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Support vision velocity expressed in body frame too (#708)

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* Support vision velocity expressed in body frame

* Use switch statement for vision velocity frame

* Robustify vision velocity frame test

* Increase lower bound on vision velocity noise to 0.05 m/s
This commit is contained in:
kritz
2020-05-12 16:03:35 +02:00
committed by GitHub
parent c3de452e8e
commit 98801ad17b
8 changed files with 170 additions and 37 deletions
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EKF/control.cpp
+6 -21
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@@ -202,14 +202,14 @@ void Ekf::controlExternalVisionFusion()
if (_params.fusion_mode & MASK_USE_EVPOS && !_control_status.flags.ev_pos) {
_control_status.flags.ev_pos = true;
resetPosition();
ECL_INFO_TIMESTAMPED("commencing external vision position fusion");
ECL_INFO_TIMESTAMPED("starting vision pos fusion");
}
// turn on use of external vision measurements for velocity
if (_params.fusion_mode & MASK_USE_EVVEL && !_control_status.flags.ev_vel) {
_control_status.flags.ev_vel = true;
resetVelocity();
ECL_INFO_TIMESTAMPED("commencing external vision velocity fusion");
ECL_INFO_TIMESTAMPED("starting vision vel fusion");
}
}
}
@@ -235,7 +235,7 @@ void Ekf::controlExternalVisionFusion()
stopMagHdgFusion();
stopMag3DFusion();
ECL_INFO_TIMESTAMPED("commencing external vision yaw fusion");
ECL_INFO_TIMESTAMPED("starting vision yaw fusion");
}
}
@@ -324,22 +324,7 @@ void Ekf::controlExternalVisionFusion()
Vector3f ev_vel_obs_var;
Vector2f ev_vel_innov_gates;
Vector3f vel_aligned{_ev_sample_delayed.vel};
Matrix3f ev_vel_var = matrix::diag(_ev_sample_delayed.velVar);
// rotate measurement into correct earth frame if required
if (_params.fusion_mode & MASK_ROTATE_EV) {
vel_aligned = _R_ev_to_ekf * _ev_sample_delayed.vel;
ev_vel_var = _R_ev_to_ekf * ev_vel_var * _R_ev_to_ekf.transpose();
}
// correct velocity for offset relative to IMU
const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;
const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body;
const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body;
vel_aligned -= vel_offset_earth;
_ev_vel_innov = _state.vel - vel_aligned;
_ev_vel_innov = _state.vel - getVisionVelocityInEkfFrame();
// check if we have been deadreckoning too long
if (isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max)) {
@@ -350,7 +335,7 @@ void Ekf::controlExternalVisionFusion()
}
}
ev_vel_obs_var = matrix::max(ev_vel_var.diag(), sq(0.01f));
ev_vel_obs_var = matrix::max(getVisionVelocityVarianceInEkfFrame(), sq(0.05f));
ev_vel_innov_gates.setAll(fmaxf(_params.ev_vel_innov_gate, 1.0f));
@@ -368,7 +353,7 @@ void Ekf::controlExternalVisionFusion()
// Turn off EV fusion mode if no data has been received
stopEvFusion();
ECL_INFO_TIMESTAMPED("External Vision Data Stopped");
ECL_INFO_TIMESTAMPED("vision data stopped");
}
}