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ekf2: let controlAirDataFusion() update yaw estimator TAS

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This commit is contained in:
Daniel Agar
2023-02-22 09:08:33 -05:00
parent 60856ebe62
commit a867bb7d88
5 changed files with 27 additions and 30 deletions
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src/modules/ekf2/EKF/airspeed_fusion.cpp
+18 -6
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@@ -61,18 +61,27 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
_control_status.flags.wind = false;
}
// clear yaw estimator airspeed (updated later with true airspeed if airspeed fusion is active)
if (_control_status.flags.fixed_wing) {
if (_control_status.flags.in_air && !_control_status.flags.vehicle_at_rest) {
if (!_control_status.flags.fuse_aspd) {
_yawEstimator.setTrueAirspeed(_params.EKFGSF_tas_default);
}
} else {
_yawEstimator.setTrueAirspeed(0.f);
}
}
if (_params.arsp_thr <= 0.f) {
stopAirspeedFusion();
return;
}
if (_airspeed_buffer) {
_tas_data_ready = _airspeed_buffer->pop_first_older_than(imu_delayed.time_us, &_airspeed_sample_delayed);
}
if (_airspeed_buffer && _airspeed_buffer->pop_first_older_than(imu_delayed.time_us, &_airspeed_sample_delayed)) {
const airspeedSample &airspeed_sample = _airspeed_sample_delayed;
const airspeedSample &airspeed_sample = _airspeed_sample_delayed;
if (_tas_data_ready) {
updateAirspeed(airspeed_sample, _aid_src_airspeed);
_innov_check_fail_status.flags.reject_airspeed = _aid_src_airspeed.innovation_rejected; // TODO: remove this redundant flag
@@ -89,6 +98,8 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
fuseAirspeed(airspeed_sample, _aid_src_airspeed);
}
_yawEstimator.setTrueAirspeed(airspeed_sample.true_airspeed);
const bool is_fusion_failing = isTimedOut(_aid_src_airspeed.time_last_fuse, (uint64_t)10e6);
if (is_fusion_failing) {
@@ -113,7 +124,7 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
_control_status.flags.fuse_aspd = true;
}
} else if (_control_status.flags.fuse_aspd && !isRecent(airspeed_sample.time_us, (uint64_t)1e6)) {
} else if (_control_status.flags.fuse_aspd && !isRecent(_airspeed_sample_delayed.time_us, (uint64_t)1e6)) {
ECL_WARN("Airspeed data stopped");
stopAirspeedFusion();
}
@@ -206,6 +217,7 @@ void Ekf::stopAirspeedFusion()
if (_control_status.flags.fuse_aspd) {
ECL_INFO("stopping airspeed fusion");
resetEstimatorAidStatus(_aid_src_airspeed);
_yawEstimator.setTrueAirspeed(NAN);
_control_status.flags.fuse_aspd = false;
}
}