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estimator_status split out estimator_states

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This commit is contained in:
Daniel Agar
2020-09-01 14:25:58 -04:00
parent 33a7fed240
commit 9ccc1db649
17 changed files with 150 additions and 108 deletions
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src/modules/ekf2/EKF2.cpp
+39 -37
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@@ -989,6 +989,41 @@ void EKF2::Run()
}
}
// publish estimator states
estimator_states_s states;
states.n_states = 24;
_ekf.getStateAtFusionHorizonAsVector().copyTo(states.states);
_ekf.covariances_diagonal().copyTo(states.covariances);
states.timestamp = _replay_mode ? now : hrt_absolute_time();
_estimator_states_pub.publish(states);
// publish estimator status
estimator_status_s status{};
_ekf.getOutputTrackingError().copyTo(status.output_tracking_error);
_ekf.get_gps_check_status(&status.gps_check_fail_flags);
// only report enabled GPS check failures (the param indexes are shifted by 1 bit, because they don't include
// the GPS Fix bit, which is always checked)
status.gps_check_fail_flags &= ((uint16_t)_params->gps_check_mask << 1) | 1;
status.control_mode_flags = control_status.value;
_ekf.get_filter_fault_status(&status.filter_fault_flags);
_ekf.get_innovation_test_status(status.innovation_check_flags, status.mag_test_ratio,
status.vel_test_ratio, status.pos_test_ratio,
status.hgt_test_ratio, status.tas_test_ratio,
status.hagl_test_ratio, status.beta_test_ratio);
status.pos_horiz_accuracy = _vehicle_local_position_pub.get().eph;
status.pos_vert_accuracy = _vehicle_local_position_pub.get().epv;
_ekf.get_ekf_soln_status(&status.solution_status_flags);
_ekf.getImuVibrationMetrics().copyTo(status.vibe);
status.time_slip = _last_time_slip_us * 1e-6f;
status.pre_flt_fail_innov_heading = _preflt_checker.hasHeadingFailed();
status.pre_flt_fail_innov_vel_horiz = _preflt_checker.hasHorizVelFailed();
status.pre_flt_fail_innov_vel_vert = _preflt_checker.hasVertVelFailed();
status.pre_flt_fail_innov_height = _preflt_checker.hasHeightFailed();
status.pre_flt_fail_mag_field_disturbed = control_status.flags.mag_field_disturbed;
_estimator_status_pub.publish(status);
{
// publish all corrected sensor readings and bias estimates after mag calibration is updated above
bias.timestamp = now;
@@ -1012,39 +1047,6 @@ void EKF2::Run()
_estimator_sensor_bias_pub.publish(bias);
}
// publish estimator status
estimator_status_s status;
status.timestamp = now;
_ekf.getStateAtFusionHorizonAsVector().copyTo(status.states);
status.n_states = 24;
_ekf.covariances_diagonal().copyTo(status.covariances);
_ekf.getOutputTrackingError().copyTo(status.output_tracking_error);
_ekf.get_gps_check_status(&status.gps_check_fail_flags);
// only report enabled GPS check failures (the param indexes are shifted by 1 bit, because they don't include
// the GPS Fix bit, which is always checked)
status.gps_check_fail_flags &= ((uint16_t)_params->gps_check_mask << 1) | 1;
status.control_mode_flags = control_status.value;
_ekf.get_filter_fault_status(&status.filter_fault_flags);
_ekf.get_innovation_test_status(status.innovation_check_flags, status.mag_test_ratio,
status.vel_test_ratio, status.pos_test_ratio,
status.hgt_test_ratio, status.tas_test_ratio,
status.hagl_test_ratio, status.beta_test_ratio);
status.pos_horiz_accuracy = _vehicle_local_position_pub.get().eph;
status.pos_vert_accuracy = _vehicle_local_position_pub.get().epv;
_ekf.get_ekf_soln_status(&status.solution_status_flags);
_ekf.getImuVibrationMetrics().copyTo(status.vibe);
status.time_slip = _last_time_slip_us * 1e-6f;
status.health_flags = 0.0f; // unused
status.timeout_flags = 0.0f; // unused
status.pre_flt_fail_innov_heading = _preflt_checker.hasHeadingFailed();
status.pre_flt_fail_innov_vel_horiz = _preflt_checker.hasHorizVelFailed();
status.pre_flt_fail_innov_vel_vert = _preflt_checker.hasVertVelFailed();
status.pre_flt_fail_innov_height = _preflt_checker.hasHeightFailed();
status.pre_flt_fail_mag_field_disturbed = control_status.flags.mag_field_disturbed;
_estimator_status_pub.publish(status);
// publish GPS drift data only when updated to minimise overhead
float gps_drift[3];
bool blocked;
@@ -1103,8 +1105,8 @@ void EKF2::Run()
bool all_estimates_invalid = false;
for (uint8_t axis_index = 0; axis_index <= 2; axis_index++) {
if (status.covariances[axis_index + 19] < min_var_allowed
|| status.covariances[axis_index + 19] > max_var_allowed) {
if (states.covariances[axis_index + 19] < min_var_allowed
|| states.covariances[axis_index + 19] > max_var_allowed) {
all_estimates_invalid = true;
}
}
@@ -1112,9 +1114,9 @@ void EKF2::Run()
// Store valid estimates and their associated variances
if (!all_estimates_invalid) {
for (uint8_t axis_index = 0; axis_index <= 2; axis_index++) {
_last_valid_mag_cal[axis_index] = status.states[axis_index + 19];
_last_valid_mag_cal[axis_index] = states.states[axis_index + 19];
_valid_cal_available[axis_index] = true;
_last_valid_variance[axis_index] = status.covariances[axis_index + 19];
_last_valid_variance[axis_index] = states.covariances[axis_index + 19];
}
}
}