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ekf2: use ground as ekf altitude datum when in range primary hgt mode

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bresch 2021-12-09 13:56:34 +01:00 committed by Mathieu Bresciani
parent 5e790da634
commit 9147d5ea5c
2 changed files with 11 additions and 30 deletions
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21
src/modules/ekf2/EKF/control.cpp
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@ -712,7 +712,7 @@ void Ekf::controlHeightSensorTimeouts()
} else if (_range_sensor.isHealthy()) {
// Fallback to rangefinder data if available
setControlRangeHeight();
startRngHgtFusion();
request_height_reset = true;
failing_height_source = "ev";
new_height_source = "rng";
@ -825,22 +825,9 @@ void Ekf::controlHeightFusion()
break;
case VDIST_SENSOR_RANGE:
if (_range_sensor.isDataHealthy()) {
setControlRangeHeight();
if (_control_status_prev.flags.rng_hgt != _control_status.flags.rng_hgt) {
// we have just switched to using range finder, calculate height sensor offset such that current
// measurement matches our current height estimate
// use the parameter rng_gnd_clearance if on ground to avoid a noisy offset initialization (e.g. sonar)
if (_control_status.flags.in_air && isTerrainEstimateValid()) {
_hgt_sensor_offset = _terrain_vpos;
} else if (_control_status.flags.in_air) {
_hgt_sensor_offset = _range_sensor.getDistBottom() + _state.pos(2);
} else {
_hgt_sensor_offset = _params.rng_gnd_clearance;
}
if (!_control_status.flags.rng_hgt) {
if (_range_sensor.isDataHealthy()) {
startRngHgtFusion();
}
}

20
src/modules/ekf2/EKF/ekf_helper.cpp
View File

@ -260,24 +260,18 @@ void Ekf::resetHeight()
// reset the vertical position
if (_control_status.flags.rng_hgt) {
float dist_bottom;
// a fallback from any other height source to rangefinder happened
if (!_control_status_prev.flags.rng_hgt) {
if (_control_status.flags.in_air && isTerrainEstimateValid()) {
_hgt_sensor_offset = _terrain_vpos;
} else if (_control_status.flags.in_air) {
_hgt_sensor_offset = _range_sensor.getDistBottom() + _state.pos(2);
} else {
_hgt_sensor_offset = _params.rng_gnd_clearance;
}
if (_control_status.flags.in_air) {
dist_bottom = _range_sensor.getDistBottom();
} else {
// use the parameter rng_gnd_clearance if on ground to avoid a noisy offset initialization (e.g. sonar)
dist_bottom = _params.rng_gnd_clearance;
}
// update the state and associated variance
resetVerticalPositionTo(_hgt_sensor_offset - _range_sensor.getDistBottom());
resetVerticalPositionTo(-dist_bottom + _hgt_sensor_offset);
// the state variance is the same as the observation
P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.range_noise));