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ekf2: fix comments about primary height sources

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Having the xxx_hgt flag set only means that the sensor is fused for
altitude/height aiding. It's not necessarily the height reference.
This commit is contained in:
bresch 2025-01-07 09:53:24 +01:00 committed by Mathieu Bresciani
parent 374e70c48f
commit b1773df441
5 changed files with 10 additions and 11 deletions
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6
msg/EstimatorStatus.msg
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@ -27,9 +27,9 @@ uint8 CS_MAG_3D = 5 # 5 - true if 3-axis magnetometer measurement are being fus
uint8 CS_MAG_DEC = 6 # 6 - true if synthetic magnetic declination measurements are being fused
uint8 CS_IN_AIR = 7 # 7 - true when thought to be airborne
uint8 CS_WIND = 8 # 8 - true when wind velocity is being estimated
uint8 CS_BARO_HGT = 9 # 9 - true when baro height is being fused as a primary height reference
uint8 CS_RNG_HGT = 10 # 10 - true when range finder height is being fused as a primary height reference
uint8 CS_GPS_HGT = 11 # 11 - true when GPS height is being fused as a primary height reference
uint8 CS_BARO_HGT = 9 # 9 - true when baro data is being fused
uint8 CS_RNG_HGT = 10 # 10 - true when range finder data is being fused for height aiding
uint8 CS_GPS_HGT = 11 # 11 - true when GPS altitude is being fused
uint8 CS_EV_POS = 12 # 12 - true when local position data from external vision is being fused
uint8 CS_EV_YAW = 13 # 13 - true when yaw data from external vision measurements is being fused
uint8 CS_EV_HGT = 14 # 14 - true when height data from external vision measurements is being fused

6
msg/EstimatorStatusFlags.msg
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@ -13,9 +13,9 @@ bool cs_mag_3d # 5 - true if 3-axis magnetometer measurement fus
bool cs_mag_dec # 6 - true if synthetic magnetic declination measurements fusion is intended
bool cs_in_air # 7 - true when the vehicle is airborne
bool cs_wind # 8 - true when wind velocity is being estimated
bool cs_baro_hgt # 9 - true when baro height is being fused as a primary height reference
bool cs_rng_hgt # 10 - true when range finder height is being fused as a primary height reference
bool cs_gps_hgt # 11 - true when GPS height is being fused as a primary height reference
bool cs_baro_hgt # 9 - true when baro data is being fused
bool cs_rng_hgt # 10 - true when range finder data is being fused for height aiding
bool cs_gps_hgt # 11 - true when GPS altitude is being fused
bool cs_ev_pos # 12 - true when local position data fusion from external vision is intended
bool cs_ev_yaw # 13 - true when yaw data from external vision measurements fusion is intended
bool cs_ev_hgt # 14 - true when height data from external vision measurements is being fused

2
src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp
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@ -78,7 +78,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
}
} else {
// If we are supposed to be using range finder data as the primary height sensor, have bad range measurements
// If we are supposed to be using range finder data but have bad range measurements
// and are on the ground, then synthesise a measurement at the expected on ground value
if (!_control_status.flags.in_air
&& _range_sensor.isRegularlySendingData()

6
src/modules/ekf2/EKF/common.h
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@ -573,10 +573,10 @@ union filter_control_status_u {
uint64_t mag_dec : 1; ///< 6 - true if synthetic magnetic declination measurements fusion is intended
uint64_t in_air : 1; ///< 7 - true when the vehicle is airborne
uint64_t wind : 1; ///< 8 - true when wind velocity is being estimated
uint64_t baro_hgt : 1; ///< 9 - true when baro height is being fused as a primary height reference
uint64_t baro_hgt : 1; ///< 9 - true when baro data is being fused
uint64_t rng_hgt :
1; ///< 10 - true when range finder height is being fused as a primary height reference
uint64_t gps_hgt : 1; ///< 11 - true when GPS height is being fused as a primary height reference
1; ///< 10 - true when range finder data is being fused for height aiding
uint64_t gps_hgt : 1; ///< 11 - true when GPS altitude is being fused
uint64_t ev_pos : 1; ///< 12 - true when local position data fusion from external vision is intended
uint64_t ev_yaw : 1; ///< 13 - true when yaw data from external vision measurements fusion is intended
uint64_t ev_hgt : 1; ///< 14 - true when height data from external vision measurements is being fused

1
src/modules/ekf2/EKF/ekf_helper.cpp
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@ -345,7 +345,6 @@ void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, fl
// TODO : calculate visual odometry limits
const bool relying_on_rangefinder = isOnlyActiveSourceOfVerticalPositionAiding(_control_status.flags.rng_hgt);
// Keep within range sensor limit when using rangefinder as primary height source
if (relying_on_rangefinder) {
*hagl_min = rangefinder_hagl_min;
*hagl_max = rangefinder_hagl_max;