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EKF: Protect against ground effect induced static pressure rise during landing and takeoff.

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Apply a dead-zone to the vertical position innovation if using baro for height and if in the ground effect region during and just after takeoff.
Method needs to be activated externally.
Turns off automatically after 10 seconds or if specified height gained.
This commit is contained in:
Paul Riseborough
2017-11-17 21:41:31 +11:00
parent c8d459eecd
commit a2b24fa960
4 changed files with 44 additions and 7 deletions
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EKF/common.h
+7 -1
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@@ -192,6 +192,9 @@ struct dragSample {
#define BADACC_PROBATION (uint64_t)10e6 ///< Period of time that accel data declared bad must continuously pass checks to be declared good again (uSec)
#define BADACC_BIAS_PNOISE 4.9f ///< The delta velocity process noise is set to this when accel data is declared bad (m/sec**2)
// ground effect compensation
#define GNDEFFECT_TIMEOUT 10E6 ///< Maximum period of time that ground effect protection will be active after it was last turned on (uSec)
struct parameters {
// measurement source control
int32_t fusion_mode{MASK_USE_GPS}; ///< bitmasked integer that selects which aiding sources will be used
@@ -235,6 +238,8 @@ struct parameters {
float baro_innov_gate{5.0f}; ///< barometric and GPS height innovation consistency gate size (STD)
float posNE_innov_gate{5.0f}; ///< GPS horizontal position innovation consistency gate size (STD)
float vel_innov_gate{5.0f}; ///< GPS velocity innovation consistency gate size (STD)
float gnd_effect_deadzone{5.0f}; ///< Size of deadzone applied to negative baro innovations when ground effect compensation is active (m)
float gnd_effect_max_hgt{0.5f}; ///< Height above ground at which baro ground effect becomes insignificant (m)
// magnetometer fusion
float mag_heading_noise{3.0e-1f}; ///< measurement noise used for simple heading fusion (rad)
@@ -416,7 +421,8 @@ union filter_control_status_u {
uint32_t update_mag_states_only : 1; ///< 16 - true when only the magnetometer states are updated by the magnetometer
uint32_t fixed_wing : 1; ///< 17 - true when the vehicle is operating as a fixed wing vehicle
uint32_t mag_fault : 1; ///< 18 - true when the magnetomer has been declared faulty and is no longer being used
uint32_t fuse_aspd : 1; ///< 19 - true when airspedd measurements are being fused
uint32_t fuse_aspd : 1; ///< 19 - true when airspeed measurements are being fused
uint32_t gnd_effect : 1; ///< 20 - true when protection from ground effect induced static pressure rise is active
} flags;
uint32_t value;
};