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ekf2: minor position/velocity reset cleanup
- try to use avoid resetVelocity() call where possible - reset timeouts centrally
This commit is contained in:
Daniel Agar
@@ -106,6 +106,21 @@ 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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_gps_data_ready = _gps_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &_gps_sample_delayed);
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if (_gps_data_ready) {
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// correct velocity for offset relative to IMU
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const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body;
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const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body;
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const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body;
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_gps_sample_delayed.vel -= vel_offset_earth;
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// correct position and height for offset relative to IMU
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const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
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_gps_sample_delayed.pos -= pos_offset_earth.xy();
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_gps_sample_delayed.hgt += pos_offset_earth(2);
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_gps_sample_delayed.sacc = fmaxf(_gps_sample_delayed.sacc, _params.gps_vel_noise);
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}
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}
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if (_range_buffer) {
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@@ -145,6 +160,9 @@ void Ekf::controlFusionModes()
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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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}
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// run EKF-GSF yaw estimator once per _imu_sample_delayed update after all main EKF data samples available
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runYawEKFGSF();
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// check for height sensor timeouts and reset and change sensor if necessary
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controlHeightSensorTimeouts();
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@@ -227,7 +245,9 @@ void Ekf::controlExternalVisionFusion()
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// determine if we should use the horizontal position observations
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if (_control_status.flags.ev_pos) {
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if (reset && _control_status_prev.flags.ev_pos) {
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resetHorizontalPosition();
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if (!_fuse_hpos_as_odom) {
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resetHorizontalPositionToVision();
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}
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}
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Vector3f ev_pos_obs_var;
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@@ -286,10 +306,13 @@ void Ekf::controlExternalVisionFusion()
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// only reset velocity if we have no another source of aiding constraining it
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if (isTimedOut(_time_last_of_fuse, (uint64_t)1E6) &&
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isTimedOut(_time_last_hor_vel_fuse, (uint64_t)1E6)) {
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resetVelocity();
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if (_control_status.flags.ev_vel) {
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resetVelocityToVision();
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}
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}
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resetHorizontalPosition();
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resetHorizontalPositionToVision();
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}
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}
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@@ -302,7 +325,7 @@ void Ekf::controlExternalVisionFusion()
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// determine if we should use the velocity observations
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if (_control_status.flags.ev_vel) {
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if (reset && _control_status_prev.flags.ev_vel) {
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resetVelocity();
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resetVelocityToVision();
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}
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_ev_vel_innov = _state.vel - getVisionVelocityInEkfFrame();
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@@ -312,7 +335,7 @@ void Ekf::controlExternalVisionFusion()
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// only reset velocity if we have no another source of aiding constraining it
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if (isTimedOut(_time_last_of_fuse, (uint64_t)1E6) &&
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isTimedOut(_time_last_hor_pos_fuse, (uint64_t)1E6)) {
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resetVelocity();
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resetVelocityToVision();
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}
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}
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@@ -460,8 +483,8 @@ void Ekf::controlOpticalFlowFusion()
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const bool flow_aid_only = !isOtherSourceOfHorizontalAidingThan(_control_status.flags.opt_flow);
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if (flow_aid_only) {
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resetVelocity();
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resetHorizontalPosition();
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resetHorizontalVelocityToOpticalFlow();
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resetHorizontalPositionToOpticalFlow();
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}
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}
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}
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@@ -483,8 +506,8 @@ void Ekf::controlOpticalFlowFusion()
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if (isTimedOut(_time_last_of_fuse, _params.reset_timeout_max)
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&& !isOtherSourceOfHorizontalAidingThan(_control_status.flags.opt_flow)) {
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resetVelocity();
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resetHorizontalPosition();
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resetHorizontalVelocityToOpticalFlow();
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resetHorizontalPositionToOpticalFlow();
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}
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}
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@@ -726,7 +749,7 @@ void Ekf::controlHeightSensorTimeouts()
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// Also reset the vertical velocity
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if (_control_status.flags.gps && !_gps_intermittent && _gps_checks_passed) {
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resetVerticalVelocityToGps();
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resetVerticalVelocityToGps(_gps_sample_delayed);
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} else {
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resetVerticalVelocityToZero();
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@@ -1068,16 +1091,3 @@ bool Ekf::hasHorizontalAidingTimedOut() const
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&& isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max)
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&& isTimedOut(_time_last_of_fuse, _params.reset_timeout_max);
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}
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void Ekf::processVelPosResetRequest()
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{
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if (_velpos_reset_request) {
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resetVelocity();
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resetHorizontalPosition();
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_velpos_reset_request = false;
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// Reset the timeout counters
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_time_last_hor_pos_fuse = _time_last_imu;
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_time_last_hor_vel_fuse = _time_last_imu;
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}
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}
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@@ -110,9 +110,6 @@ bool Ekf::update()
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runTerrainEstimator();
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updated = true;
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// run EKF-GSF yaw estimator
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runYawEKFGSF();
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}
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// the output observer always runs
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@@ -327,12 +327,6 @@ private:
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bool initialiseTilt();
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// Request the EKF reset the yaw to the estimate from the internal EKF-GSF filter
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// and reset the velocity and position states to the GPS. This will cause the EKF
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// to ignore the magnetometer for the remainder of flight.
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// This should only be used as a last resort before activating a loss of navigation failsafe
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void requestEmergencyNavReset() { _do_ekfgsf_yaw_reset = true; }
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// check if the EKF is dead reckoning horizontal velocity using inertial data only
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void update_deadreckoning_status();
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@@ -521,7 +515,6 @@ private:
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uint64_t _time_last_mov_3d_mag_suitable{0}; ///< last system time that sufficient movement to use 3-axis magnetometer fusion was detected (uSec)
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float _saved_mag_bf_variance[4] {}; ///< magnetic field state variances that have been saved for use at the next initialisation (Gauss**2)
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Matrix2f _saved_mag_ef_covmat{}; ///< NE magnetic field state covariance sub-matrix saved for use at the next initialisation (Gauss**2)
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bool _velpos_reset_request{false}; ///< true when a large yaw error has been fixed and a velocity and position state reset is required
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gps_check_fail_status_u _gps_check_fail_status{};
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@@ -630,28 +623,19 @@ private:
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// fuse single velocity and position measurement
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bool fuseVelPosHeight(const float innov, const float innov_var, const int obs_index);
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void resetVelocity();
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void resetVelocityToGps();
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void resetHorizontalVelocityToOpticalFlow();
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void resetVelocityToVision();
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void resetHorizontalVelocityToZero();
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void resetVelocityTo(const Vector3f &vel);
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void resetHorizontalVelocityTo(const Vector2f &new_horz_vel);
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void resetVerticalVelocityTo(float new_vert_vel);
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void resetHorizontalPosition();
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void resetHorizontalPositionToGps();
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void resetVelocityToGps(const gpsSample &gps_sample_delayed);
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void resetHorizontalVelocityToOpticalFlow();
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void resetVelocityToVision();
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void resetHorizontalVelocityToZero();
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void resetHorizontalPositionToGps(const gpsSample &gps_sample_delayed);
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void resetHorizontalPositionToVision();
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void resetHorizontalPositionToOpticalFlow();
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void resetHorizontalPositionToLastKnown();
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void resetHorizontalPositionTo(const Vector2f &new_horz_pos);
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void resetVerticalPositionTo(float new_vert_pos);
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@@ -661,7 +645,7 @@ private:
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void resetHeightToRng();
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void resetHeightToEv();
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void resetVerticalVelocityToGps();
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void resetVerticalVelocityToGps(const gpsSample &gps_sample_delayed);
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void resetVerticalVelocityToZero();
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// fuse optical flow line of sight rate measurements
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@@ -834,8 +818,6 @@ private:
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bool shouldResetGpsFusion() const;
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bool hasHorizontalAidingTimedOut() const;
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bool isYawFailure() const;
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void processYawEstimatorResetRequest();
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void processVelPosResetRequest();
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void controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing);
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@@ -852,8 +834,6 @@ private:
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bool isYawResetAuthorized() const { return !_is_yaw_fusion_inhibited; }
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bool canResetMagHeading() const;
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void runInAirYawReset(const Vector3f &mag);
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bool canRealignYawUsingGps() const { return _control_status.flags.fixed_wing; }
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void runVelPosReset();
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void selectMagAuto();
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void check3DMagFusionSuitability();
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@@ -1039,10 +1019,8 @@ private:
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BaroBiasEstimator _baro_b_est{};
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int64_t _ekfgsf_yaw_reset_time{0}; ///< timestamp of last emergency yaw reset (uSec)
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bool _do_ekfgsf_yaw_reset{false}; // true when an emergency yaw reset has been requested
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uint8_t _ekfgsf_yaw_reset_count{0}; // number of times the yaw has been reset to the EKF-GSF estimate
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// Call once per _imu_sample_delayed update after all main EKF data fusion oeprations have been completed
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void runYawEKFGSF();
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// Resets the main Nav EKf yaw to the estimator from the EKF-GSF yaw estimator
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@@ -44,29 +44,12 @@
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#include <mathlib/mathlib.h>
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#include <cstdlib>
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void Ekf::resetVelocity()
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{
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if (_control_status.flags.gps && isTimedOut(_last_gps_fail_us, (uint64_t)_min_gps_health_time_us)) {
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// this reset is only called if we have new gps data at the fusion time horizon
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resetVelocityToGps();
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} else if (_control_status.flags.opt_flow) {
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resetHorizontalVelocityToOpticalFlow();
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} else if (_control_status.flags.ev_vel) {
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resetVelocityToVision();
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} else {
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resetHorizontalVelocityToZero();
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}
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}
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void Ekf::resetVelocityToGps()
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void Ekf::resetVelocityToGps(const gpsSample &gps_sample_delayed)
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{
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_information_events.flags.reset_vel_to_gps = true;
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ECL_INFO("reset velocity to GPS");
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resetVelocityTo(_gps_sample_delayed.vel);
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P.uncorrelateCovarianceSetVariance<3>(4, sq(_gps_sample_delayed.sacc));
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resetVelocityTo(gps_sample_delayed.vel);
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P.uncorrelateCovarianceSetVariance<3>(4, sq(gps_sample_delayed.sacc));
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}
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void Ekf::resetHorizontalVelocityToOpticalFlow()
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@@ -136,6 +119,9 @@ void Ekf::resetHorizontalVelocityTo(const Vector2f &new_horz_vel)
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_state_reset_status.velNE_change = delta_horz_vel;
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_state_reset_status.velNE_counter++;
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// Reset the timout timer
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_time_last_hor_vel_fuse = _time_last_imu;
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}
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void Ekf::resetVerticalVelocityTo(float new_vert_vel)
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@@ -153,48 +139,17 @@ void Ekf::resetVerticalVelocityTo(float new_vert_vel)
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_state_reset_status.velD_change = delta_vert_vel;
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_state_reset_status.velD_counter++;
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// Reset the timout timer
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_time_last_ver_vel_fuse = _time_last_imu;
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}
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void Ekf::resetHorizontalPosition()
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{
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if (_control_status.flags.gps) {
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// this reset is only called if we have new gps data at the fusion time horizon
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resetHorizontalPositionToGps();
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} else if (_control_status.flags.ev_pos) {
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// this reset is only called if we have new ev data at the fusion time horizon
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resetHorizontalPositionToVision();
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} else if (_control_status.flags.opt_flow) {
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_information_events.flags.reset_pos_to_last_known = true;
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ECL_INFO("reset position to last known position");
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if (!_control_status.flags.in_air) {
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// we are likely starting OF for the first time so reset the horizontal position
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resetHorizontalPositionTo(Vector2f(0.f, 0.f));
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} else {
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resetHorizontalPositionTo(_last_known_posNE);
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}
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// estimate is relative to initial position in this mode, so we start with zero error.
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P.uncorrelateCovarianceSetVariance<2>(7, 0.0f);
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} else {
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_information_events.flags.reset_pos_to_last_known = true;
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ECL_INFO("reset position to last known position");
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// Used when falling back to non-aiding mode of operation
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resetHorizontalPositionTo(_last_known_posNE);
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P.uncorrelateCovarianceSetVariance<2>(7, sq(_params.pos_noaid_noise));
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}
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}
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void Ekf::resetHorizontalPositionToGps()
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void Ekf::resetHorizontalPositionToGps(const gpsSample &gps_sample_delayed)
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{
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_information_events.flags.reset_pos_to_gps = true;
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ECL_INFO("reset position to GPS");
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resetHorizontalPositionTo(_gps_sample_delayed.pos);
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P.uncorrelateCovarianceSetVariance<2>(7, sq(_gps_sample_delayed.hacc));
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resetHorizontalPositionTo(gps_sample_delayed.pos);
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P.uncorrelateCovarianceSetVariance<2>(7, sq(gps_sample_delayed.hacc));
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}
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void Ekf::resetHorizontalPositionToVision()
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@@ -214,6 +169,32 @@ void Ekf::resetHorizontalPositionToVision()
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_hpos_prev_available = false;
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}
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void Ekf::resetHorizontalPositionToOpticalFlow()
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{
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_information_events.flags.reset_pos_to_last_known = true;
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ECL_INFO("reset position to last known position");
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if (!_control_status.flags.in_air) {
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// we are likely starting OF for the first time so reset the horizontal position
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resetHorizontalPositionTo(Vector2f(0.f, 0.f));
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} else {
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resetHorizontalPositionTo(_last_known_posNE);
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}
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// estimate is relative to initial position in this mode, so we start with zero error.
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P.uncorrelateCovarianceSetVariance<2>(7, 0.0f);
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}
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void Ekf::resetHorizontalPositionToLastKnown()
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{
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_information_events.flags.reset_pos_to_last_known = true;
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ECL_INFO("reset position to last known position");
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// Used when falling back to non-aiding mode of operation
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resetHorizontalPositionTo(_last_known_posNE);
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P.uncorrelateCovarianceSetVariance<2>(7, sq(_params.pos_noaid_noise));
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}
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void Ekf::resetHorizontalPositionTo(const Vector2f &new_horz_pos)
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{
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const Vector2f delta_horz_pos{new_horz_pos - Vector2f{_state.pos}};
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@@ -227,6 +208,9 @@ void Ekf::resetHorizontalPositionTo(const Vector2f &new_horz_pos)
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_state_reset_status.posNE_change = delta_horz_pos;
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_state_reset_status.posNE_counter++;
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// Reset the timout timer
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_time_last_hor_pos_fuse = _time_last_imu;
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}
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void Ekf::resetVerticalPositionTo(const float new_vert_pos)
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@@ -310,12 +294,12 @@ void Ekf::resetHeightToEv()
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_baro_hgt_offset += _state.pos(2) - z_pos_before_reset;
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}
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void Ekf::resetVerticalVelocityToGps()
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void Ekf::resetVerticalVelocityToGps(const gpsSample &gps_sample_delayed)
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{
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resetVerticalVelocityTo(_gps_sample_delayed.vel(2));
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resetVerticalVelocityTo(gps_sample_delayed.vel(2));
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// the state variance is the same as the observation
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P.uncorrelateCovarianceSetVariance<1>(6, sq(1.5f * _gps_sample_delayed.sacc));
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P.uncorrelateCovarianceSetVariance<1>(6, sq(1.5f * gps_sample_delayed.sacc));
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}
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void Ekf::resetVerticalVelocityToZero()
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@@ -440,7 +424,10 @@ bool Ekf::realignYawGPS(const Vector3f &mag)
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_flt_mag_align_start_time = _imu_sample_delayed.time_us;
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// If heading was bad, then we also need to reset the velocity and position states
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_velpos_reset_request = badMagYaw;
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if (badMagYaw) {
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resetVelocityToGps(_gps_sample_delayed);
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resetHorizontalPositionToGps(_gps_sample_delayed);
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}
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return true;
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@@ -1531,17 +1518,18 @@ void Ekf::stopAirspeedFusion()
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void Ekf::startGpsFusion()
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{
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resetHorizontalPositionToGps();
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if (!_control_status.flags.gps) {
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resetHorizontalPositionToGps(_gps_sample_delayed);
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// when using optical flow,
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// velocity reset is not necessary
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if (!_control_status.flags.opt_flow) {
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resetVelocityToGps();
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// when already using another velocity source velocity reset is not necessary
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if (!_control_status.flags.opt_flow && !_control_status.flags.ev_vel) {
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resetVelocityToGps(_gps_sample_delayed);
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}
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_information_events.flags.starting_gps_fusion = true;
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ECL_INFO("starting GPS fusion");
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_control_status.flags.gps = true;
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}
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_information_events.flags.starting_gps_fusion = true;
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ECL_INFO("starting GPS fusion");
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_control_status.flags.gps = true;
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}
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|
||||
void Ekf::stopGpsFusion()
|
||||
@@ -1601,7 +1589,7 @@ void Ekf::stopGpsYawFusion()
|
||||
void Ekf::startEvPosFusion()
|
||||
{
|
||||
_control_status.flags.ev_pos = true;
|
||||
resetHorizontalPosition();
|
||||
resetHorizontalPositionToVision();
|
||||
_information_events.flags.starting_vision_pos_fusion = true;
|
||||
ECL_INFO("starting vision pos fusion");
|
||||
}
|
||||
@@ -1609,7 +1597,7 @@ void Ekf::startEvPosFusion()
|
||||
void Ekf::startEvVelFusion()
|
||||
{
|
||||
_control_status.flags.ev_vel = true;
|
||||
resetVelocity();
|
||||
resetVelocityToVision();
|
||||
_information_events.flags.starting_vision_vel_fusion = true;
|
||||
ECL_INFO("starting vision vel fusion");
|
||||
}
|
||||
@@ -1722,42 +1710,27 @@ bool Ekf::resetYawToEKFGSF()
|
||||
|
||||
resetQuatStateYaw(_yawEstimator.getYaw(), _yawEstimator.getYawVar(), true);
|
||||
|
||||
// reset velocity and position states to GPS - if yaw is fixed then the filter should start to operate correctly
|
||||
resetVelocity();
|
||||
resetHorizontalPosition();
|
||||
|
||||
// record a magnetic field alignment event to prevent possibility of the EKF trying to reset the yaw to the mag later in flight
|
||||
_flt_mag_align_start_time = _imu_sample_delayed.time_us;
|
||||
_control_status.flags.yaw_align = true;
|
||||
|
||||
const bool is_mag_fusion_active = _control_status.flags.mag_hdg
|
||||
|| _control_status.flags.mag_3D;
|
||||
const bool is_yaw_aiding_active = is_mag_fusion_active
|
||||
|| _control_status.flags.gps_yaw
|
||||
|| _control_status.flags.ev_yaw;
|
||||
if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
|
||||
// stop using the magnetometer in the main EKF otherwise it's fusion could drag the yaw around
|
||||
// and cause another navigation failure
|
||||
_control_status.flags.mag_fault = true;
|
||||
_warning_events.flags.emergency_yaw_reset_mag_stopped = true;
|
||||
|
||||
if (!is_yaw_aiding_active) {
|
||||
_information_events.flags.yaw_aligned_to_imu_gps = true;
|
||||
ECL_INFO("Yaw aligned using IMU and GPS");
|
||||
} else if (_control_status.flags.gps_yaw) {
|
||||
_control_status.flags.gps_yaw_fault = true;
|
||||
_warning_events.flags.emergency_yaw_reset_gps_yaw_stopped = true;
|
||||
|
||||
} else {
|
||||
if (is_mag_fusion_active) {
|
||||
// stop using the magnetometer in the main EKF otherwise it's fusion could drag the yaw around
|
||||
// and cause another navigation failure
|
||||
_control_status.flags.mag_fault = true;
|
||||
_warning_events.flags.emergency_yaw_reset_mag_stopped = true;
|
||||
|
||||
} else if (_control_status.flags.gps_yaw) {
|
||||
_control_status.flags.gps_yaw_fault = true;
|
||||
_warning_events.flags.emergency_yaw_reset_gps_yaw_stopped = true;
|
||||
|
||||
} else if (_control_status.flags.ev_yaw) {
|
||||
_inhibit_ev_yaw_use = true;
|
||||
}
|
||||
|
||||
ECL_WARN("Emergency yaw reset");
|
||||
} else if (_control_status.flags.ev_yaw) {
|
||||
_inhibit_ev_yaw_use = true;
|
||||
}
|
||||
|
||||
_ekfgsf_yaw_reset_time = _time_last_imu;
|
||||
_ekfgsf_yaw_reset_count++;
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
@@ -88,8 +88,8 @@ void Ekf::startFakePosFusion()
|
||||
void Ekf::resetFakePosFusion()
|
||||
{
|
||||
_last_known_posNE = _state.pos.xy();
|
||||
resetHorizontalPosition();
|
||||
resetVelocity();
|
||||
resetHorizontalPositionToLastKnown();
|
||||
resetHorizontalVelocityToZero();
|
||||
_time_last_fake_pos_fuse = _time_last_imu;
|
||||
}
|
||||
|
||||
|
||||
@@ -56,12 +56,11 @@ void Ekf::controlGpsFusion()
|
||||
// Determine if we should use GPS aiding for velocity and horizontal position
|
||||
// To start using GPS we need angular alignment completed, the local NED origin set and GPS data that has not failed checks recently
|
||||
const bool mandatory_conditions_passing = _control_status.flags.tilt_align
|
||||
&& _control_status.flags.yaw_align
|
||||
&& _NED_origin_initialised;
|
||||
const bool continuing_conditions_passing = mandatory_conditions_passing
|
||||
&& !gps_checks_failing;
|
||||
const bool starting_conditions_passing = continuing_conditions_passing
|
||||
&& gps_checks_passing;
|
||||
&& _control_status.flags.yaw_align
|
||||
&& _NED_origin_initialised;
|
||||
|
||||
const bool continuing_conditions_passing = mandatory_conditions_passing && !gps_checks_failing;
|
||||
const bool starting_conditions_passing = continuing_conditions_passing && gps_checks_passing;
|
||||
|
||||
if (_control_status.flags.gps) {
|
||||
if (mandatory_conditions_passing) {
|
||||
@@ -80,9 +79,13 @@ void Ekf::controlGpsFusion()
|
||||
if (isYawFailure()
|
||||
&& _control_status.flags.in_air
|
||||
&& !was_gps_signal_lost
|
||||
&& _ekfgsf_yaw_reset_count < _params.EKFGSF_reset_count_limit) {
|
||||
|
||||
_do_ekfgsf_yaw_reset = true;
|
||||
&& _ekfgsf_yaw_reset_count < _params.EKFGSF_reset_count_limit
|
||||
&& isTimedOut(_ekfgsf_yaw_reset_time, 5000000)) {
|
||||
// The minimum time interval between resets to the EKF-GSF estimate is limited to allow the EKF-GSF time
|
||||
// to improve its estimate if the previous reset was not successful.
|
||||
if (resetYawToEKFGSF()) {
|
||||
ECL_WARN("GPS emergency yaw reset");
|
||||
}
|
||||
|
||||
} else {
|
||||
// use GPS velocity data to check and correct yaw angle if a FW vehicle
|
||||
@@ -93,8 +96,10 @@ void Ekf::controlGpsFusion()
|
||||
|
||||
_warning_events.flags.gps_fusion_timout = true;
|
||||
ECL_WARN("GPS fusion timeout - resetting");
|
||||
_velpos_reset_request = true;
|
||||
}
|
||||
|
||||
resetVelocityToGps(_gps_sample_delayed);
|
||||
resetHorizontalPositionToGps(_gps_sample_delayed);
|
||||
}
|
||||
|
||||
} else {
|
||||
@@ -105,7 +110,7 @@ void Ekf::controlGpsFusion()
|
||||
// TODO: move this to EV control logic
|
||||
// Reset position state to external vision if we are going to use absolute values
|
||||
if (_control_status.flags.ev_pos && !(_params.fusion_mode & MASK_ROTATE_EV)) {
|
||||
resetHorizontalPosition();
|
||||
resetHorizontalPositionToVision();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -131,15 +136,17 @@ void Ekf::controlGpsFusion()
|
||||
startGpsFusion();
|
||||
}
|
||||
|
||||
} else if (!_control_status.flags.yaw_align && (_params.mag_fusion_type == MAG_FUSE_TYPE_NONE)) {
|
||||
// If no mag is used, align using the yaw estimator
|
||||
_do_ekfgsf_yaw_reset = true;
|
||||
} else if (gps_checks_passing && !_control_status.flags.yaw_align && (_params.mag_fusion_type == MAG_FUSE_TYPE_NONE)) {
|
||||
// If no mag is used, align using the yaw estimator (if available)
|
||||
if (resetYawToEKFGSF()) {
|
||||
_information_events.flags.yaw_aligned_to_imu_gps = true;
|
||||
ECL_INFO("Yaw aligned using IMU and GPS");
|
||||
resetVelocityToGps(_gps_sample_delayed);
|
||||
resetHorizontalPositionToGps(_gps_sample_delayed);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
processYawEstimatorResetRequest();
|
||||
processVelPosResetRequest();
|
||||
|
||||
} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)10e6)) {
|
||||
stopGpsFusion();
|
||||
_warning_events.flags.gps_data_stopped = true;
|
||||
@@ -161,7 +168,7 @@ bool Ekf::shouldResetGpsFusion() const
|
||||
* with no aiding we need to do something
|
||||
*/
|
||||
const bool is_reset_required = hasHorizontalAidingTimedOut()
|
||||
|| isTimedOut(_time_last_hor_pos_fuse, 2 * _params.reset_timeout_max);
|
||||
|| isTimedOut(_time_last_hor_pos_fuse, 2 * _params.reset_timeout_max);
|
||||
|
||||
/* Logic controlling the reset of navigation filter yaw to the EKF-GSF estimate to recover from loss of
|
||||
* navigation casued by a bad yaw estimate.
|
||||
@@ -173,9 +180,9 @@ bool Ekf::shouldResetGpsFusion() const
|
||||
* or other sensor errors.
|
||||
*/
|
||||
const bool is_recent_takeoff_nav_failure = _control_status.flags.in_air
|
||||
&& isRecent(_time_last_on_ground_us, 30000000)
|
||||
&& isTimedOut(_time_last_hor_vel_fuse, _params.EKFGSF_reset_delay)
|
||||
&& (_time_last_hor_vel_fuse > _time_last_on_ground_us);
|
||||
&& isRecent(_time_last_on_ground_us, 30000000)
|
||||
&& isTimedOut(_time_last_hor_vel_fuse, _params.EKFGSF_reset_delay)
|
||||
&& (_time_last_hor_vel_fuse > _time_last_on_ground_us);
|
||||
|
||||
const bool is_inflight_nav_failure = _control_status.flags.in_air
|
||||
&& isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max)
|
||||
@@ -197,23 +204,3 @@ bool Ekf::isYawFailure() const
|
||||
|
||||
return fabsf(yaw_error) > math::radians(25.f);
|
||||
}
|
||||
|
||||
void Ekf::processYawEstimatorResetRequest()
|
||||
{
|
||||
/* The yaw reset to the EKF-GSF estimate can be requested externally at any time during flight.
|
||||
* The minimum time interval between resets to the EKF-GSF estimate is limited to allow the EKF-GSF time
|
||||
* to improve its estimate if the previous reset was not successful.
|
||||
*/
|
||||
if (_do_ekfgsf_yaw_reset
|
||||
&& isTimedOut(_ekfgsf_yaw_reset_time, 5000000)) {
|
||||
if (resetYawToEKFGSF()) {
|
||||
_ekfgsf_yaw_reset_time = _time_last_imu;
|
||||
_time_last_hor_pos_fuse = _time_last_imu;
|
||||
_time_last_hor_vel_fuse = _time_last_imu;
|
||||
|
||||
_do_ekfgsf_yaw_reset = false;
|
||||
_velpos_reset_request = false; // included in yaw reset
|
||||
_ekfgsf_yaw_reset_count++;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@@ -43,17 +43,6 @@ void Ekf::fuseGpsVelPos()
|
||||
{
|
||||
Vector3f gps_pos_obs_var;
|
||||
|
||||
// correct velocity for offset relative to IMU
|
||||
const Vector3f pos_offset_body = _params.gps_pos_body - _params.imu_pos_body;
|
||||
const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body;
|
||||
const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body;
|
||||
_gps_sample_delayed.vel -= vel_offset_earth;
|
||||
|
||||
// correct position and height for offset relative to IMU
|
||||
const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
|
||||
_gps_sample_delayed.pos -= pos_offset_earth.xy();
|
||||
_gps_sample_delayed.hgt += pos_offset_earth(2);
|
||||
|
||||
const float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f);
|
||||
|
||||
if (isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
|
||||
@@ -68,7 +57,7 @@ void Ekf::fuseGpsVelPos()
|
||||
gps_pos_obs_var(0) = gps_pos_obs_var(1) = sq(math::constrain(_gps_sample_delayed.hacc, lower_limit, upper_limit));
|
||||
}
|
||||
|
||||
_gps_sample_delayed.sacc = fmaxf(_gps_sample_delayed.sacc, _params.gps_vel_noise);
|
||||
|
||||
|
||||
const float vel_var = sq(_gps_sample_delayed.sacc);
|
||||
const Vector3f gps_vel_obs_var{vel_var, vel_var, vel_var * sq(1.5f)};
|
||||
|
||||
@@ -130,7 +130,6 @@ void Ekf::controlMagFusion()
|
||||
if (_control_status.flags.in_air) {
|
||||
checkHaglYawResetReq();
|
||||
runInAirYawReset(mag_sample.mag);
|
||||
runVelPosReset(); // TODO: review this; a vel/pos reset can be requested from COG reset (for fixedwing) only
|
||||
|
||||
} else {
|
||||
runOnGroundYawReset();
|
||||
@@ -197,7 +196,7 @@ void Ekf::runInAirYawReset(const Vector3f &mag_sample)
|
||||
if (_mag_yaw_reset_req && isYawResetAuthorized()) {
|
||||
bool has_realigned_yaw = false;
|
||||
|
||||
if (canRealignYawUsingGps()) {
|
||||
if (_control_status.flags.gps && _control_status.flags.fixed_wing) {
|
||||
has_realigned_yaw = realignYawGPS(mag_sample);
|
||||
|
||||
} else if (canResetMagHeading()) {
|
||||
@@ -221,15 +220,6 @@ void Ekf::runInAirYawReset(const Vector3f &mag_sample)
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf::runVelPosReset()
|
||||
{
|
||||
if (_velpos_reset_request) {
|
||||
resetVelocity();
|
||||
resetHorizontalPosition();
|
||||
_velpos_reset_request = false;
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf::selectMagAuto()
|
||||
{
|
||||
check3DMagFusionSuitability();
|
||||
|
||||
@@ -103,289 +103,289 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
10090000,0.704,0.00197,-0.0134,0.71,-0.0494,0.0306,-0.0959,-0.0637,0.0536,-365,-1.53e-05,-5.75e-05,2.07e-06,-1.68e-05,1.9e-05,-0.000914,0.209,0.00206,0.432,0,0,0,0,0,0.000156,0.000491,0.000491,0.000162,1.74,1.74,0.0801,5.67,5.67,0.0848,7.24e-09,7.24e-09,7.47e-09,3.77e-06,3.77e-06,1.54e-06,0,0,0,0,0,0,0,0
|
||||
10190000,0.704,0.00198,-0.0134,0.71,-0.0512,0.0329,-0.0957,-0.0687,0.0568,-366,-1.54e-05,-5.74e-05,8.27e-07,-1.71e-05,1.93e-05,-0.000928,0.209,0.00206,0.432,0,0,0,0,0,0.000156,0.000502,0.000502,0.000161,1.85,1.85,0.0774,6.28,6.27,0.0839,7.24e-09,7.24e-09,7.33e-09,3.77e-06,3.77e-06,1.44e-06,0,0,0,0,0,0,0,0
|
||||
10290000,0.704,0.00193,-0.0134,0.71,-0.0504,0.0315,-0.0832,-0.0697,0.0565,-365,-1.53e-05,-5.74e-05,6.94e-08,-1.73e-05,2.13e-05,-0.000983,0.209,0.00206,0.432,0,0,0,0,0,0.000157,0.0005,0.0005,0.000161,1.87,1.87,0.0758,6.51,6.51,0.0847,7.14e-09,7.15e-09,7.21e-09,3.74e-06,3.74e-06,1.35e-06,0,0,0,0,0,0,0,0
|
||||
10390000,0.704,0.00191,-0.0133,0.71,0.00936,-0.0198,0.00772,0.000863,-0.00177,-365,-1.53e-05,-5.74e-05,1.5e-07,-1.8e-05,2.18e-05,-0.00101,0.209,0.00206,0.432,0,0,0,0,0,0.000157,0.000512,0.000512,0.00016,0.0419,0.0419,0.0402,0.25,0.25,0.0739,7.14e-09,7.15e-09,7.07e-09,3.74e-06,3.74e-06,1.26e-06,0,0,0,0,0,0,0,0
|
||||
10490000,0.704,0.00195,-0.0133,0.71,0.00799,-0.0184,0.00786,0.00171,-0.00366,-365,-1.53e-05,-5.74e-05,-5.75e-07,-1.87e-05,2.24e-05,-0.00105,0.209,0.00206,0.432,0,0,0,0,0,0.000157,0.000525,0.000525,0.00016,0.0481,0.0481,0.0405,0.252,0.252,0.0657,7.14e-09,7.15e-09,6.92e-09,3.74e-06,3.74e-06,1.19e-06,0,0,0,0,0,0,0,0
|
||||
10590000,0.704,0.00207,-0.0135,0.71,0.0069,-0.0141,0.00816,0.00161,-0.00268,-365,-1.52e-05,-5.71e-05,-5.06e-07,-2.27e-05,2.26e-05,-0.00106,0.209,0.00206,0.432,0,0,0,0,0,0.000157,0.000524,0.000524,0.00016,0.0495,0.0495,0.0381,0.126,0.126,0.0599,7.07e-09,7.08e-09,6.77e-09,3.73e-06,3.73e-06,1.14e-06,0,0,0,0,0,0,0,0
|
||||
10690000,0.704,0.00212,-0.0134,0.71,0.00471,-0.0141,0.0075,0.00222,-0.00411,-365,-1.53e-05,-5.71e-05,-7.5e-07,-2.3e-05,2.29e-05,-0.00108,0.209,0.00206,0.432,0,0,0,0,0,0.000157,0.000537,0.000537,0.00016,0.0633,0.0633,0.0384,0.129,0.129,0.0569,7.07e-09,7.08e-09,6.64e-09,3.73e-06,3.73e-06,1.1e-06,0,0,0,0,0,0,0,0
|
||||
10790000,0.704,0.00217,-0.0136,0.71,0.00361,-0.0109,0.00583,0.00218,-0.00313,-365,-1.5e-05,-5.67e-05,-6.48e-07,-2.79e-05,2.41e-05,-0.00108,0.209,0.00206,0.432,0,0,0,0,0,0.000157,0.000506,0.000506,0.000159,0.0648,0.0648,0.0361,0.0867,0.0867,0.0538,6.83e-09,6.83e-09,6.49e-09,3.69e-06,3.69e-06,1.06e-06,0,0,0,0,0,0,0,0
|
||||
10890000,0.704,0.00213,-0.0136,0.71,0.00224,-0.01,0.00277,0.00246,-0.00414,-365,-1.5e-05,-5.67e-05,-7e-07,-2.79e-05,2.4e-05,-0.00107,0.209,0.00206,0.432,0,0,0,0,0,0.000158,0.000519,0.000519,0.000159,0.084,0.084,0.0362,0.0903,0.0903,0.0522,6.83e-09,6.83e-09,6.34e-09,3.69e-06,3.69e-06,1.03e-06,0,0,0,0,0,0,0,0
|
||||
10990000,0.704,0.00214,-0.0139,0.71,0.00399,-0.00364,-1.88e-05,0.00355,-0.005,-365,-1.43e-05,-5.62e-05,1.59e-08,-3.63e-05,3.02e-05,-0.00108,0.209,0.00206,0.432,0,0,0,0,0,0.000158,0.000458,0.000458,0.000159,0.0792,0.0792,0.0342,0.0687,0.0687,0.0511,6.43e-09,6.43e-09,6.21e-09,3.64e-06,3.64e-06,1.01e-06,0,0,0,0,0,0,0,0
|
||||
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@@ -103,249 +103,249 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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||||
32090000,0.983,-0.00598,-0.0129,0.185,-0.00247,-0.00286,0.751,-0.0183,0.0346,-0.469,-1.36e-05,-5.68e-05,1.11e-06,1.25e-06,1.11e-05,-0.00107,0.204,0.00202,0.435,0,0,0,0,0,1.76e-06,8.29e-05,8.29e-05,4.67e-05,0.0132,0.0132,0.00802,0.0402,0.0402,0.0355,2.81e-11,2.81e-11,1.07e-10,2.81e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
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32190000,0.983,-0.00616,-0.0131,0.186,0.00294,-0.00609,0.751,-0.00706,0.0332,-0.403,-1.36e-05,-5.67e-05,1.07e-06,5.48e-06,1.26e-05,-0.00107,0.204,0.00202,0.435,0,0,0,0,0,1.75e-06,8.25e-05,8.25e-05,4.66e-05,0.0124,0.0124,0.00795,0.0367,0.0367,0.0352,2.77e-11,2.77e-11,1.06e-10,2.81e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
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||||
32290000,0.983,-0.00607,-0.0134,0.185,0.00446,-0.00877,0.749,-0.00673,0.0324,-0.335,-1.36e-05,-5.67e-05,1.14e-06,6.07e-06,1.23e-05,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.75e-06,8.27e-05,8.27e-05,4.64e-05,0.0132,0.0132,0.00799,0.0401,0.0401,0.0353,2.78e-11,2.78e-11,1.05e-10,2.81e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
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32390000,0.983,-0.00619,-0.0135,0.186,0.0108,-0.0101,0.748,0.00465,0.0298,-0.262,-1.36e-05,-5.67e-05,1.1e-06,9.18e-06,1.33e-05,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.74e-06,8.23e-05,8.23e-05,4.63e-05,0.0123,0.0123,0.00797,0.0367,0.0367,0.0354,2.74e-11,2.74e-11,1.04e-10,2.8e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
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32490000,0.983,-0.00904,-0.0114,0.185,0.035,-0.0726,-0.125,0.00749,0.0237,-0.259,-1.36e-05,-5.67e-05,1.06e-06,9.2e-06,1.33e-05,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.73e-06,8.24e-05,8.24e-05,4.61e-05,0.0152,0.0152,0.00784,0.0402,0.0402,0.0354,2.75e-11,2.75e-11,1.03e-10,2.8e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
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32590000,0.983,-0.00898,-0.0114,0.185,0.0354,-0.0737,-0.128,0.0196,0.02,-0.28,-1.36e-05,-5.66e-05,1.15e-06,9.2e-06,1.33e-05,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.73e-06,8.12e-05,8.12e-05,4.59e-05,0.0157,0.0157,0.00755,0.0368,0.0368,0.0351,2.71e-11,2.71e-11,1.02e-10,2.8e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
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32690000,0.983,-0.00896,-0.0112,0.185,0.0311,-0.0793,-0.129,0.023,0.0123,-0.296,-1.36e-05,-5.66e-05,1.13e-06,9.2e-06,1.33e-05,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.72e-06,8.14e-05,8.14e-05,4.57e-05,0.0187,0.0187,0.00736,0.0404,0.0404,0.0351,2.72e-11,2.72e-11,1.01e-10,2.8e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
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||||
32790000,0.983,-0.00865,-0.0113,0.185,0.0298,-0.0769,-0.13,0.0328,0.0104,-0.312,-1.37e-05,-5.65e-05,1.21e-06,9.2e-06,1.33e-05,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.72e-06,7.86e-05,7.86e-05,4.56e-05,0.0196,0.0196,0.00713,0.037,0.037,0.0351,2.68e-11,2.68e-11,1.01e-10,2.8e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
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32890000,0.983,-0.00861,-0.0114,0.185,0.0294,-0.0827,-0.132,0.0358,0.00245,-0.328,-1.37e-05,-5.65e-05,1.25e-06,9.2e-06,1.33e-05,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.71e-06,7.88e-05,7.88e-05,4.54e-05,0.0235,0.0235,0.00697,0.0409,0.0409,0.035,2.69e-11,2.69e-11,9.96e-11,2.8e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
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32990000,0.983,-0.00834,-0.0113,0.185,0.0269,-0.0788,-0.131,0.0437,-0.000767,-0.342,-1.38e-05,-5.65e-05,1.34e-06,9.2e-06,1.33e-05,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.7e-06,7.44e-05,7.44e-05,4.53e-05,0.0243,0.0243,0.00673,0.0374,0.0374,0.0347,2.65e-11,2.65e-11,9.86e-11,2.8e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
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33090000,0.983,-0.0083,-0.0113,0.185,0.0228,-0.0826,-0.128,0.0462,-0.00881,-0.35,-1.38e-05,-5.65e-05,1.32e-06,9.2e-06,1.33e-05,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.7e-06,7.45e-05,7.45e-05,4.52e-05,0.029,0.029,0.00661,0.0416,0.0416,0.0349,2.66e-11,2.66e-11,9.78e-11,2.8e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
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||||
33190000,0.983,-0.00799,-0.0113,0.185,0.019,-0.0781,-0.126,0.0524,-0.0107,-0.357,-1.38e-05,-5.65e-05,1.27e-06,8.96e-06,9.53e-06,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.69e-06,6.85e-05,6.85e-05,4.5e-05,0.0295,0.0295,0.00641,0.0381,0.0381,0.0346,2.62e-11,2.62e-11,9.69e-11,2.8e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
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||||
33290000,0.983,-0.00804,-0.0113,0.185,0.0158,-0.0795,-0.125,0.0541,-0.0186,-0.365,-1.38e-05,-5.65e-05,1.37e-06,8.95e-06,9.54e-06,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.68e-06,6.86e-05,6.86e-05,4.48e-05,0.0356,0.0357,0.0063,0.0427,0.0427,0.0344,2.63e-11,2.63e-11,9.6e-11,2.8e-06,2.8e-06,5e-08,0,0,0,0,0,0,0,0
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33390000,0.983,-0.00758,-0.0113,0.185,0.0114,-0.0653,-0.124,0.0574,-0.0136,-0.377,-1.39e-05,-5.64e-05,1.38e-06,3.2e-06,-1.38e-05,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.68e-06,6.16e-05,6.16e-05,4.47e-05,0.0356,0.0356,0.00616,0.0389,0.0389,0.0343,2.6e-11,2.6e-11,9.52e-11,2.79e-06,2.78e-06,5e-08,0,0,0,0,0,0,0,0
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||||
33490000,0.983,-0.00756,-0.0113,0.185,0.00689,-0.0661,-0.124,0.0583,-0.0202,-0.391,-1.39e-05,-5.64e-05,1.39e-06,3.22e-06,-1.38e-05,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.67e-06,6.17e-05,6.17e-05,4.46e-05,0.0428,0.0428,0.00609,0.044,0.044,0.0342,2.61e-11,2.61e-11,9.44e-11,2.79e-06,2.78e-06,5e-08,0,0,0,0,0,0,0,0
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||||
33590000,0.983,-0.00719,-0.0113,0.185,0.00359,-0.0569,-0.121,0.061,-0.0164,-0.403,-1.4e-05,-5.64e-05,1.44e-06,-4.84e-06,-3.84e-05,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.67e-06,5.43e-05,5.43e-05,4.44e-05,0.0412,0.0412,0.00596,0.04,0.04,0.0338,2.59e-11,2.59e-11,9.35e-11,2.74e-06,2.74e-06,5e-08,0,0,0,0,0,0,0,0
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||||
33690000,0.983,-0.00719,-0.0113,0.185,-0.00103,-0.0572,-0.123,0.0612,-0.0221,-0.415,-1.4e-05,-5.64e-05,1.45e-06,-4.84e-06,-3.84e-05,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.66e-06,5.44e-05,5.44e-05,4.43e-05,0.0489,0.0489,0.00595,0.0456,0.0456,0.0339,2.6e-11,2.6e-11,9.28e-11,2.74e-06,2.74e-06,5.01e-08,0,0,0,0,0,0,0,0
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||||
33790000,0.983,-0.00695,-0.0114,0.185,-0.00361,-0.0465,-0.118,0.0653,-0.0174,-0.426,-1.4e-05,-5.63e-05,1.4e-06,-1.81e-05,-6.42e-05,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.65e-06,4.76e-05,4.76e-05,4.42e-05,0.0453,0.0454,0.00586,0.0411,0.0411,0.0335,2.58e-11,2.58e-11,9.19e-11,2.67e-06,2.67e-06,5e-08,0,0,0,0,0,0,0,0
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||||
33890000,0.983,-0.00696,-0.0113,0.185,-0.00771,-0.0442,-0.119,0.0647,-0.022,-0.438,-1.4e-05,-5.63e-05,1.46e-06,-1.8e-05,-6.43e-05,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.65e-06,4.77e-05,4.77e-05,4.4e-05,0.0531,0.0531,0.00584,0.0472,0.0472,0.0334,2.59e-11,2.59e-11,9.11e-11,2.67e-06,2.67e-06,5e-08,0,0,0,0,0,0,0,0
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||||
33990000,0.983,-0.00667,-0.0115,0.185,-0.00681,-0.0298,-0.117,0.0682,-0.0145,-0.448,-1.4e-05,-5.63e-05,1.39e-06,-4.27e-05,-9.43e-05,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.64e-06,4.19e-05,4.18e-05,4.38e-05,0.0477,0.0477,0.00578,0.0422,0.0422,0.033,2.58e-11,2.58e-11,9.03e-11,2.57e-06,2.57e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34090000,0.983,-0.00662,-0.0116,0.185,-0.011,-0.0299,-0.117,0.0673,-0.0175,-0.46,-1.4e-05,-5.63e-05,1.36e-06,-4.27e-05,-9.42e-05,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.64e-06,4.19e-05,4.19e-05,4.37e-05,0.0552,0.0552,0.00582,0.0487,0.0487,0.0331,2.59e-11,2.59e-11,8.96e-11,2.57e-06,2.57e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34190000,0.983,-0.00654,-0.0116,0.185,-0.0113,-0.0194,-0.116,0.071,-0.0121,-0.47,-1.41e-05,-5.63e-05,1.38e-06,-6.04e-05,-0.000114,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.63e-06,3.73e-05,3.73e-05,4.36e-05,0.0484,0.0484,0.00579,0.0432,0.0432,0.0328,2.59e-11,2.59e-11,8.88e-11,2.47e-06,2.46e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34290000,0.983,-0.0064,-0.0117,0.185,-0.0117,-0.0185,-0.116,0.0699,-0.0141,-0.482,-1.41e-05,-5.63e-05,1.39e-06,-6.04e-05,-0.000114,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.63e-06,3.74e-05,3.74e-05,4.34e-05,0.0553,0.0553,0.00583,0.05,0.05,0.0326,2.6e-11,2.6e-11,8.8e-11,2.47e-06,2.46e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34390000,0.983,-0.00631,-0.0117,0.185,-0.0125,-0.00912,-0.112,0.0717,-0.00942,-0.491,-1.41e-05,-5.63e-05,1.38e-06,-7.58e-05,-0.000127,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.62e-06,3.39e-05,3.39e-05,4.33e-05,0.0477,0.0477,0.00585,0.044,0.044,0.0325,2.6e-11,2.6e-11,8.74e-11,2.36e-06,2.35e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34490000,0.983,-0.00638,-0.0116,0.185,-0.0152,-0.00808,-0.112,0.0703,-0.0103,-0.503,-1.41e-05,-5.63e-05,1.4e-06,-7.58e-05,-0.000127,-0.00106,0.204,0.00202,0.435,0,0,0,0,0,1.62e-06,3.4e-05,3.4e-05,4.32e-05,0.054,0.054,0.00591,0.051,0.051,0.0324,2.61e-11,2.61e-11,8.66e-11,2.36e-06,2.35e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34590000,0.983,-0.00633,-0.0114,0.185,-0.0115,-0.00444,0.683,0.0723,-0.00817,-0.48,-1.41e-05,-5.63e-05,1.38e-06,-8.86e-05,-0.000128,-0.00107,0.204,0.00202,0.435,0,0,0,0,0,1.61e-06,3.15e-05,3.15e-05,4.3e-05,0.0444,0.0444,0.00592,0.0446,0.0446,0.0321,2.62e-11,2.62e-11,8.58e-11,2.25e-06,2.25e-06,5e-08,0,0,0,0,0,0,0,0
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||||
34690000,0.983,-0.00632,-0.0112,0.185,-0.0114,-0.00283,1.67,0.0712,-0.00854,-0.362,-1.41e-05,-5.63e-05,1.36e-06,-8.86e-05,-0.000128,-0.00107,0.204,0.00202,0.435,0,0,0,0,0,1.61e-06,3.15e-05,3.15e-05,4.29e-05,0.0479,0.0479,0.00602,0.0514,0.0514,0.0322,2.63e-11,2.63e-11,8.52e-11,2.25e-06,2.25e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34790000,0.983,-0.0063,-0.011,0.185,-0.0107,0.00118,2.64,0.0722,-0.00631,-0.184,-1.41e-05,-5.63e-05,1.34e-06,-7.42e-05,-0.000144,-0.00104,0.204,0.00202,0.435,0,0,0,0,0,1.6e-06,3.01e-05,3.01e-05,4.28e-05,0.0403,0.0403,0.00604,0.045,0.045,0.0319,2.63e-11,2.63e-11,8.45e-11,2.13e-06,2.12e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34890000,0.983,-0.00628,-0.0107,0.185,-0.0111,0.00308,3.63,0.0711,-0.00596,0.107,-1.41e-05,-5.63e-05,1.32e-06,-7.05e-05,-0.000146,-0.00104,0.204,0.00202,0.435,0,0,0,0,0,1.6e-06,3.02e-05,3.02e-05,4.26e-05,0.044,0.044,0.00614,0.0514,0.0514,0.0318,2.64e-11,2.64e-11,8.38e-11,2.13e-06,2.12e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
|
||||
|
Reference in New Issue
Block a user