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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/ekf_helper.cpp
+55 -8
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@@ -106,8 +106,8 @@ void Ekf::resetVelocityToVision() {
if(_params.fusion_mode & MASK_ROTATE_EV){
_ev_vel = _R_ev_to_ekf *_ev_sample_delayed.vel;
}
resetVelocityTo(_ev_vel);
P.uncorrelateCovarianceSetVariance<3>(4, _ev_sample_delayed.velVar);
resetVelocityTo(getVisionVelocityInEkfFrame());
P.uncorrelateCovarianceSetVariance<3>(4, getVisionVelocityVarianceInEkfFrame());
}
void Ekf::resetHorizontalVelocityToZero() {
@@ -310,13 +310,15 @@ void Ekf::resetHeight()
P.uncorrelateCovarianceSetVariance<1>(6, 10.0f);
}
// store the reset amount and time to be published
if (vert_pos_reset) {
// store the reset amount and time to be published
_state_reset_status.posD_change = _state.pos(2) - old_vert_pos;
_state_reset_status.posD_counter++;
}
// apply the change in height / height rate to our newest height / height rate estimate
// which have already been taken out from the output buffer
// apply the change in height / height rate to our newest height / height rate estimate
// which have already been taken out from the output buffer
if (vert_pos_reset) {
_output_new.pos(2) += _state_reset_status.posD_change;
}
@@ -392,11 +394,11 @@ bool Ekf::realignYawGPS()
// correct yaw angle using GPS ground course if compass yaw bad or yaw is previously not aligned
if (badMagYaw || !_control_status.flags.yaw_align) {
ECL_WARN_TIMESTAMPED("bad yaw corrected using GPS course");
ECL_WARN_TIMESTAMPED("bad yaw, using GPS course");
// declare the magnetometer as failed if a bad yaw has occurred more than once
if (_control_status.flags.mag_aligned_in_flight && (_num_bad_flight_yaw_events >= 2) && !_control_status.flags.mag_fault) {
ECL_WARN_TIMESTAMPED("stopping magnetometer use");
ECL_WARN_TIMESTAMPED("stopping mag use");
_control_status.flags.mag_fault = true;
}
@@ -1504,6 +1506,51 @@ void Ekf::updateBaroHgtOffset()
}
}
Vector3f Ekf::getVisionVelocityInEkfFrame()
{
Vector3f vel;
// 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;
// rotate measurement into correct earth frame if required
switch(_ev_sample_delayed.vel_frame) {
case BODY_FRAME_FRD:
vel = _R_to_earth * (_ev_sample_delayed.vel - vel_offset_body);
break;
case LOCAL_FRAME_FRD:
const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body;
if (_params.fusion_mode & MASK_ROTATE_EV)
{
vel = _R_ev_to_ekf *_ev_sample_delayed.vel - vel_offset_earth;
} else {
vel = _ev_sample_delayed.vel - vel_offset_earth;
}
break;
}
return vel;
}
Vector3f Ekf::getVisionVelocityVarianceInEkfFrame()
{
Matrix3f ev_vel_cov = _ev_sample_delayed.velCov;
// rotate measurement into correct earth frame if required
switch(_ev_sample_delayed.vel_frame) {
case BODY_FRAME_FRD:
ev_vel_cov = _R_to_earth * ev_vel_cov * _R_to_earth.transpose();
break;
case LOCAL_FRAME_FRD:
if(_params.fusion_mode & MASK_ROTATE_EV)
{
ev_vel_cov = _R_ev_to_ekf * ev_vel_cov * _R_ev_to_ekf.transpose();
}
break;
}
return ev_vel_cov.diag();
}
// update the rotation matrix which rotates EV measurements into the EKF's navigation frame
void Ekf::calcExtVisRotMat()
{
@@ -1755,7 +1802,7 @@ bool Ekf::resetYawToEKFGSF()
// 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");
ECL_INFO_TIMESTAMPED("Emergency yaw reset - mag use stopped");
}
return true;