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EKF: Don't allow tilt alignment if vehicle is moving excessively (#768)

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Also remove unnecessary update of the _accel_lpf after alignment.
This commit is contained in:
Paul Riseborough
2020-03-05 21:42:45 +11:00
committed by GitHub
parent 230c865fa9
commit 8ce285cdfa
2 changed files with 22 additions and 15 deletions
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EKF/ekf.cpp
+16 -12
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@@ -105,9 +105,6 @@ bool Ekf::update()
// Only run the filter if IMU data in the buffer has been updated
if (_imu_updated) {
const imuSample &imu_init = _imu_buffer.get_newest();
_accel_lpf.update(imu_init.delta_vel);
// perform state and covariance prediction for the main filter
predictState();
predictCovariance();
@@ -130,18 +127,21 @@ bool Ekf::update()
bool Ekf::initialiseFilter()
{
// Keep accumulating measurements until we have a minimum of 10 samples for the required sensors
// Filter accel for tilt initialization
const imuSample &imu_init = _imu_buffer.get_newest();
if(_is_first_imu_sample){
_accel_lpf.reset(imu_init.delta_vel);
_is_first_imu_sample = false;
// protect against zero data
if (imu_init.delta_vel_dt < 1e-4f || imu_init.delta_ang_dt < 1e-4f) {
return false;
}
else
{
_accel_lpf.update(imu_init.delta_vel);
if (_is_first_imu_sample) {
_accel_lpf.reset(imu_init.delta_vel / imu_init.delta_vel_dt);
_gyro_lpf.reset(imu_init.delta_ang / imu_init.delta_ang_dt);
_is_first_imu_sample = false;
} else {
_accel_lpf.update(imu_init.delta_vel / imu_init.delta_vel_dt);
_gyro_lpf.update(imu_init.delta_ang / imu_init.delta_ang_dt);
}
// Sum the magnetometer measurements
@@ -222,7 +222,11 @@ bool Ekf::initialiseFilter()
bool Ekf::initialiseTilt()
{
if (_accel_lpf.getState().norm() < 0.001f) {
const float accel_norm = _accel_lpf.getState().norm();
const float gyro_norm = _gyro_lpf.getState().norm();
if (accel_norm < 0.9f * CONSTANTS_ONE_G ||
accel_norm > 1.1f * CONSTANTS_ONE_G ||
gyro_norm > math::radians(15.0f)) {
return false;
}