");
if (_params.mag_fusion_type == MAG_FUSE_TYPE_NONE) {
ECL_INFO_TIMESTAMPED("Yaw aligned using IMU and GPS");
} else {
// stop using the magnetometer in the main EKF otherwise it's fusion could drag the yaw around
// and cause another navigation failure
_control_status.flags.mag_fault = true;
ECL_INFO_TIMESTAMPED("Emergency yaw reset - magnetometer use stopped");
}
return true;
}
@@ -1755,7 +1761,7 @@ bool Ekf::resetYawToEKFGSF()
void Ekf::requestEmergencyNavReset()
{
_do_emergency_yaw_reset = true;
_do_ekfgsf_yaw_reset = true;
}
bool Ekf::getDataEKFGSF(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF])
@@ -1803,3 +1809,18 @@ void Ekf::runYawEKFGSF()
yawEstimator.setVelocity(_gps_sample_delayed.vel.xy(), _gps_sample_delayed.vacc);
}
}
void Ekf::shrinkYawVariance()
{
if (fabsf(_R_to_earth(2, 0)) < fabsf(_R_to_earth(2, 1))) {
// rolled more than pitched so use 321 rotation order to define yaw angle
// and fuse a zero innovation yaw to shrink quaternion yaw variance
fuseYaw321(0.0f, 0.25f, true);
} else {
// pitched more than rolled so use 312 rotation order to define yaw angle
// and fuse a zero innovation yaw to shrink quaternion yaw variance
fuseYaw312(0.0f, 0.25f, true);
}
}