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WIP: ekf2 multi height hacks
This commit is contained in:
Daniel Agar
parent
22c5f6d2a5
commit
b3f39eafcc
@ -70,3 +70,7 @@ bool reject_sideslip # 9 - true if the synthetic sideslip
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bool reject_hagl # 10 - true if the height above ground observation has been rejected
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bool reject_optflow_x # 11 - true if the X optical flow observation has been rejected
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bool reject_optflow_y # 12 - true if the Y optical flow observation has been rejected
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bool reject_ver_pos_baro # 13 - true if true if baro vertical position observations have been rejected
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bool reject_ver_pos_gps # 14 - true if true if gps vertical position observations have been rejected
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bool reject_ver_pos_rng # 15 - true if true if rng vertical position observations have been rejected
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bool reject_ver_pos_ev # 16 - true if true if ev vertical position observations have been rejected
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@ -48,7 +48,7 @@
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namespace math
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{
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template<typename T, int WINDOW = 3>
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template<typename T, size_t WINDOW = 3>
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class MedianFilter
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{
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public:
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@ -78,6 +78,8 @@ public:
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return median();
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}
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size_t window_size() const { return WINDOW; }
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private:
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static int cmp(const void *a, const void *b)
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@ -435,9 +435,12 @@ union innovation_fault_status_u {
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bool reject_hagl: 1; ///< 10 - true if the height above ground observation has been rejected
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bool reject_optflow_X: 1; ///< 11 - true if the X optical flow observation has been rejected
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bool reject_optflow_Y: 1; ///< 12 - true if the Y optical flow observation has been rejected
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bool reject_ver_pos_baro: 1; ///< 13 - true if true if baro vertical position observations have been rejected
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bool reject_ver_pos_gps: 1; ///< 14 - true if true if gps vertical position observations have been rejected
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bool reject_ver_pos_rng: 1; ///< 15 - true if true if rng vertical position observations have been rejected
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bool reject_ver_pos_ev: 1; ///< 16 - true if true if ev vertical position observations have been rejected
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} flags;
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uint16_t value;
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uint32_t value;
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};
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// publish the status of various GPS quality checks
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@ -94,7 +94,16 @@ void Ekf::controlFusionModes()
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// check for arrival of new sensor data at the fusion time horizon
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_time_prev_gps_us = _gps_sample_delayed.time_us;
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const uint64_t delta_time_prev_gps_us = _gps_sample_delayed.time_us;
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_gps_data_ready = _gps_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_gps_sample_delayed);
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// if we have a new sample save the delta time between this sample and the last sample which is used for height offset calculations
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if (_gps_data_ready && (delta_time_prev_gps_us != 0)) {
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_delta_time_gps_us = _gps_sample_delayed.time_us - delta_time_prev_gps_us;
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}
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_mag_data_ready = _mag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_mag_sample_delayed);
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if (_mag_data_ready) {
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@ -114,20 +123,28 @@ void Ekf::controlFusionModes()
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}
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}
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_delta_time_baro_us = _baro_sample_delayed.time_us;
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const uint64_t delta_time_prev_baro_us = _baro_sample_delayed.time_us;
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_baro_data_ready = _baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed);
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// if we have a new baro sample save the delta time between this sample and the last sample which is
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// used below for baro offset calculations
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if (_baro_data_ready) {
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_delta_time_baro_us = _baro_sample_delayed.time_us - _delta_time_baro_us;
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if (_baro_data_ready && (delta_time_prev_baro_us != 0)) {
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_delta_time_baro_us = _baro_sample_delayed.time_us - delta_time_prev_baro_us;
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}
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{
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// Get range data from buffer and check validity
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const uint64_t delta_time_prev_rng_us = _range_sensor.sample().time_us;
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const bool is_rng_data_ready = _range_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _range_sensor.getSampleAddress());
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_range_sensor.setDataReadiness(is_rng_data_ready);
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// if we have a new sample save the delta time between this sample and the last sample which is used for height offset calculations
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if (is_rng_data_ready && (delta_time_prev_rng_us != 0)) {
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_delta_time_rng_us = _range_sensor.sample().time_us - delta_time_prev_rng_us;
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}
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// update range sensor angle parameters in case they have changed
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_range_sensor.setPitchOffset(_params.rng_sens_pitch);
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_range_sensor.setCosMaxTilt(_params.range_cos_max_tilt);
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@ -160,7 +177,16 @@ void Ekf::controlFusionModes()
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_flow_for_terrain_data_ready &= (!_control_status.flags.opt_flow && _control_status.flags.gps);
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}
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const uint64_t delta_time_prev_ev_us = _ev_sample_delayed.time_us;
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_ev_data_ready = _ext_vision_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_ev_sample_delayed);
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// if we have a new EV sample save the delta time between this sample and the last sample which is used for height offset calculations
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if (_ev_data_ready && (delta_time_prev_ev_us != 0)) {
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_delta_time_ev_us = _ev_sample_delayed.time_us - delta_time_prev_ev_us;
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}
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_tas_data_ready = _airspeed_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_airspeed_sample_delayed);
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// check for height sensor timeouts and reset and change sensor if necessary
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@ -665,7 +691,7 @@ void Ekf::controlHeightSensorTimeouts()
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// check the baro height source for consistency and freshness
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const baroSample &baro_init = _baro_buffer.get_newest();
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const float baro_innov = _state.pos(2) - (_hgt_sensor_offset - baro_init.hgt + _baro_hgt_offset);
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const float baro_innov = _state.pos(2) - (_gps_hgt_offset - baro_init.hgt + _baro_hgt_offset);
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const bool baro_data_consistent = fabsf(baro_innov) < (sq(_params.baro_noise) + P(9, 9)) * sq(_params.baro_innov_gate);
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// if baro data is acceptable and GPS data is inaccurate, reset height to baro
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@ -748,19 +774,46 @@ void Ekf::checkVerticalAccelerationHealth()
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bool is_inertial_nav_falling = false;
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bool are_vertical_pos_and_vel_independant = false;
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if (isRecent(_vert_pos_fuse_attempt_time_us, 1000000)) {
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if (isRecent(_vert_pos_gps_fuse_attempt_time_us, 1000000) || isRecent(_vert_pos_ev_fuse_attempt_time_us, 1000000)) {
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if (isRecent(_vert_vel_fuse_time_us, 1000000)) {
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// If vertical position and velocity come from independent sensors then we can
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// trust them more if they disagree with the IMU, but need to check that they agree
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const bool using_gps_for_both = _control_status.flags.gps_hgt && _control_status.flags.gps;
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const bool using_ev_for_both = _control_status.flags.ev_hgt && _control_status.flags.ev_vel;
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are_vertical_pos_and_vel_independant = !(using_gps_for_both || using_ev_for_both);
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is_inertial_nav_falling |= _vert_vel_innov_ratio > _params.vert_innov_test_lim && _vert_pos_innov_ratio > 0.0f;
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is_inertial_nav_falling |= _vert_pos_innov_ratio > _params.vert_innov_test_lim && _vert_vel_innov_ratio > 0.0f;
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if (_control_status.flags.gps_hgt) {
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if (_vert_vel_innov_ratio > _params.vert_innov_test_lim && _vert_pos_innov_ratio_gps > 0) {
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is_inertial_nav_falling = true;
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}
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if (_vert_pos_innov_ratio_gps > _params.vert_innov_test_lim && _vert_vel_innov_ratio > 0) {
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is_inertial_nav_falling = true;
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}
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}
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if (_control_status.flags.ev_hgt) {
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if (_vert_vel_innov_ratio > _params.vert_innov_test_lim && _vert_pos_innov_ratio_ev > 0) {
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is_inertial_nav_falling = true;
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}
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if (_vert_pos_innov_ratio_ev > _params.vert_innov_test_lim && _vert_vel_innov_ratio > 0) {
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is_inertial_nav_falling = true;
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}
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}
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} else {
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// only height sensing available
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is_inertial_nav_falling = _vert_pos_innov_ratio > _params.vert_innov_test_lim;
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if (_control_status.flags.gps_hgt) {
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is_inertial_nav_falling = _vert_pos_innov_ratio_gps > _params.vert_innov_test_lim;
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}
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if (_control_status.flags.ev_hgt) {
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is_inertial_nav_falling = _vert_pos_innov_ratio_ev > _params.vert_innov_test_lim;
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}
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}
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}
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@ -879,32 +932,22 @@ void Ekf::controlHeightFusion()
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}
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updateBaroHgtBias();
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updateBaroHgtOffset();
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updateGroundEffect();
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if (_control_status.flags.baro_hgt) {
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if (_baro_data_ready) {
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fuseBaroHgt();
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}
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if (_baro_data_ready && !_baro_hgt_faulty) {
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fuseBaroHgt();
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}
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if (_gps_data_ready) {
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fuseGpsHgt();
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}
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} else if (_control_status.flags.gps_hgt) {
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if (_range_sensor.isDataHealthy()) {
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fuseRngHgt();
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}
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if (_gps_data_ready) {
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fuseGpsHgt();
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}
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} else if (_control_status.flags.rng_hgt) {
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if (_range_sensor.isDataHealthy()) {
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fuseRngHgt();
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}
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} else if (_control_status.flags.ev_hgt) {
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if (_control_status.flags.ev_hgt && _ev_data_ready) {
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fuseEvHgt();
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}
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if (_ev_data_ready) {
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fuseEvHgt();
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}
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}
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@ -993,8 +993,8 @@ void Ekf::fixCovarianceErrors(bool force_symmetry)
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&& ((down_dvel_bias * _gps_vel_innov(2) < 0.0f && _control_status.flags.gps)
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|| (down_dvel_bias * _ev_vel_innov(2) < 0.0f && _control_status.flags.ev_vel))
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&& ((down_dvel_bias * _gps_pos_innov(2) < 0.0f && _control_status.flags.gps_hgt)
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|| (down_dvel_bias * _baro_hgt_innov(2) < 0.0f && _control_status.flags.baro_hgt)
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|| (down_dvel_bias * _rng_hgt_innov(2) < 0.0f && _control_status.flags.rng_hgt)
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|| (down_dvel_bias * _baro_hgt_innov < 0.0f && _control_status.flags.baro_hgt)
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|| (down_dvel_bias * _rng_hgt_innov < 0.0f && _control_status.flags.rng_hgt)
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|| (down_dvel_bias * _ev_pos_innov(2) < 0.0f && _control_status.flags.ev_hgt)));
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// record the pass/fail
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@ -89,16 +89,17 @@ bool Ekf::update()
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{
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bool updated = false;
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if (!_filter_initialised) {
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_filter_initialised = initialiseFilter();
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if (!_filter_initialised) {
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return false;
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}
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}
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// Only run the filter if IMU data in the buffer has been updated
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if (_imu_updated) {
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if (!_filter_initialised) {
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_filter_initialised = initialiseFilter();
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if (!_filter_initialised) {
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return false;
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}
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}
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// perform state and covariance prediction for the main filter
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predictState();
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predictCovariance();
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@ -115,59 +116,30 @@ bool Ekf::update()
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runYawEKFGSF();
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}
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// the output observer always runs
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// Use full rate IMU data at the current time horizon
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calculateOutputStates(_newest_high_rate_imu_sample);
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if (_filter_initialised) {
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// the output observer always runs
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// Use full rate IMU data at the current time horizon
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calculateOutputStates(_newest_high_rate_imu_sample);
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}
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return updated;
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}
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bool Ekf::initialiseFilter()
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{
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// Filter accel for tilt initialization
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const imuSample &imu_init = _imu_buffer.get_newest();
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// protect against zero data
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if (imu_init.delta_vel_dt < 1e-4f || imu_init.delta_ang_dt < 1e-4f) {
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if (_imu_sample_delayed.delta_vel_dt < 1e-4f || _imu_sample_delayed.delta_ang_dt < 1e-4f) {
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return false;
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}
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if (_is_first_imu_sample) {
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_accel_lpf.reset(imu_init.delta_vel / imu_init.delta_vel_dt);
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_gyro_lpf.reset(imu_init.delta_ang / imu_init.delta_ang_dt);
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_accel_lpf.reset(_imu_sample_delayed.delta_vel / _imu_sample_delayed.delta_vel_dt);
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_gyro_lpf.reset(_imu_sample_delayed.delta_ang / _imu_sample_delayed.delta_ang_dt);
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_is_first_imu_sample = false;
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} else {
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_accel_lpf.update(imu_init.delta_vel / imu_init.delta_vel_dt);
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_gyro_lpf.update(imu_init.delta_ang / imu_init.delta_ang_dt);
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}
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// Sum the magnetometer measurements
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if (_mag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_mag_sample_delayed)) {
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if (_mag_sample_delayed.time_us != 0) {
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if (_mag_counter == 0) {
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_mag_lpf.reset(_mag_sample_delayed.mag);
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} else {
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_mag_lpf.update(_mag_sample_delayed.mag);
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}
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_mag_counter++;
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}
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}
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// accumulate enough height measurements to be confident in the quality of the data
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if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed)) {
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if (_baro_sample_delayed.time_us != 0) {
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if (_baro_counter == 0) {
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_baro_hgt_offset = _baro_sample_delayed.hgt;
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} else {
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_baro_hgt_offset = 0.9f * _baro_hgt_offset + 0.1f * _baro_sample_delayed.hgt;
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}
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_baro_counter++;
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}
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_accel_lpf.update(_imu_sample_delayed.delta_vel / _imu_sample_delayed.delta_vel_dt);
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_gyro_lpf.update(_imu_sample_delayed.delta_ang / _imu_sample_delayed.delta_ang_dt);
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}
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if (_params.mag_fusion_type <= MAG_FUSE_TYPE_3D) {
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@ -177,18 +149,69 @@ bool Ekf::initialiseFilter()
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}
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}
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if (_baro_counter < _obs_buffer_length) {
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// not enough baro samples accumulated
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return false;
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if (_baro_hgt_counter > 0) {
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_baro_hgt_offset = _baro_hgt_lpf.getState();
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}
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// we use baro height initially and switch to GPS/range/EV finder later when it passes checks.
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setControlBaroHeight();
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if (_gps_hgt_counter > 0) {
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_gps_hgt_offset = _gps_hgt_lpf.getState();
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}
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if (_rng_hgt_counter >= _rng_hgt_filter.window_size()) {
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_rng_hgt_offset = _rng_hgt_filter.median();
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}
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if (_ev_hgt_counter > 0) {
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_ev_hgt_offset = _ev_hgt_lpf.getState();
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}
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switch (_params.vdist_sensor_type) {
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default:
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// FALLTHROUGH
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case VDIST_SENSOR_BARO:
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if (_baro_hgt_counter < _obs_buffer_length) {
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// not enough samples accumulated
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return false;
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}
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startBaroHgtFusion();
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break;
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case VDIST_SENSOR_GPS:
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if (_gps_hgt_counter < _obs_buffer_length) {
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// not enough samples accumulated
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return false;
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}
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startGpsHgtFusion();
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break;
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case VDIST_SENSOR_RANGE:
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if (_rng_hgt_counter < _obs_buffer_length) {
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// not enough samples accumulated
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return false;
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}
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startRngHgtFusion();
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break;
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case VDIST_SENSOR_EV:
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if (_ev_hgt_counter < _obs_buffer_length) {
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// not enough samples accumulated
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return false;
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}
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startEvHgtFusion();
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break;
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}
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if (!initialiseTilt()) {
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return false;
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}
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resetHeight();
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// calculate the initial magnetic field and yaw alignment
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// but do not mark the yaw alignement complete as it needs to be
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// reset once the leveling phase is done
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@ -208,6 +231,10 @@ bool Ekf::initialiseFilter()
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// reset the essential fusion timeout counters
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_time_last_hgt_fuse = _time_last_imu;
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_time_last_baro_hgt_fuse = _time_last_imu;
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_time_last_gps_hgt_fuse = _time_last_imu;
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_time_last_rng_hgt_fuse = _time_last_imu;
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_time_last_ev_hgt_fuse = _time_last_imu;
|
||||
_time_last_hor_pos_fuse = _time_last_imu;
|
||||
_time_last_delpos_fuse = _time_last_imu;
|
||||
_time_last_hor_vel_fuse = _time_last_imu;
|
||||
|
||||
@ -78,13 +78,13 @@ public:
|
||||
void getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) const;
|
||||
void getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) const;
|
||||
|
||||
void getBaroHgtInnov(float &baro_hgt_innov) const { baro_hgt_innov = _baro_hgt_innov(2); }
|
||||
void getBaroHgtInnovVar(float &baro_hgt_innov_var) const { baro_hgt_innov_var = _baro_hgt_innov_var(2); }
|
||||
void getBaroHgtInnovRatio(float &baro_hgt_innov_ratio) const { baro_hgt_innov_ratio = _baro_hgt_test_ratio(1); }
|
||||
void getBaroHgtInnov(float &baro_hgt_innov) const { baro_hgt_innov = _baro_hgt_innov; }
|
||||
void getBaroHgtInnovVar(float &baro_hgt_innov_var) const { baro_hgt_innov_var = _baro_hgt_innov_var; }
|
||||
void getBaroHgtInnovRatio(float &baro_hgt_innov_ratio) const { baro_hgt_innov_ratio = _baro_hgt_test_ratio; }
|
||||
|
||||
void getRngHgtInnov(float &rng_hgt_innov) const { rng_hgt_innov = _rng_hgt_innov(2); }
|
||||
void getRngHgtInnovVar(float &rng_hgt_innov_var) const { rng_hgt_innov_var = _rng_hgt_innov_var(2); }
|
||||
void getRngHgtInnovRatio(float &rng_hgt_innov_ratio) const { rng_hgt_innov_ratio = _rng_hgt_test_ratio(1); }
|
||||
void getRngHgtInnov(float &rng_hgt_innov) const { rng_hgt_innov = _rng_hgt_innov; }
|
||||
void getRngHgtInnovVar(float &rng_hgt_innov_var) const { rng_hgt_innov_var = _rng_hgt_innov_var; }
|
||||
void getRngHgtInnovRatio(float &rng_hgt_innov_ratio) const { rng_hgt_innov_ratio = _rng_hgt_test_ratio; }
|
||||
|
||||
void getAuxVelInnov(float aux_vel_innov[2]) const;
|
||||
void getAuxVelInnovVar(float aux_vel_innov[2]) const;
|
||||
@ -387,6 +387,10 @@ private:
|
||||
|
||||
uint64_t _time_last_hor_pos_fuse{0}; ///< time the last fusion of horizontal position measurements was performed (uSec)
|
||||
uint64_t _time_last_hgt_fuse{0}; ///< time the last fusion of vertical position measurements was performed (uSec)
|
||||
uint64_t _time_last_baro_hgt_fuse{0};
|
||||
uint64_t _time_last_gps_hgt_fuse{0};
|
||||
uint64_t _time_last_rng_hgt_fuse{0};
|
||||
uint64_t _time_last_ev_hgt_fuse{0};
|
||||
uint64_t _time_last_hor_vel_fuse{0}; ///< time the last fusion of horizontal velocity measurements was performed (uSec)
|
||||
uint64_t _time_last_ver_vel_fuse{0}; ///< time the last fusion of verticalvelocity measurements was performed (uSec)
|
||||
uint64_t _time_last_delpos_fuse{0}; ///< time the last fusion of incremental horizontal position measurements was performed (uSec)
|
||||
@ -405,7 +409,11 @@ private:
|
||||
float _imu_collection_time_adj{0.0f}; ///< the amount of time the IMU collection needs to be advanced to meet the target set by FILTER_UPDATE_PERIOD_MS (sec)
|
||||
|
||||
uint64_t _time_acc_bias_check{0}; ///< last time the accel bias check passed (uSec)
|
||||
|
||||
uint64_t _delta_time_baro_us{0}; ///< delta time between two consecutive delayed baro samples from the buffer (uSec)
|
||||
uint64_t _delta_time_gps_us{0};
|
||||
uint64_t _delta_time_rng_us{0};
|
||||
uint64_t _delta_time_ev_us{0};
|
||||
|
||||
Vector3f _earth_rate_NED{}; ///< earth rotation vector (NED) in rad/s
|
||||
|
||||
@ -437,8 +445,20 @@ private:
|
||||
Vector3f _last_vel_obs{}; ///< last velocity observation (m/s)
|
||||
Vector3f _last_vel_obs_var{}; ///< last velocity observation variance (m/s)**2
|
||||
Vector2f _last_fail_hvel_innov{}; ///< last failed horizontal velocity innovation (m/s)**2
|
||||
|
||||
float _vert_pos_innov_ratio{0.f}; ///< vertical position innovation divided by estimated standard deviation of innovation
|
||||
uint64_t _vert_pos_fuse_attempt_time_us{0}; ///< last system time in usec vertical position measurement fuson was attempted
|
||||
|
||||
float _vert_pos_innov_ratio_baro{0.f}; ///< vertical position innovation divided by estimated standard deviation of innovation
|
||||
float _vert_pos_innov_ratio_gps{0.f};
|
||||
float _vert_pos_innov_ratio_rng{0.f};
|
||||
float _vert_pos_innov_ratio_ev{0.f};
|
||||
|
||||
uint64_t _vert_pos_baro_fuse_attempt_time_us{0};
|
||||
uint64_t _vert_pos_gps_fuse_attempt_time_us{0};
|
||||
uint64_t _vert_pos_rng_fuse_attempt_time_us{0};
|
||||
uint64_t _vert_pos_ev_fuse_attempt_time_us{0};
|
||||
|
||||
float _vert_vel_innov_ratio{0.f}; ///< standard deviation of vertical velocity innovation
|
||||
uint64_t _vert_vel_fuse_time_us{0}; ///< last system time in usec time vertical velocity measurement fuson was attempted
|
||||
|
||||
@ -454,11 +474,11 @@ private:
|
||||
Vector3f _ev_pos_innov{}; ///< external vision position innovations (m)
|
||||
Vector3f _ev_pos_innov_var{}; ///< external vision position innovation variances (m**2)
|
||||
|
||||
Vector3f _baro_hgt_innov{}; ///< baro hgt innovations (m)
|
||||
Vector3f _baro_hgt_innov_var{}; ///< baro hgt innovation variances (m**2)
|
||||
float _baro_hgt_innov{}; ///< baro hgt innovations (m)
|
||||
float _baro_hgt_innov_var{}; ///< baro hgt innovation variances (m**2)
|
||||
|
||||
Vector3f _rng_hgt_innov{}; ///< range hgt innovations (m)
|
||||
Vector3f _rng_hgt_innov_var{}; ///< range hgt innovation variances (m**2)
|
||||
float _rng_hgt_innov{}; ///< range hgt innovations (m)
|
||||
float _rng_hgt_innov_var{}; ///< range hgt innovation variances (m**2)
|
||||
|
||||
Vector3f _aux_vel_innov{}; ///< horizontal auxiliary velocity innovations: (m/sec)
|
||||
Vector3f _aux_vel_innov_var{}; ///< horizontal auxiliary velocity innovation variances: ((m/sec)**2)
|
||||
@ -518,15 +538,17 @@ private:
|
||||
|
||||
// Variables used by the initial filter alignment
|
||||
bool _is_first_imu_sample{true};
|
||||
uint32_t _baro_counter{0}; ///< number of baro samples read during initialisation
|
||||
uint32_t _mag_counter{0}; ///< number of magnetometer samples read during initialisation
|
||||
AlphaFilter<Vector3f> _accel_lpf{0.1f}; ///< filtered accelerometer measurement used to align tilt (m/s/s)
|
||||
AlphaFilter<Vector3f> _gyro_lpf{0.1f}; ///< filtered gyro measurement used for alignment excessive movement check (rad/sec)
|
||||
|
||||
// Variables used to perform in flight resets and switch between height sources
|
||||
AlphaFilter<Vector3f> _mag_lpf{0.1f}; ///< filtered magnetometer measurement for instant reset (Gauss)
|
||||
float _hgt_sensor_offset{0.0f}; ///< set as necessary if desired to maintain the same height after a height reset (m)
|
||||
float _baro_hgt_offset{0.0f}; ///< baro height reading at the local NED origin (m)
|
||||
|
||||
float _baro_hgt_offset{NAN}; ///< baro height reading at the local NED origin (m)
|
||||
float _gps_hgt_offset{NAN};
|
||||
float _rng_hgt_offset{NAN};
|
||||
float _ev_hgt_offset{NAN};
|
||||
|
||||
float _baro_hgt_bias{0.0f};
|
||||
float _baro_hgt_bias_var{1.f};
|
||||
|
||||
@ -686,8 +708,7 @@ private:
|
||||
bool fuseHorizontalPosition(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
|
||||
Vector3f &innov_var, Vector2f &test_ratiov, bool inhibit_gate = false);
|
||||
|
||||
bool fuseVerticalPosition(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
|
||||
Vector3f &innov_var, Vector2f &test_ratio);
|
||||
bool fuseVerticalPosition(float innov, float innov_gate, float obs_var, float innov_var, float test_ratio);
|
||||
|
||||
void fuseGpsVelPos();
|
||||
|
||||
@ -932,7 +953,6 @@ private:
|
||||
void startRngAidHgtFusion();
|
||||
void startEvHgtFusion();
|
||||
|
||||
void updateBaroHgtOffset();
|
||||
void updateBaroHgtBias();
|
||||
|
||||
void updateGroundEffect();
|
||||
|
||||
@ -271,7 +271,7 @@ void Ekf::resetHeight()
|
||||
}
|
||||
|
||||
// update the state and associated variance
|
||||
resetVerticalPositionTo(-dist_bottom + _hgt_sensor_offset);
|
||||
resetVerticalPositionTo(-dist_bottom + _rng_hgt_offset);
|
||||
|
||||
// the state variance is the same as the observation
|
||||
P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.range_noise));
|
||||
@ -297,7 +297,7 @@ void Ekf::resetHeight()
|
||||
} else if (_control_status.flags.gps_hgt) {
|
||||
// initialize vertical position and velocity with newest gps measurement
|
||||
if (!_gps_hgt_intermittent) {
|
||||
resetVerticalPositionTo(_hgt_sensor_offset - gps_newest.hgt + _gps_alt_ref);
|
||||
resetVerticalPositionTo(_gps_hgt_offset - gps_newest.hgt + _gps_alt_ref);
|
||||
|
||||
// the state variance is the same as the observation
|
||||
P.uncorrelateCovarianceSetVariance<1>(9, sq(gps_newest.vacc));
|
||||
@ -965,13 +965,13 @@ void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, f
|
||||
|
||||
// return the vertical position innovation test ratio
|
||||
if (_control_status.flags.baro_hgt) {
|
||||
hgt = math::max(sqrtf(_baro_hgt_test_ratio(1)), FLT_MIN);
|
||||
hgt = math::max(sqrtf(_baro_hgt_test_ratio), FLT_MIN);
|
||||
|
||||
} else if (_control_status.flags.gps_hgt) {
|
||||
hgt = math::max(sqrtf(_gps_pos_test_ratio(1)), FLT_MIN);
|
||||
|
||||
} else if (_control_status.flags.rng_hgt) {
|
||||
hgt = math::max(sqrtf(_rng_hgt_test_ratio(1)), FLT_MIN);
|
||||
hgt = math::max(sqrtf(_rng_hgt_test_ratio), FLT_MIN);
|
||||
|
||||
} else if (_control_status.flags.ev_hgt) {
|
||||
hgt = math::max(sqrtf(_ev_pos_test_ratio(1)), FLT_MIN);
|
||||
@ -1276,11 +1276,12 @@ void Ekf::startMag3DFusion()
|
||||
|
||||
void Ekf::startBaroHgtFusion()
|
||||
{
|
||||
setControlBaroHeight();
|
||||
if (!_control_status.flags.baro_hgt) {
|
||||
setControlBaroHeight();
|
||||
|
||||
// We don't need to set a height sensor offset
|
||||
// since we track a separate _baro_hgt_offset
|
||||
_hgt_sensor_offset = 0.0f;
|
||||
// We don't need to set a height sensor offset
|
||||
// since we track a separate _baro_hgt_offset
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf::startGpsHgtFusion()
|
||||
@ -1290,7 +1291,7 @@ void Ekf::startGpsHgtFusion()
|
||||
|
||||
// calculate height sensor offset such that current
|
||||
// measurement matches our current height estimate
|
||||
_hgt_sensor_offset = _gps_sample_delayed.hgt - _gps_alt_ref + _state.pos(2);
|
||||
_gps_hgt_offset = _gps_sample_delayed.hgt - _gps_alt_ref + _state.pos(2);
|
||||
}
|
||||
}
|
||||
|
||||
@ -1301,7 +1302,7 @@ void Ekf::startRngHgtFusion()
|
||||
|
||||
// Range finder is the primary height source, the ground is now the datum used
|
||||
// to compute the local vertical position
|
||||
_hgt_sensor_offset = 0.f;
|
||||
_rng_hgt_offset = 0.f;
|
||||
|
||||
if (!_control_status_prev.flags.ev_hgt) {
|
||||
// EV and range finders are using the same height datum
|
||||
@ -1315,9 +1316,8 @@ void Ekf::startRngAidHgtFusion()
|
||||
if (!_control_status.flags.rng_hgt) {
|
||||
setControlRangeHeight();
|
||||
|
||||
// calculate height sensor offset such that current
|
||||
// measurement matches our current height estimate
|
||||
_hgt_sensor_offset = _terrain_vpos;
|
||||
// We don't need to set a height sensor offset
|
||||
// since we track a separate _rng_hgt_offset
|
||||
}
|
||||
}
|
||||
|
||||
@ -1326,6 +1326,8 @@ void Ekf::startEvHgtFusion()
|
||||
if (!_control_status.flags.ev_hgt) {
|
||||
setControlEVHeight();
|
||||
|
||||
_ev_hgt_offset = 0.f;
|
||||
|
||||
if (!_control_status_prev.flags.rng_hgt) {
|
||||
// EV and range finders are using the same height datum
|
||||
resetHeight();
|
||||
@ -1333,21 +1335,6 @@ void Ekf::startEvHgtFusion()
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf::updateBaroHgtOffset()
|
||||
{
|
||||
// calculate a filtered offset between the baro origin and local NED origin if we are not
|
||||
// using the baro as a height reference
|
||||
if (!_control_status.flags.baro_hgt && _baro_data_ready) {
|
||||
const float local_time_step = math::constrain(1e-6f * _delta_time_baro_us, 0.0f, 1.0f);
|
||||
|
||||
// apply a 10 second first order low pass filter to baro offset
|
||||
const float unbiased_baro = _baro_sample_delayed.hgt - _baro_b_est.getBias();
|
||||
|
||||
const float offset_rate_correction = 0.1f * (unbiased_baro + _state.pos(2) - _baro_hgt_offset);
|
||||
_baro_hgt_offset += local_time_step * math::constrain(offset_rate_correction, -0.1f, 0.1f);
|
||||
}
|
||||
}
|
||||
|
||||
float Ekf::getGpsHeightVariance()
|
||||
{
|
||||
// observation variance - receiver defined and parameter limited
|
||||
@ -1568,7 +1555,7 @@ void Ekf::stopGpsFusion()
|
||||
|
||||
// We do not need to know the true North anymore
|
||||
// EV yaw can start again
|
||||
_inhibit_ev_yaw_use = false;;
|
||||
_inhibit_ev_yaw_use = false;
|
||||
}
|
||||
|
||||
void Ekf::stopGpsPosFusion()
|
||||
|
||||
@ -144,6 +144,15 @@ void EstimatorInterface::setMagData(const magSample &mag_sample)
|
||||
_mag_data_sum.setZero();
|
||||
_mag_timestamp_sum = 0;
|
||||
}
|
||||
|
||||
if (_mag_counter == 0) {
|
||||
_mag_lpf.reset(mag_sample.mag);
|
||||
|
||||
} else {
|
||||
_mag_lpf.update(mag_sample.mag);
|
||||
}
|
||||
|
||||
_mag_counter++;
|
||||
}
|
||||
|
||||
void EstimatorInterface::setGpsData(const gps_message &gps)
|
||||
@ -204,6 +213,20 @@ void EstimatorInterface::setGpsData(const gps_message &gps)
|
||||
|
||||
_gps_buffer.push(gps_sample_new);
|
||||
}
|
||||
|
||||
if (gps.fix_type > 2) {
|
||||
// accumulate enough height measurements to be confident in the quality of the data
|
||||
const float hgt = gps.alt * 1e-3f;
|
||||
|
||||
if (_gps_hgt_counter == 0) {
|
||||
_gps_hgt_lpf.reset(hgt);
|
||||
|
||||
} else {
|
||||
_gps_hgt_lpf.update(hgt);
|
||||
}
|
||||
|
||||
_gps_hgt_counter++;
|
||||
}
|
||||
}
|
||||
|
||||
void EstimatorInterface::setBaroData(const baroSample &baro_sample)
|
||||
@ -249,6 +272,16 @@ void EstimatorInterface::setBaroData(const baroSample &baro_sample)
|
||||
_baro_alt_sum = 0.0f;
|
||||
_baro_timestamp_sum = 0;
|
||||
}
|
||||
|
||||
// accumulate enough height measurements to be confident in the quality of the data
|
||||
if (_baro_hgt_counter == 0) {
|
||||
_baro_hgt_lpf.reset(baro_sample.hgt);
|
||||
|
||||
} else {
|
||||
_baro_hgt_lpf.update(baro_sample.hgt);
|
||||
}
|
||||
|
||||
_baro_hgt_counter++;
|
||||
}
|
||||
|
||||
void EstimatorInterface::setAirspeedData(const airspeedSample &airspeed_sample)
|
||||
@ -308,6 +341,8 @@ void EstimatorInterface::setRangeData(const rangeSample &range_sample)
|
||||
|
||||
_range_buffer.push(range_sample_new);
|
||||
}
|
||||
|
||||
_rng_hgt_filter.insert(range_sample.rng);
|
||||
}
|
||||
|
||||
void EstimatorInterface::setOpticalFlowData(const flowSample &flow)
|
||||
@ -369,6 +404,16 @@ void EstimatorInterface::setExtVisionData(const extVisionSample &evdata)
|
||||
|
||||
_ext_vision_buffer.push(ev_sample_new);
|
||||
}
|
||||
|
||||
// accumulate enough height measurements to be confident in the quality of the data
|
||||
if (_ev_hgt_counter == 0) {
|
||||
_ev_hgt_lpf.reset(evdata.pos(2));
|
||||
|
||||
} else {
|
||||
_ev_hgt_lpf.update(evdata.pos(2));
|
||||
}
|
||||
|
||||
_ev_hgt_counter++;
|
||||
}
|
||||
|
||||
void EstimatorInterface::setAuxVelData(const auxVelSample &auxvel_sample)
|
||||
|
||||
@ -63,6 +63,7 @@
|
||||
#include <matrix/math.hpp>
|
||||
#include <mathlib/mathlib.h>
|
||||
#include <mathlib/math/filter/AlphaFilter.hpp>
|
||||
#include <mathlib/math/filter/MedianFilter.hpp>
|
||||
|
||||
using namespace estimator;
|
||||
|
||||
@ -329,8 +330,8 @@ protected:
|
||||
Vector2f _ev_vel_test_ratio{}; // EV velocity innovation consistency check ratios
|
||||
Vector2f _ev_pos_test_ratio{}; // EV position innovation consistency check ratios
|
||||
Vector2f _aux_vel_test_ratio{}; // Auxiliary horizontal velocity innovation consistency check ratio
|
||||
Vector2f _baro_hgt_test_ratio{}; // baro height innovation consistency check ratios
|
||||
Vector2f _rng_hgt_test_ratio{}; // range finder height innovation consistency check ratios
|
||||
float _baro_hgt_test_ratio{}; // baro height innovation consistency check ratios
|
||||
float _rng_hgt_test_ratio{}; // range finder height innovation consistency check ratios
|
||||
float _optflow_test_ratio{}; // Optical flow innovation consistency check ratio
|
||||
float _tas_test_ratio{}; // tas innovation consistency check ratio
|
||||
float _hagl_test_ratio{}; // height above terrain measurement innovation consistency check ratio
|
||||
@ -401,6 +402,21 @@ protected:
|
||||
warning_event_status_u _warning_events{};
|
||||
information_event_status_u _information_events{};
|
||||
|
||||
uint32_t _baro_hgt_counter{0};
|
||||
AlphaFilter<float> _baro_hgt_lpf{0.1f};
|
||||
|
||||
uint32_t _gps_hgt_counter{0};
|
||||
AlphaFilter<float> _gps_hgt_lpf{0.1f};
|
||||
|
||||
uint32_t _rng_hgt_counter{0};
|
||||
math::MedianFilter<float, 5> _rng_hgt_filter{};
|
||||
|
||||
uint32_t _ev_hgt_counter{0};
|
||||
AlphaFilter<float> _ev_hgt_lpf{0.1f};
|
||||
|
||||
uint32_t _mag_counter{0};
|
||||
AlphaFilter<Vector3f> _mag_lpf{0.1f}; ///< filtered magnetometer measurement for instant reset (Gauss)
|
||||
|
||||
private:
|
||||
|
||||
inline void setDragData(const imuSample &imu);
|
||||
|
||||
@ -40,16 +40,21 @@
|
||||
|
||||
void Ekf::fuseBaroHgt()
|
||||
{
|
||||
Vector2f baro_hgt_innov_gate;
|
||||
Vector3f baro_hgt_obs_var;
|
||||
|
||||
// vertical position innovation - baro measurement has opposite sign to earth z axis
|
||||
const float unbiased_baro = _baro_sample_delayed.hgt - _baro_b_est.getBias();
|
||||
_baro_hgt_innov(2) = _state.pos(2) + unbiased_baro - _baro_hgt_offset;
|
||||
// observation variance - user parameter defined
|
||||
baro_hgt_obs_var(2) = sq(fmaxf(_params.baro_noise, 0.01f));
|
||||
// innovation gate size
|
||||
baro_hgt_innov_gate(1) = fmaxf(_params.baro_innov_gate, 1.0f);
|
||||
|
||||
if (!PX4_ISFINITE(_baro_hgt_offset)) {
|
||||
_baro_hgt_offset = _state.pos(2) + unbiased_baro;
|
||||
}
|
||||
|
||||
_baro_hgt_innov = _state.pos(2) + unbiased_baro - _baro_hgt_offset;
|
||||
|
||||
if (!_control_status.flags.baro_hgt) {
|
||||
// apply a 10 second first order low pass filter to baro offset
|
||||
const float local_time_step = math::constrain(1e-6f * _delta_time_baro_us, 0.f, 1.f);
|
||||
const float offset_rate_correction = 0.1f * _baro_hgt_innov;
|
||||
_baro_hgt_offset += local_time_step * math::constrain(offset_rate_correction, -0.1f, 0.1f);
|
||||
}
|
||||
|
||||
// Compensate for positive static pressure transients (negative vertical position innovations)
|
||||
// caused by rotor wash ground interaction by applying a temporary deadzone to baro innovations.
|
||||
@ -58,62 +63,171 @@ void Ekf::fuseBaroHgt()
|
||||
const float deadzone_start = 0.0f;
|
||||
const float deadzone_end = deadzone_start + _params.gnd_effect_deadzone;
|
||||
|
||||
if (_baro_hgt_innov(2) < -deadzone_start) {
|
||||
if (_baro_hgt_innov(2) <= -deadzone_end) {
|
||||
_baro_hgt_innov(2) += deadzone_end;
|
||||
if (_baro_hgt_innov < -deadzone_start) {
|
||||
if (_baro_hgt_innov <= -deadzone_end) {
|
||||
_baro_hgt_innov += deadzone_end;
|
||||
|
||||
} else {
|
||||
_baro_hgt_innov(2) = -deadzone_start;
|
||||
_baro_hgt_innov = -deadzone_start;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
fuseVerticalPosition(_baro_hgt_innov, baro_hgt_innov_gate,
|
||||
baro_hgt_obs_var, _baro_hgt_innov_var, _baro_hgt_test_ratio);
|
||||
// innovation gate size
|
||||
float innov_gate = fmaxf(_params.baro_innov_gate, 1.f);
|
||||
// observation variance - user parameter defined
|
||||
float obs_var = sq(fmaxf(_params.baro_noise, 0.01f));
|
||||
|
||||
_baro_hgt_innov_var = P(9, 9) + obs_var;
|
||||
_baro_hgt_test_ratio = sq(_baro_hgt_innov) / (sq(innov_gate) * _baro_hgt_innov_var);
|
||||
|
||||
_vert_pos_innov_ratio_baro = _baro_hgt_innov / sqrtf(_baro_hgt_innov_var);
|
||||
_vert_pos_baro_fuse_attempt_time_us = _time_last_imu;
|
||||
|
||||
if (_control_status.flags.baro_hgt) {
|
||||
if (fuseVerticalPosition(_baro_hgt_innov, innov_gate, obs_var, _baro_hgt_innov_var, _baro_hgt_test_ratio)) {
|
||||
_time_last_baro_hgt_fuse = _time_last_imu;
|
||||
}
|
||||
}
|
||||
|
||||
if (_baro_hgt_test_ratio < 1.f) {
|
||||
_innov_check_fail_status.flags.reject_ver_pos_baro = false;
|
||||
|
||||
} else {
|
||||
_innov_check_fail_status.flags.reject_ver_pos_baro = true;
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf::fuseGpsHgt()
|
||||
{
|
||||
Vector2f gps_hgt_innov_gate;
|
||||
Vector3f gps_hgt_obs_var;
|
||||
// vertical position innovation - gps measurement has opposite sign to earth z axis
|
||||
_gps_pos_innov(2) = _state.pos(2) + _gps_sample_delayed.hgt - _gps_alt_ref - _hgt_sensor_offset;
|
||||
gps_hgt_obs_var(2) = getGpsHeightVariance();
|
||||
// innovation gate size
|
||||
gps_hgt_innov_gate(1) = fmaxf(_params.baro_innov_gate, 1.0f);
|
||||
if (!PX4_ISFINITE(_gps_hgt_offset)) {
|
||||
_gps_hgt_offset = _state.pos(2) + _gps_sample_delayed.hgt - _gps_alt_ref;
|
||||
}
|
||||
|
||||
fuseVerticalPosition(_gps_pos_innov, gps_hgt_innov_gate,
|
||||
gps_hgt_obs_var, _gps_pos_innov_var, _gps_pos_test_ratio);
|
||||
// vertical position innovation - gps measurement has opposite sign to earth z axis
|
||||
float innov = _state.pos(2) + _gps_sample_delayed.hgt - _gps_alt_ref - _gps_hgt_offset;
|
||||
|
||||
if (!_control_status.flags.gps_hgt) {
|
||||
// apply a 10 second first order low pass filter to offset
|
||||
const float local_time_step = math::constrain(1e-6f * _delta_time_gps_us, 0.f, 1.f);
|
||||
const float offset_rate_correction = 0.1f * innov;
|
||||
_gps_hgt_offset += local_time_step * math::constrain(offset_rate_correction, -0.1f, 0.1f);
|
||||
}
|
||||
|
||||
// innovation gate size
|
||||
float innov_gate = fmaxf(_params.baro_innov_gate, 1.f);
|
||||
|
||||
float obs_var = getGpsHeightVariance();
|
||||
float innov_var = P(9, 9) + obs_var;
|
||||
float test_ratio = sq(innov) / (sq(innov_gate) * innov_var);
|
||||
|
||||
_vert_pos_innov_ratio_gps = innov / sqrtf(innov_var);
|
||||
_vert_pos_gps_fuse_attempt_time_us = _time_last_imu;
|
||||
|
||||
if (_control_status.flags.baro_hgt) {
|
||||
if (fuseVerticalPosition(innov, innov_gate, obs_var, innov_var, test_ratio)) {
|
||||
_time_last_gps_hgt_fuse = _time_last_imu;
|
||||
}
|
||||
}
|
||||
|
||||
_gps_pos_innov(2) = innov;
|
||||
_gps_pos_innov_var(2) = innov_var;
|
||||
_gps_pos_test_ratio(2) = test_ratio;
|
||||
|
||||
if (test_ratio < 1.f) {
|
||||
_innov_check_fail_status.flags.reject_ver_pos_gps = false;
|
||||
|
||||
} else {
|
||||
_innov_check_fail_status.flags.reject_ver_pos_gps = true;
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf::fuseRngHgt()
|
||||
{
|
||||
Vector2f rng_hgt_innov_gate;
|
||||
Vector3f rng_hgt_obs_var;
|
||||
// use range finder with tilt correction
|
||||
_rng_hgt_innov(2) = _state.pos(2) - (-math::max(_range_sensor.getDistBottom(),
|
||||
_params.rng_gnd_clearance)) - _hgt_sensor_offset;
|
||||
// observation variance - user parameter defined
|
||||
rng_hgt_obs_var(2) = fmaxf(sq(_params.range_noise)
|
||||
+ sq(_params.range_noise_scaler * _range_sensor.getDistBottom()), 0.01f);
|
||||
// innovation gate size
|
||||
rng_hgt_innov_gate(1) = fmaxf(_params.range_innov_gate, 1.0f);
|
||||
if (!PX4_ISFINITE(_rng_hgt_offset)) {
|
||||
_rng_hgt_offset = _state.pos(2) - (-math::max(_range_sensor.getDistBottom(), _params.rng_gnd_clearance));
|
||||
}
|
||||
|
||||
fuseVerticalPosition(_rng_hgt_innov, rng_hgt_innov_gate,
|
||||
rng_hgt_obs_var, _rng_hgt_innov_var, _rng_hgt_test_ratio);
|
||||
// use range finder with tilt correction
|
||||
_rng_hgt_innov = _state.pos(2) - (-math::max(_range_sensor.getDistBottom(),
|
||||
_params.rng_gnd_clearance)) - _rng_hgt_offset;
|
||||
|
||||
if (!_control_status.flags.rng_hgt) {
|
||||
// apply a 10 second first order low pass filter to offset
|
||||
const float local_time_step = math::constrain(1e-6f * _delta_time_rng_us, 0.f, 1.f);
|
||||
const float offset_rate_correction = 0.1f * _rng_hgt_innov;
|
||||
_rng_hgt_offset += local_time_step * math::constrain(offset_rate_correction, -0.1f, 0.1f);
|
||||
}
|
||||
|
||||
// innovation gate size
|
||||
float innov_gate = fmaxf(_params.range_innov_gate, 1.f);
|
||||
|
||||
// observation variance - user parameter defined
|
||||
float obs_var = fmaxf(sq(_params.range_noise)
|
||||
+ sq(_params.range_noise_scaler * _range_sensor.getDistBottom()), 0.01f);
|
||||
|
||||
_rng_hgt_innov_var = P(9, 9) + obs_var;
|
||||
|
||||
_rng_hgt_test_ratio = sq(_rng_hgt_innov) / (sq(innov_gate) * _rng_hgt_innov_var);
|
||||
|
||||
_vert_pos_innov_ratio_rng = _rng_hgt_innov / sqrtf(_rng_hgt_innov_var);
|
||||
_vert_pos_rng_fuse_attempt_time_us = _time_last_imu;
|
||||
|
||||
if (_control_status.flags.rng_hgt) {
|
||||
if (fuseVerticalPosition(_rng_hgt_innov, innov_gate, obs_var, _rng_hgt_innov_var, _rng_hgt_test_ratio)) {
|
||||
_time_last_rng_hgt_fuse = _time_last_imu;
|
||||
}
|
||||
}
|
||||
|
||||
if (_rng_hgt_test_ratio < 1.f) {
|
||||
_innov_check_fail_status.flags.reject_ver_pos_rng = false;
|
||||
|
||||
} else {
|
||||
_innov_check_fail_status.flags.reject_ver_pos_rng = true;
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf::fuseEvHgt()
|
||||
{
|
||||
Vector2f ev_hgt_innov_gate;
|
||||
Vector3f ev_hgt_obs_var;
|
||||
// calculate the innovation assuming the external vision observation is in local NED frame
|
||||
_ev_pos_innov(2) = _state.pos(2) - _ev_sample_delayed.pos(2);
|
||||
// observation variance - defined externally
|
||||
ev_hgt_obs_var(2) = fmaxf(_ev_sample_delayed.posVar(2), sq(0.01f));
|
||||
// innovation gate size
|
||||
ev_hgt_innov_gate(1) = fmaxf(_params.ev_pos_innov_gate, 1.0f);
|
||||
if (!PX4_ISFINITE(_ev_hgt_offset)) {
|
||||
_ev_hgt_offset = _state.pos(2) - _ev_sample_delayed.pos(2);
|
||||
}
|
||||
|
||||
fuseVerticalPosition(_ev_pos_innov, ev_hgt_innov_gate,
|
||||
ev_hgt_obs_var, _ev_pos_innov_var, _ev_pos_test_ratio);
|
||||
// calculate the innovation assuming the external vision observation is in local NED frame
|
||||
float innov = _state.pos(2) - _ev_sample_delayed.pos(2) - _ev_hgt_offset;
|
||||
|
||||
if (!_control_status.flags.ev_hgt) {
|
||||
// apply a 10 second first order low pass filter to offset
|
||||
const float local_time_step = math::constrain(1e-6f * _delta_time_ev_us, 0.f, 1.f);
|
||||
const float offset_rate_correction = 0.1f * innov;
|
||||
_ev_hgt_offset += local_time_step * math::constrain(offset_rate_correction, -0.1f, 0.1f);
|
||||
}
|
||||
|
||||
// innovation gate size
|
||||
float innov_gate = fmaxf(_params.ev_pos_innov_gate, 1.f);
|
||||
|
||||
// observation variance - defined externally
|
||||
float obs_var = fmaxf(_ev_sample_delayed.posVar(2), sq(0.01f));
|
||||
float innov_var = P(9, 9) + obs_var;
|
||||
float test_ratio = sq(innov) / (sq(innov_gate) * innov_var);
|
||||
|
||||
_vert_pos_innov_ratio_ev = innov / sqrtf(innov_var);
|
||||
_vert_pos_ev_fuse_attempt_time_us = _time_last_imu;
|
||||
|
||||
if (_control_status.flags.ev_hgt) {
|
||||
if (fuseVerticalPosition(innov, innov_gate, obs_var, innov_var, test_ratio)) {
|
||||
_time_last_ev_hgt_fuse = _time_last_imu;
|
||||
}
|
||||
}
|
||||
|
||||
_ev_pos_innov(2) = innov;
|
||||
_ev_pos_innov_var(2) = innov_var;
|
||||
_ev_pos_test_ratio(2) = test_ratio;
|
||||
|
||||
if (test_ratio < 1.f) {
|
||||
_innov_check_fail_status.flags.reject_ver_pos_ev = false;
|
||||
|
||||
} else {
|
||||
_innov_check_fail_status.flags.reject_ver_pos_ev = true;
|
||||
}
|
||||
}
|
||||
|
||||
@ -106,6 +106,8 @@ public:
|
||||
float getValidMinVal() const { return _rng_valid_min_val; }
|
||||
float getValidMaxVal() const { return _rng_valid_max_val; }
|
||||
|
||||
const rangeSample &sample() const { return _sample; }
|
||||
|
||||
private:
|
||||
void updateSensorToEarthRotation(const matrix::Dcmf &R_to_earth);
|
||||
|
||||
|
||||
@ -146,33 +146,30 @@ bool Ekf::fuseHorizontalPosition(const Vector3f &innov, const Vector2f &innov_ga
|
||||
}
|
||||
}
|
||||
|
||||
bool Ekf::fuseVerticalPosition(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
|
||||
Vector3f &innov_var, Vector2f &test_ratio)
|
||||
bool Ekf::fuseVerticalPosition(float innov, float innov_gate, float obs_var, float innov_var, float test_ratio)
|
||||
{
|
||||
|
||||
innov_var(2) = P(9, 9) + obs_var(2);
|
||||
test_ratio(1) = sq(innov(2)) / (sq(innov_gate(1)) * innov_var(2));
|
||||
_vert_pos_innov_ratio = innov(2) / sqrtf(innov_var(2));
|
||||
_vert_pos_innov_ratio = innov / sqrtf(innov_var);
|
||||
_vert_pos_fuse_attempt_time_us = _time_last_imu;
|
||||
bool innov_check_pass = test_ratio(1) <= 1.0f;
|
||||
|
||||
bool innov_check_pass = test_ratio <= 1.f;
|
||||
|
||||
// if there is bad vertical acceleration data, then don't reject measurement,
|
||||
// but limit innovation to prevent spikes that could destabilise the filter
|
||||
float innovation;
|
||||
|
||||
if (_fault_status.flags.bad_acc_vertical && !innov_check_pass) {
|
||||
const float innov_limit = innov_gate(1) * sqrtf(innov_var(2));
|
||||
innovation = math::constrain(innov(2), -innov_limit, innov_limit);
|
||||
const float innov_limit = innov_gate * sqrtf(innov_var);
|
||||
innovation = math::constrain(innov, -innov_limit, innov_limit);
|
||||
innov_check_pass = true;
|
||||
|
||||
} else {
|
||||
innovation = innov(2);
|
||||
innovation = innov;
|
||||
}
|
||||
|
||||
if (innov_check_pass) {
|
||||
_time_last_hgt_fuse = _time_last_imu;
|
||||
_innov_check_fail_status.flags.reject_ver_pos = false;
|
||||
fuseVelPosHeight(innovation, innov_var(2), 5);
|
||||
fuseVelPosHeight(innovation, innov_var, 5);
|
||||
|
||||
return true;
|
||||
|
||||
|
||||
@ -1250,6 +1250,10 @@ void EKF2::PublishStatusFlags(const hrt_abstime ×tamp)
|
||||
status_flags.reject_hagl = _ekf.innov_check_fail_status_flags().reject_hagl;
|
||||
status_flags.reject_optflow_x = _ekf.innov_check_fail_status_flags().reject_optflow_X;
|
||||
status_flags.reject_optflow_y = _ekf.innov_check_fail_status_flags().reject_optflow_Y;
|
||||
status_flags.reject_ver_pos_baro = _ekf.innov_check_fail_status_flags().reject_ver_pos_baro;
|
||||
status_flags.reject_ver_pos_gps = _ekf.innov_check_fail_status_flags().reject_ver_pos_gps;
|
||||
status_flags.reject_ver_pos_rng = _ekf.innov_check_fail_status_flags().reject_ver_pos_rng;
|
||||
status_flags.reject_ver_pos_ev = _ekf.innov_check_fail_status_flags().reject_ver_pos_ev;
|
||||
|
||||
status_flags.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
|
||||
_estimator_status_flags_pub.publish(status_flags);
|
||||
|
||||
@ -1,391 +1,391 @@
|
||||
Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
|
||||
15000,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
||||
85000,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
||||
185000,1,-0.0104,-0.0108,-0.0166,0.00012,-0.000107,-0.0115,1.37e-05,-4.6e-06,-0.000265,1.72e-15,-3.19e-15,-1.16e-16,-1.72e-12,1.62e-12,-7.94e-11,0.192,0.00188,0.404,0,0,0,0,0,1.4e-06,0.00252,0.00252,0.00306,0.257,0.257,0.563,0.126,0.126,1,1e-06,1e-06,9.99e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
285000,1,-0.0105,-0.0111,-0.0166,0.00136,0.000387,-0.0252,7.07e-05,-1.59e-05,-0.00161,2.52e-14,2.38e-14,-5.64e-16,-3.83e-11,3.59e-11,-1.75e-09,0.192,0.00188,0.404,0,0,0,0,0,1.17e-06,0.00258,0.00258,0.00209,0.284,0.284,0.563,0.133,0.133,0.577,1e-06,1e-06,9.95e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
385000,1,-0.0105,-0.0114,-0.0166,0.00279,0.000841,-0.0398,0.000234,6.62e-05,-0.00379,3.99e-11,-5.71e-10,-6.11e-12,3.05e-09,6.38e-10,-1.9e-08,0.192,0.00188,0.404,0,0,0,0,0,1.08e-06,0.00269,0.00269,0.00162,0.323,0.323,0.56,0.0943,0.0943,0.376,1e-06,1e-06,9.86e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
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@ -1,351 +1,351 @@
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Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
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34485000,0.983,-0.00631,-0.0114,0.185,-0.0152,-0.00577,-0.0947,0.07,-0.00902,-0.404,-1.4e-05,-5.63e-05,1.77e-06,-0.000122,-0.00011,-0.00108,0.204,0.002,0.434,0,0,0,0,0,1.5e-05,3.68e-05,3.68e-05,8.12e-05,0.0533,0.0533,0.00636,0.0513,0.0513,0.0359,2.59e-11,2.59e-11,1.4e-10,2.25e-06,2.25e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34585000,0.983,-0.00627,-0.0112,0.185,-0.0111,-0.00283,0.654,0.0721,-0.00731,-0.371,-1.4e-05,-5.63e-05,1.75e-06,-0.000136,-0.00011,-0.00108,0.204,0.002,0.434,0,0,0,0,0,1.5e-05,3.46e-05,3.46e-05,8.09e-05,0.0438,0.0438,0.00629,0.0449,0.0449,0.0347,2.6e-11,2.59e-11,1.38e-10,2.15e-06,2.15e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34685000,0.983,-0.00625,-0.0109,0.185,-0.0106,-0.00116,1.64,0.071,-0.00747,-0.263,-1.4e-05,-5.63e-05,1.73e-06,-0.000135,-0.00011,-0.00108,0.204,0.002,0.434,0,0,0,0,0,1.5e-05,3.47e-05,3.47e-05,8.06e-05,0.0471,0.0471,0.00646,0.0517,0.0517,0.0355,2.61e-11,2.6e-11,1.37e-10,2.15e-06,2.15e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34785000,0.983,-0.00624,-0.0107,0.185,-0.00945,0.00241,2.61,0.072,-0.00551,-0.0839,-1.4e-05,-5.63e-05,1.71e-06,-0.000119,-0.000125,-0.00105,0.204,0.002,0.434,0,0,0,0,0,1.5e-05,3.35e-05,3.35e-05,8.06e-05,0.0394,0.0394,0.00643,0.0452,0.0452,0.0346,2.61e-11,2.61e-11,1.36e-10,2.04e-06,2.04e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34885000,0.983,-0.00623,-0.0104,0.185,-0.00931,0.00425,3.6,0.071,-0.00507,0.207,-1.4e-05,-5.63e-05,1.7e-06,-0.000116,-0.000126,-0.00105,0.204,0.002,0.434,0,0,0,0,0,1.5e-05,3.36e-05,3.36e-05,8.03e-05,0.043,0.043,0.00662,0.0516,0.0516,0.0355,2.62e-11,2.62e-11,1.35e-10,2.04e-06,2.04e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
|
||||
|
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Reference in New Issue
Block a user