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ekf2: remove baro accumulation from initializeFilter

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This commit is contained in:
bresch
2022-09-10 12:29:29 -04:00
committed by Daniel Agar
parent fe4a6ce8de
commit ae1e12a6b5
5 changed files with 34 additions and 54 deletions
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src/modules/ekf2/EKF/baro_height_control.cpp
+31 -10
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@@ -40,6 +40,28 @@
void Ekf::controlBaroHeightFusion()
{
if (!_baro_buffer) {
return;
}
baroSample baro_sample;
const bool baro_data_ready = _baro_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &baro_sample);
if (baro_data_ready) {
if (_baro_counter == 0) {
_baro_lpf.reset(baro_sample.hgt);
} else {
_baro_lpf.update(baro_sample.hgt);
}
if (_baro_counter < _obs_buffer_length) {
// Initialize the pressure offset (included in the baro bias)
_baro_b_est.setBias(_state.pos(2) + _baro_lpf.getState());
_baro_counter++;
}
}
if (!(_params.baro_ctrl == 1)) {
stopBaroHgtFusion();
return;
@@ -50,12 +72,11 @@ void Ekf::controlBaroHeightFusion()
// check for intermittent data
const bool baro_hgt_intermittent = !isNewestSampleRecent(_time_last_baro_buffer_push, 2 * BARO_MAX_INTERVAL);
if (_baro_data_ready) {
_baro_lpf.update(_baro_sample_delayed.hgt);
updateBaroHgt(_baro_sample_delayed, _aid_src_baro_hgt);
if (baro_data_ready) {
updateBaroHgt(baro_sample, _aid_src_baro_hgt);
const bool continuing_conditions_passing = !_baro_hgt_faulty && !baro_hgt_intermittent;
const bool starting_conditions_passing = continuing_conditions_passing;
const bool starting_conditions_passing = continuing_conditions_passing && (_baro_counter >= _obs_buffer_length);
if (_control_status.flags.baro_hgt) {
if (continuing_conditions_passing) {
@@ -65,7 +86,7 @@ void Ekf::controlBaroHeightFusion()
if (isHeightResetRequired()) {
// All height sources are failing
resetHeightToBaro();
resetHeightToBaro(baro_sample);
resetVerticalVelocityToZero();
} else if (is_fusion_failing) {
@@ -79,7 +100,7 @@ void Ekf::controlBaroHeightFusion()
}
} else {
if (starting_conditions_passing) {
startBaroHgtFusion();
startBaroHgtFusion(baro_sample);
}
}
@@ -89,12 +110,12 @@ void Ekf::controlBaroHeightFusion()
}
}
void Ekf::startBaroHgtFusion()
void Ekf::startBaroHgtFusion(const baroSample &baro_sample)
{
if (!_control_status.flags.baro_hgt) {
if (_params.height_sensor_ref == HeightSensor::BARO) {
_height_sensor_ref = HeightSensor::BARO;
resetHeightToBaro();
resetHeightToBaro(baro_sample);
} else {
_baro_b_est.setBias(_state.pos(2) + _baro_lpf.getState());
@@ -106,12 +127,12 @@ void Ekf::startBaroHgtFusion()
}
}
void Ekf::resetHeightToBaro()
void Ekf::resetHeightToBaro(const baroSample &baro_sample)
{
ECL_INFO("reset height to baro");
_information_events.flags.reset_hgt_to_baro = true;
resetVerticalPositionTo(-(_baro_sample_delayed.hgt - _baro_b_est.getBias()));
resetVerticalPositionTo(-(baro_sample.hgt - _baro_b_est.getBias()));
// the state variance is the same as the observation
P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.baro_noise));