diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile index a34c640844..04c8c210b9 100644 --- a/.ci/Jenkinsfile-compile +++ b/.ci/Jenkinsfile-compile @@ -120,7 +120,7 @@ pipeline { "px4_fmu-v6xrt_rover", "px4_io-v2_default", "raspberrypi_pico_default", - "siyi_n7_default" + "siyi_n7_default", "sky-drones_smartap-airlink_default", "spracing_h7extreme_default", "thepeach_k1_default", diff --git a/ROMFS/px4fmu_common/init.d/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/CMakeLists.txt index 4b45187ff5..34b255e255 100644 --- a/ROMFS/px4fmu_common/init.d/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d/CMakeLists.txt @@ -34,28 +34,79 @@ add_subdirectory(airframes) px4_add_romfs_files( - rc.airship_apps - rc.airship_defaults + rc.autostart_ext - rc.balloon_apps - rc.balloon_defaults - rc.boat_defaults - rc.fw_apps - rc.fw_defaults - rc.heli_defaults - rc.logging - rc.mc_apps - rc.mc_defaults + rcS rc.sensors - rc.thermal_cal - rc.rover_apps - rc.rover_defaults - rc.rover_differential_apps - rc.rover_differential_defaults - rc.uuv_apps - rc.uuv_defaults rc.vehicle_setup - rc.vtol_apps - rc.vtol_defaults + + # TODO + rc.balloon_apps + rc.balloon_defaults ) + +if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL) + px4_add_romfs_files( + rc.airship_apps + rc.airship_defaults + ) +endif() + +if(CONFIG_MODULES_FW_RATE_CONTROL) + px4_add_romfs_files( + rc.fw_apps + rc.fw_defaults + ) +endif() + +if(CONFIG_MODULES_MC_RATE_CONTROL) + px4_add_romfs_files( + rc.heli_defaults + rc.mc_apps + rc.mc_defaults + ) +endif() + +if(CONFIG_MODULES_ROVER_POS_CONTROL) + px4_add_romfs_files( + rc.rover_apps + rc.rover_defaults + + rc.boat_defaults # hack + ) +endif() + +if(CONFIG_MODULES_DIFFERENTIAL_DRIVE) + px4_add_romfs_files( + rc.rover_differential_apps + rc.rover_differential_defaults + ) +endif() + +if(CONFIG_MODULES_UUV_ATT_CONTROL) + px4_add_romfs_files( + rc.uuv_apps + rc.uuv_defaults + ) +endif() + +if(CONFIG_MODULES_VTOL_ATT_CONTROL) + px4_add_romfs_files( + rc.vtol_apps + rc.vtol_defaults + ) +endif() + + +if(CONFIG_MODULES_LOGGER) + px4_add_romfs_files( + rc.logging + ) +endif() + +if(CONFIG_MODULES_TEMPERATURE_COMPENSATION) + px4_add_romfs_files( + rc.thermal_cal + ) +endif() diff --git a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt index 8fbccdee54..66e29e32b4 100644 --- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt +++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt @@ -32,94 +32,127 @@ ############################################################################ px4_add_romfs_files( - # [0-999] Reserved (historical)" - - # [1000, 1999] Simulation setups" - 1001_rc_quad_x.hil - 1002_standard_vtol.hil - 1100_rc_quad_x_sih.hil - 1101_rc_plane_sih.hil - 1102_tailsitter_duo_sih.hil - - # [2000, 2999] Standard planes" - 2100_standard_plane - 2106_albatross - - 2507_cloudship - - # [3000, 3999] Flying wing" - 3000_generic_wing - - # [4000, 4999] Quadrotor x" - 4001_quad_x - 4014_s500 - 4015_holybro_s500 - 4016_holybro_px4vision - 4017_nxp_hovergames - 4019_x500_v2 - 4020_holybro_px4vision_v1_5 - 4041_beta75x - 4050_generic_250 - 4052_holybro_qav250 - 4053_holybro_kopis2 - 4061_atl_mantis_edu - 4071_ifo - 4073_ifo-s - 4500_clover4 - 4901_crazyflie21 - - # [5000, 5999] Quadrotor +" - 5001_quad_+ - - # [6000, 6999] Hexarotor x" - 6001_hexa_x - 6002_draco_r - - # [7000, 7999] Hexarotor +" - 7001_hexa_+ - - # [8000, 8999] Octorotor +" - 8001_octo_x - - # [9000, 9999] Octorotor +" - 9001_octo_+ - - # [11000, 11999] Hexa Cox - 11001_hexa_cox - - # [12000, 12999] Octo Cox - 12001_octo_cox - - # [13000, 13999] VTOL - 13000_generic_vtol_standard - 13100_generic_vtol_tiltrotor - 13013_deltaquad - 13014_vtol_babyshark - 13030_generic_vtol_quad_tiltrotor - 13200_generic_vtol_tailsitter - - # [14000, 14999] MC with tilt - 14001_generic_mc_with_tilt - - 16001_helicopter - - # [17000, 17999] Autogyro - 17002_TF-AutoG2 - 17003_TF-G2 + # [0-999] Reserved (historical) # [18000, 18999] High-altitude balloons 18001_TF-B1 # [22000, 22999] Reserve for custom models - - 24001_dodeca_cox - - 50000_generic_ground_vehicle - 50004_nxpcup_car_dfrobot_gpx - 50003_aion_robotics_r1_rover - - # [60000, 61000] (Unmanned) Underwater Robots - 60000_uuv_generic - 60001_uuv_hippocampus - 60002_uuv_bluerov2_heavy ) + +if(CONFIG_MODULES_SIMULATION_PWM_OUT_SIM) + px4_add_romfs_files( + # [1000, 1999] Simulation setups + 1001_rc_quad_x.hil + 1002_standard_vtol.hil + 1100_rc_quad_x_sih.hil + 1101_rc_plane_sih.hil + 1102_tailsitter_duo_sih.hil + ) +endif() + +if(CONFIG_MODULES_MC_RATE_CONTROL) + px4_add_romfs_files( + # [4000, 4999] Quadrotor x + 4001_quad_x + 4014_s500 + 4015_holybro_s500 + 4016_holybro_px4vision + 4017_nxp_hovergames + 4019_x500_v2 + 4020_holybro_px4vision_v1_5 + 4041_beta75x + 4050_generic_250 + 4052_holybro_qav250 + 4053_holybro_kopis2 + 4061_atl_mantis_edu + 4071_ifo + 4073_ifo-s + 4500_clover4 + 4901_crazyflie21 + + # [5000, 5999] Quadrotor + + 5001_quad_+ + + # [6000, 6999] Hexarotor x + 6001_hexa_x + 6002_draco_r + + # [7000, 7999] Hexarotor + + 7001_hexa_+ + + # [8000, 8999] Octorotor + + 8001_octo_x + + # [9000, 9999] Octorotor + + 9001_octo_+ + + # [11000, 11999] Hexa Cox + 11001_hexa_cox + + # [12000, 12999] Octo Cox + 12001_octo_cox + + # [14000, 14999] MC with tilt + 14001_generic_mc_with_tilt + + 16001_helicopter + + 24001_dodeca_cox + ) +endif() + +if(CONFIG_MODULES_FW_RATE_CONTROL) + px4_add_romfs_files( + # [2000, 2999] Standard planes + 2100_standard_plane + 2106_albatross + + # [3000, 3999] Flying wing + 3000_generic_wing + + # [17000, 17999] Autogyro + 17002_TF-AutoG2 + 17003_TF-G2 + ) +endif() + +if(CONFIG_MODULES_AIRSHIP_ATT_CONTROL) + px4_add_romfs_files( + 2507_cloudship + ) +endif() + +if(CONFIG_MODULES_VTOL_ATT_CONTROL) + px4_add_romfs_files( + # [13000, 13999] VTOL + 13000_generic_vtol_standard + 13100_generic_vtol_tiltrotor + 13013_deltaquad + 13014_vtol_babyshark + 13030_generic_vtol_quad_tiltrotor + 13200_generic_vtol_tailsitter + ) +endif() + +if(CONFIG_MODULES_ROVER_POS_CONTROL) + px4_add_romfs_files( + 50000_generic_ground_vehicle + 50004_nxpcup_car_dfrobot_gpx + ) +endif() + +if(CONFIG_MODULES_DIFFERENTIAL_DRIVE) + px4_add_romfs_files( + 50003_aion_robotics_r1_rover + ) +endif() + +if(CONFIG_MODULES_UUV_ATT_CONTROL) + px4_add_romfs_files( + # [60000, 61000] (Unmanned) Underwater Robots + 60000_uuv_generic + 60001_uuv_hippocampus + 60002_uuv_bluerov2_heavy + ) +endif() diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults index a8de66cd87..32991e59b9 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults @@ -28,7 +28,6 @@ param set-default EKF2_ARSP_THR 8 param set-default EKF2_FUSE_BETA 1 param set-default EKF2_GPS_CHECK 21 param set-default EKF2_MAG_ACCLIM 0 -param set-default EKF2_MAG_YAWLIM 0 param set-default EKF2_REQ_EPH 10 param set-default EKF2_REQ_EPV 10 param set-default EKF2_REQ_HDRIFT 0.5 diff --git a/ROMFS/px4fmu_common/init.d/rcS b/ROMFS/px4fmu_common/init.d/rcS index 49b062909d..466fed1f62 100644 --- a/ROMFS/px4fmu_common/init.d/rcS +++ b/ROMFS/px4fmu_common/init.d/rcS @@ -439,7 +439,12 @@ else # # Start a thermal calibration if required. # - . ${R}etc/init.d/rc.thermal_cal + set RC_THERMAL_CAL ${R}etc/init.d/rc.thermal_cal + if [ -f ${RC_THERMAL_CAL} ] + then + . ${RC_THERMAL_CAL} + fi + unset RC_THERMAL_CAL # # Start gimbal to control mounts such as gimbals, disabled by default. @@ -500,7 +505,12 @@ else # # Start the logger. # - . ${R}etc/init.d/rc.logging + set RC_LOGGING ${R}etc/init.d/rc.logging + if [ -f ${RC_LOGGING} ] + then + . ${RC_LOGGING} + fi + unset RC_LOGGING # # Set additional parameters and env variables for selected AUTOSTART. diff --git a/boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig b/boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig index 76198dd154..98431d0420 100644 --- a/boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig +++ b/boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig @@ -257,7 +257,7 @@ CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y CONFIG_SCHED_INSTRUMENTATION_SWITCH=y CONFIG_SCHED_LPWORK=y CONFIG_SCHED_LPWORKPRIORITY=50 -CONFIG_SCHED_LPWORKSTACKSIZE=1632 +CONFIG_SCHED_LPWORKSTACKSIZE=2032 CONFIG_SCHED_WAITPID=y CONFIG_SDIO_BLOCKSETUP=y CONFIG_SEM_PREALLOCHOLDERS=32 diff --git a/src/lib/geo/test_geo.cpp b/src/lib/geo/test_geo.cpp index e93bdae0f6..0cd3d835aa 100644 --- a/src/lib/geo/test_geo.cpp +++ b/src/lib/geo/test_geo.cpp @@ -42,7 +42,7 @@ class GeoTest : public ::testing::Test public: void SetUp() override { - proj.initReference(math::radians(473566094 / 1e7), math::radians(85190237 / 1e7), 0); + proj.initReference(473566094 / 1e7, 85190237 / 1e7, 0); } protected: @@ -73,7 +73,7 @@ TEST_F(GeoTest, reprojectProject) TEST_F(GeoTest, projectReproject) { - // GIVEN: x and y coordinates in the local cartesian frame + // GIVEN: lat and lon coordinates in the geographic coordinate system double lat = 47.356616973876953; double lon = 8.5190505981445313; float x; diff --git a/src/lib/matrix/matrix/Matrix.hpp b/src/lib/matrix/matrix/Matrix.hpp index e3eecf2dd8..33d2e6cbf0 100644 --- a/src/lib/matrix/matrix/Matrix.hpp +++ b/src/lib/matrix/matrix/Matrix.hpp @@ -391,12 +391,6 @@ public: for (unsigned j = 0; j < N; j++) { double d = static_cast(self(i, j)); - // Matrix diagonal elements - if (N > 1 && M > 1 && i == j) { - // make diagonal elements bold (ANSI CSI n 1) - printf("\033[1m"); - } - // if symmetric don't print upper triangular elements if ((M == N) && (j > i) && (i < N) && (j < M) && (fabs(d - static_cast(self(j, i))) < (double)eps) @@ -417,12 +411,6 @@ public: printf("% 6.5f ", d); } } - - // Matrix diagonal elements - if (N > 1 && M > 1 && i == j) { - // reset any formatting (ANSI CSI n 0) - printf("\033[0m"); - } } printf("\n"); diff --git a/src/lib/parameters/px4params/injectxmlparams.py b/src/lib/parameters/px4params/injectxmlparams.py index 060015a170..fd9d19ed17 100755 --- a/src/lib/parameters/px4params/injectxmlparams.py +++ b/src/lib/parameters/px4params/injectxmlparams.py @@ -14,7 +14,7 @@ class XMLInject(): def __init__(self, injected_xml_filename): self.groups=[] - valid_parameter_attributes = set(["category", "default", "name", "type", "volatile"]) + valid_parameter_attributes = set(["category", "default", "name", "type", "volatile", "boolean"]) valid_field_tags = set(["board","short_desc", "long_desc", "min", "max", "unit", "decimal", "increment", "reboot_required"]) valid_other_top_level_tags = set(["group","values"]) @@ -42,7 +42,8 @@ class XMLInject(): new_param.default = iparam.get('default') elif param_attrib == 'volatile': new_param.SetVolatile() - + elif param_attrib == "boolean": + new_param.SetBoolean() #get param info stored as child tags for child in iparam: diff --git a/src/modules/ekf2/EKF/aid_sources/ZeroGyroUpdate.cpp b/src/modules/ekf2/EKF/aid_sources/ZeroGyroUpdate.cpp index ea9d3f11a8..b9eea13604 100644 --- a/src/modules/ekf2/EKF/aid_sources/ZeroGyroUpdate.cpp +++ b/src/modules/ekf2/EKF/aid_sources/ZeroGyroUpdate.cpp @@ -60,22 +60,13 @@ bool ZeroGyroUpdate::update(Ekf &ekf, const estimator::imuSample &imu_delayed) if (zero_gyro_update_data_ready) { Vector3f gyro_bias = _zgup_delta_ang / _zgup_delta_ang_dt; - Vector3f innovation = ekf.state().gyro_bias - gyro_bias; const float obs_var = sq(math::constrain(ekf.getGyroNoise(), 0.f, 1.f)); - const Vector3f innov_var = ekf.getGyroBiasVariance() + obs_var; - - for (int i = 0; i < 3; i++) { - Ekf::VectorState K; // Kalman gain vector for any single observation - sequential fusion is used. - const unsigned state_index = State::gyro_bias.idx + i; - - // calculate kalman gain K = PHS, where S = 1/innovation variance - for (int row = 0; row < State::size; row++) { - K(row) = ekf.stateCovariance(row, state_index) / innov_var(i); - } - - ekf.measurementUpdate(K, innov_var(i), innovation(i)); + for (unsigned i = 0; i < 3; i++) { + const float innovation = ekf.state().gyro_bias(i) - gyro_bias(i); + const float innov_var = ekf.getGyroBiasVariance()(i) + obs_var; + ekf.fuseDirectStateMeasurement(innovation, innov_var, obs_var, State::gyro_bias.idx + i); } // Reset the integrators diff --git a/src/modules/ekf2/EKF/aid_sources/ZeroVelocityUpdate.cpp b/src/modules/ekf2/EKF/aid_sources/ZeroVelocityUpdate.cpp index 4745f759c7..48d07d583d 100644 --- a/src/modules/ekf2/EKF/aid_sources/ZeroVelocityUpdate.cpp +++ b/src/modules/ekf2/EKF/aid_sources/ZeroVelocityUpdate.cpp @@ -66,7 +66,7 @@ bool ZeroVelocityUpdate::update(Ekf &ekf, const estimator::imuSample &imu_delaye for (unsigned i = 0; i < 3; i++) { const float innovation = ekf.state().vel(i) - vel_obs(i); - ekf.fuseDirectStateMeasurement(innovation, innov_var(i), State::vel.idx + i); + ekf.fuseDirectStateMeasurement(innovation, innov_var(i), obs_var, State::vel.idx + i); } _time_last_zero_velocity_fuse = imu_delayed.time_us; diff --git a/src/modules/ekf2/EKF/airspeed_fusion.cpp b/src/modules/ekf2/EKF/airspeed_fusion.cpp index fde836232b..7f8539b1cb 100644 --- a/src/modules/ekf2/EKF/airspeed_fusion.cpp +++ b/src/modules/ekf2/EKF/airspeed_fusion.cpp @@ -93,7 +93,7 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed) const bool is_airspeed_significant = airspeed_sample.true_airspeed > _params.arsp_thr; const bool is_airspeed_consistent = (_aid_src_airspeed.test_ratio > 0.f && _aid_src_airspeed.test_ratio < 1.f); const bool starting_conditions_passing = continuing_conditions_passing && is_airspeed_significant - && (is_airspeed_consistent || !_control_status.flags.wind); // if wind isn't already estimated, the states are reset when starting airspeed fusion + && (is_airspeed_consistent || !_control_status.flags.wind || _control_status.flags.inertial_dead_reckoning); if (_control_status.flags.fuse_aspd) { if (continuing_conditions_passing) { @@ -118,17 +118,16 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed) } else if (starting_conditions_passing) { ECL_INFO("starting airspeed fusion"); - // If starting wind state estimation, reset the wind states and covariances before fusing any data - // Also catch the case where sideslip fusion enabled wind estimation recently and didn't converge yet. - const Vector2f wind_var_xy = getWindVelocityVariance(); + if (_control_status.flags.inertial_dead_reckoning && !is_airspeed_consistent) { + resetVelUsingAirspeed(airspeed_sample); - if (!_control_status.flags.wind || (wind_var_xy(0) + wind_var_xy(1) > sq(_params.initial_wind_uncertainty))) { - // activate the wind states - _control_status.flags.wind = true; - // reset the wind speed states and corresponding covariances + } else if (!_control_status.flags.wind || getWindVelocityVariance().longerThan(_params.initial_wind_uncertainty)) { + // If starting wind state estimation, reset the wind states and covariances before fusing any data + // Also catch the case where sideslip fusion enabled wind estimation recently and didn't converge yet. resetWindUsingAirspeed(airspeed_sample); } + _control_status.flags.wind = true; _control_status.flags.fuse_aspd = true; } @@ -208,7 +207,7 @@ void Ekf::fuseAirspeed(const airspeedSample &airspeed_sample, estimator_aid_sour K.slice(State::wind_vel.idx, 0) = K_wind; } - const bool is_fused = measurementUpdate(K, aid_src.innovation_variance, aid_src.innovation); + const bool is_fused = measurementUpdate(K, H, aid_src.observation_variance, aid_src.innovation); aid_src.fused = is_fused; _fault_status.flags.bad_airspeed = !is_fused; @@ -247,3 +246,18 @@ void Ekf::resetWindUsingAirspeed(const airspeedSample &airspeed_sample) _aid_src_airspeed.time_last_fuse = _time_delayed_us; } + +void Ekf::resetVelUsingAirspeed(const airspeedSample &airspeed_sample) +{ + const float euler_yaw = getEulerYaw(_R_to_earth); + + // Estimate velocity using zero sideslip assumption and airspeed measurement + Vector2f horizontal_velocity; + horizontal_velocity(0) = _state.wind_vel(0) + airspeed_sample.true_airspeed * cosf(euler_yaw); + horizontal_velocity(1) = _state.wind_vel(1) + airspeed_sample.true_airspeed * sinf(euler_yaw); + + float vel_var = NAN; // Do not reset the velocity variance as wind variance estimate is most likely not correct + resetHorizontalVelocityTo(horizontal_velocity, vel_var); + + _aid_src_airspeed.time_last_fuse = _time_delayed_us; +} diff --git a/src/modules/ekf2/EKF/common.h b/src/modules/ekf2/EKF/common.h index 20b6fc3dbe..880df1d4fe 100644 --- a/src/modules/ekf2/EKF/common.h +++ b/src/modules/ekf2/EKF/common.h @@ -364,7 +364,6 @@ struct parameters { int32_t mag_declination_source{7}; ///< bitmask used to control the handling of declination data int32_t mag_fusion_type{0}; ///< integer used to specify the type of magnetometer fusion used float mag_acc_gate{0.5f}; ///< when in auto select mode, heading fusion will be used when manoeuvre accel is lower than this (m/sec**2) - float mag_yaw_rate_gate{0.20f}; ///< yaw rate threshold used by mode select logic (rad/sec) // compute synthetic magnetomter Z value if possible int32_t synthesize_mag_z{0}; diff --git a/src/modules/ekf2/EKF/covariance.cpp b/src/modules/ekf2/EKF/covariance.cpp index b95e1c171c..b1a4fff58d 100644 --- a/src/modules/ekf2/EKF/covariance.cpp +++ b/src/modules/ekf2/EKF/covariance.cpp @@ -222,14 +222,6 @@ void Ekf::constrainStateVariances() #endif // CONFIG_EKF2_WIND } -void Ekf::forceCovarianceSymmetry() -{ - // DEBUG - // P.isBlockSymmetric(0, 1e-9f); - - P.makeRowColSymmetric(0); -} - void Ekf::constrainStateVar(const IdxDof &state, float min, float max) { for (unsigned i = state.idx; i < (state.idx + state.dof); i++) { @@ -256,22 +248,6 @@ void Ekf::constrainStateVarLimitRatio(const IdxDof &state, float min, float max, } } -// if the covariance correction will result in a negative variance, then -// the covariance matrix is unhealthy and must be corrected -bool Ekf::checkAndFixCovarianceUpdate(const SquareMatrixState &KHP) -{ - bool healthy = true; - - for (int i = 0; i < State::size; i++) { - if (P(i, i) < KHP(i, i)) { - P.uncorrelateCovarianceSetVariance<1>(i, 0.f); - healthy = false; - } - } - - return healthy; -} - void Ekf::resetQuatCov(const float yaw_noise) { const float tilt_var = sq(math::max(_params.initial_tilt_err, 0.01f)); diff --git a/src/modules/ekf2/EKF/drag_fusion.cpp b/src/modules/ekf2/EKF/drag_fusion.cpp index 95be0d5a35..5b4baedf12 100644 --- a/src/modules/ekf2/EKF/drag_fusion.cpp +++ b/src/modules/ekf2/EKF/drag_fusion.cpp @@ -160,7 +160,7 @@ void Ekf::fuseDrag(const dragSample &drag_sample) VectorState K = P * H / _aid_src_drag.innovation_variance[axis_index]; - if (measurementUpdate(K, _aid_src_drag.innovation_variance[axis_index], _aid_src_drag.innovation[axis_index])) { + if (measurementUpdate(K, H, R_ACC, _aid_src_drag.innovation[axis_index])) { fused[axis_index] = true; } } diff --git a/src/modules/ekf2/EKF/ekf.cpp b/src/modules/ekf2/EKF/ekf.cpp index b6af4e7c41..b6de89f544 100644 --- a/src/modules/ekf2/EKF/ekf.cpp +++ b/src/modules/ekf2/EKF/ekf.cpp @@ -326,14 +326,6 @@ void Ekf::predictState(const imuSample &imu_delayed) const float alpha = 1.0f - imu_delayed.delta_vel_dt; _accel_lpf_NE = _accel_lpf_NE * alpha + corrected_delta_vel_ef.xy(); - // calculate a yaw change about the earth frame vertical - const float spin_del_ang_D = corrected_delta_ang.dot(Vector3f(_R_to_earth.row(2))); - _yaw_delta_ef += spin_del_ang_D; - - // Calculate filtered yaw rate to be used by the magnetometer fusion type selection logic - // Note fixed coefficients are used to save operations. The exact time constant is not important. - _yaw_rate_lpf_ef = 0.95f * _yaw_rate_lpf_ef + 0.05f * spin_del_ang_D / imu_delayed.delta_ang_dt; - // Calculate low pass filtered height rate float alpha_height_rate_lpf = 0.1f * imu_delayed.delta_vel_dt; // 10 seconds time constant _height_rate_lpf = _height_rate_lpf * (1.0f - alpha_height_rate_lpf) + _state.vel(2) * alpha_height_rate_lpf; diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index dc08d5375f..11b98f4173 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -328,7 +328,7 @@ public: } // fuse single direct state measurement (eg NED velocity, NED position, mag earth field, etc) - bool fuseDirectStateMeasurement(const float innov, const float innov_var, const int state_index); + bool fuseDirectStateMeasurement(const float innov, const float innov_var, const float R, const int state_index); // gyro bias const Vector3f &getGyroBias() const { return _state.gyro_bias; } // get the gyroscope bias in rad/s @@ -468,35 +468,39 @@ public: const auto &aid_src_aux_vel() const { return _aid_src_aux_vel; } #endif // CONFIG_EKF2_AUXVEL - bool measurementUpdate(VectorState &K, float innovation_variance, float innovation) + bool measurementUpdate(VectorState &K, const VectorState &H, const float R, const float innovation) { clearInhibitedStateKalmanGains(K); - const VectorState KS = K * innovation_variance; - SquareMatrixState KHP; + // Efficient implementation of the Joseph stabilized covariance update + // Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006" - for (unsigned row = 0; row < State::size; row++) { - for (unsigned col = 0; col < State::size; col++) { - // Instead of literally computing KHP, use an equivalent - // equation involving less mathematical operations - KHP(row, col) = KS(row) * K(col); + // Step 1: conventional update + VectorState PH = P * H; + + for (unsigned i = 0; i < State::size; i++) { + for (unsigned j = 0; j <= i; j++) { + P(i, j) = P(i, j) - K(i) * PH(j); + P(j, i) = P(i, j); } } - const bool is_healthy = checkAndFixCovarianceUpdate(KHP); + // Step 2: stabilized update + PH = P * H; - if (is_healthy) { - // apply the covariance corrections - P -= KHP; - - constrainStateVariances(); - forceCovarianceSymmetry(); - - // apply the state corrections - fuse(K, innovation); + for (unsigned i = 0; i < State::size; i++) { + for (unsigned j = 0; j <= i; j++) { + float s = .5f * (P(i, j) - PH(i) * K(j) + P(i, j) - PH(j) * K(i)); + P(i, j) = s + K(i) * R * K(j); + P(j, i) = P(i, j); + } } - return is_healthy; + constrainStateVariances(); + + // apply the state corrections + fuse(K, innovation); + return true; } void resetGlobalPosToExternalObservation(double lat_deg, double lon_deg, float accuracy, uint64_t timestamp_observation); @@ -572,8 +576,6 @@ private: Vector2f _accel_lpf_NE{}; ///< Low pass filtered horizontal earth frame acceleration (m/sec**2) float _height_rate_lpf{0.0f}; - float _yaw_delta_ef{0.0f}; ///< Recent change in yaw angle measured about the earth frame D axis (rad) - float _yaw_rate_lpf_ef{0.0f}; ///< Filtered angular rate about earth frame D axis (rad/sec) SquareMatrixState P{}; ///< state covariance matrix @@ -702,9 +704,7 @@ private: float _mag_heading_pred_prev{}; ///< previous value of yaw state used by mag heading fusion (rad) // used by magnetometer fusion mode selection - bool _mag_bias_observable{false}; ///< true when there is enough rotation to make magnetometer bias errors observable bool _yaw_angle_observable{false}; ///< true when there is enough horizontal acceleration to make yaw observable - uint64_t _time_yaw_started{0}; ///< last system time in usec that a yaw rotation manoeuvre was detected AlphaFilter _mag_heading_innov_lpf{0.1f}; float _mag_heading_last_declination{}; ///< last magnetic field declination used for heading fusion (rad) bool _mag_decl_cov_reset{false}; ///< true after the fuseDeclination() function has been used to modify the earth field covariances after a magnetic field reset event. @@ -720,7 +720,6 @@ private: // Variables used to control activation of post takeoff functionality uint64_t _flt_mag_align_start_time{0}; ///< time that inflight magnetic field alignment started (uSec) - uint64_t _time_last_mov_3d_mag_suitable{0}; ///< last system time that sufficient movement to use 3-axis magnetometer fusion was detected (uSec) uint64_t _time_last_mag_check_failing{0}; #endif // CONFIG_EKF2_MAGNETOMETER @@ -784,6 +783,7 @@ private: // Reset the wind states using the current airspeed measurement, ground relative nav velocity, yaw angle and assumption of zero sideslip void resetWindUsingAirspeed(const airspeedSample &airspeed_sample); + void resetVelUsingAirspeed(const airspeedSample &airspeed_sample); #endif // CONFIG_EKF2_AIRSPEED #if defined(CONFIG_EKF2_SIDESLIP) @@ -942,15 +942,9 @@ private: #endif // CONFIG_EKF2_WIND } - // if the covariance correction will result in a negative variance, then - // the covariance matrix is unhealthy and must be corrected - bool checkAndFixCovarianceUpdate(const SquareMatrixState &KHP); - // limit the diagonal of the covariance matrix void constrainStateVariances(); - void forceCovarianceSymmetry(); - void constrainStateVar(const IdxDof &state, float min, float max); void constrainStateVarLimitRatio(const IdxDof &state, float min, float max, float max_ratio = 1.e6f); @@ -1049,7 +1043,6 @@ private: bool haglYawResetReq(); void checkYawAngleObservability(); - void checkMagBiasObservability(); void checkMagHeadingConsistency(); bool checkMagField(const Vector3f &mag); diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index 1f888cd73f..3a030cf632 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -839,38 +839,44 @@ void Ekf::updateIMUBiasInhibit(const imuSample &imu_delayed) } } -bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, const int state_index) +bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, const float R, const int state_index) { - VectorState Kfusion; // Kalman gain vector for any single observation - sequential fusion is used. + VectorState K; // Kalman gain vector for any single observation - sequential fusion is used. // calculate kalman gain K = PHS, where S = 1/innovation variance for (int row = 0; row < State::size; row++) { - Kfusion(row) = P(row, state_index) / innov_var; + K(row) = P(row, state_index) / innov_var; } - clearInhibitedStateKalmanGains(Kfusion); + clearInhibitedStateKalmanGains(K); - SquareMatrixState KHP; + // Efficient implementation of the Joseph stabilized covariance update + // Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006" - for (unsigned row = 0; row < State::size; row++) { - for (unsigned column = 0; column < State::size; column++) { - KHP(row, column) = Kfusion(row) * P(state_index, column); + // Step 1: conventional update + VectorState PH = P.row(state_index); + + for (unsigned i = 0; i < State::size; i++) { + for (unsigned j = 0; j <= i; j++) { + P(i, j) = P(i, j) - K(i) * PH(j); + P(j, i) = P(i, j); } } - const bool healthy = checkAndFixCovarianceUpdate(KHP); + // Step 2: stabilized update + PH = P.row(state_index); - if (healthy) { - // apply the covariance corrections - P -= KHP; - - constrainStateVariances(); - - // apply the state corrections - fuse(Kfusion, innov); - - return true; + for (unsigned i = 0; i < State::size; i++) { + for (unsigned j = 0; j <= i; j++) { + float s = .5f * (P(i, j) - PH(i) * K(j) + P(i, j) - PH(j) * K(i)); + P(i, j) = s + K(i) * R * K(j); + P(j, i) = P(i, j); + } } - return false; + constrainStateVariances(); + + // apply the state corrections + fuse(K, innov); + return true; } diff --git a/src/modules/ekf2/EKF/gps_yaw_fusion.cpp b/src/modules/ekf2/EKF/gps_yaw_fusion.cpp index 63e54fdc9c..13c057f266 100644 --- a/src/modules/ekf2/EKF/gps_yaw_fusion.cpp +++ b/src/modules/ekf2/EKF/gps_yaw_fusion.cpp @@ -134,7 +134,7 @@ void Ekf::fuseGpsYaw(float antenna_yaw_offset) // only calculate gains for states we are using VectorState Kfusion = P * H / gnss_yaw.innovation_variance; - const bool is_fused = measurementUpdate(Kfusion, gnss_yaw.innovation_variance, gnss_yaw.innovation); + const bool is_fused = measurementUpdate(Kfusion, H, gnss_yaw.observation_variance, gnss_yaw.innovation); _fault_status.flags.bad_hdg = !is_fused; gnss_yaw.fused = is_fused; diff --git a/src/modules/ekf2/EKF/gravity_fusion.cpp b/src/modules/ekf2/EKF/gravity_fusion.cpp index 7e2cf7f471..70a0a8ded2 100644 --- a/src/modules/ekf2/EKF/gravity_fusion.cpp +++ b/src/modules/ekf2/EKF/gravity_fusion.cpp @@ -111,7 +111,7 @@ void Ekf::controlGravityFusion(const imuSample &imu) const bool accel_clipping = imu.delta_vel_clipping[0] || imu.delta_vel_clipping[1] || imu.delta_vel_clipping[2]; if (_control_status.flags.gravity_vector && !_aid_src_gravity.innovation_rejected && !accel_clipping) { - fused[index] = measurementUpdate(K, _aid_src_gravity.innovation_variance[index], _aid_src_gravity.innovation[index]); + fused[index] = measurementUpdate(K, H, _aid_src_gravity.observation_variance[index], _aid_src_gravity.innovation[index]); } } diff --git a/src/modules/ekf2/EKF/mag_3d_control.cpp b/src/modules/ekf2/EKF/mag_3d_control.cpp index 2e42e1c39f..89f502ac93 100644 --- a/src/modules/ekf2/EKF/mag_3d_control.cpp +++ b/src/modules/ekf2/EKF/mag_3d_control.cpp @@ -45,13 +45,12 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star resetEstimatorAidStatus(aid_src); - const bool wmm_updated = (_wmm_gps_time_last_set > aid_src.time_last_fuse); + const bool wmm_updated = (_wmm_gps_time_last_set >= aid_src.time_last_fuse); // WMM update can occur on the last epoch, just after mag fusion // determine if we should use mag fusion bool continuing_conditions_passing = (_params.mag_fusion_type != MagFuseType::NONE) && _control_status.flags.tilt_align && (_control_status.flags.yaw_align || (!_control_status.flags.ev_yaw && !_control_status.flags.yaw_align)) - && (wmm_updated || checkHaglYawResetReq() || isRecent(_time_last_mov_3d_mag_suitable, (uint64_t)3e6)) && mag_sample.mag.longerThan(0.f) && mag_sample.mag.isAllFinite(); @@ -65,8 +64,6 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star && _control_status.flags.mag_aligned_in_flight && (_control_status.flags.mag_heading_consistent || !_control_status.flags.gps) && !_control_status.flags.mag_fault - && isRecent(aid_src.time_last_fuse, 500'000) - && getMagBiasVariance().longerThan(0.f) && !getMagBiasVariance().longerThan(sq(0.02f)) && !_control_status.flags.ev_yaw && !_control_status.flags.gps_yaw; @@ -92,7 +89,7 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star if (continuing_conditions_passing && _control_status.flags.yaw_align) { - if (mag_sample.reset || checkHaglYawResetReq()) { + if (mag_sample.reset || checkHaglYawResetReq() || wmm_updated) { ECL_INFO("reset to %s", AID_SRC_NAME); resetMagStates(_mag_lpf.getState(), _control_status.flags.mag_hdg || _control_status.flags.mag_3D); aid_src.time_last_fuse = _time_delayed_us; diff --git a/src/modules/ekf2/EKF/mag_control.cpp b/src/modules/ekf2/EKF/mag_control.cpp index cd714e91ec..b491228c39 100644 --- a/src/modules/ekf2/EKF/mag_control.cpp +++ b/src/modules/ekf2/EKF/mag_control.cpp @@ -47,15 +47,9 @@ void Ekf::controlMagFusion() _control_status.flags.mag_aligned_in_flight = false; } - // check mag state observability checkYawAngleObservability(); - checkMagBiasObservability(); checkMagHeadingConsistency(); - if (_mag_bias_observable || _yaw_angle_observable) { - _time_last_mov_3d_mag_suitable = _time_delayed_us; - } - if (_params.mag_fusion_type == MagFuseType::NONE) { stopMagFusion(); stopMagHdgFusion(); @@ -245,24 +239,6 @@ void Ekf::checkYawAngleObservability() } } -void Ekf::checkMagBiasObservability() -{ - // check if there is enough yaw rotation to make the mag bias states observable - if (!_mag_bias_observable && (fabsf(_yaw_rate_lpf_ef) > _params.mag_yaw_rate_gate)) { - // initial yaw motion is detected - _mag_bias_observable = true; - - } else if (_mag_bias_observable) { - // require sustained yaw motion of 50% the initial yaw rate threshold - const float yaw_dt = 1e-6f * (float)(_time_delayed_us - _time_yaw_started); - const float min_yaw_change_req = 0.5f * _params.mag_yaw_rate_gate * yaw_dt; - _mag_bias_observable = fabsf(_yaw_delta_ef) > min_yaw_change_req; - } - - _yaw_delta_ef = 0.0f; - _time_yaw_started = _time_delayed_us; -} - void Ekf::checkMagHeadingConsistency() { if (fabsf(_mag_heading_innov_lpf.getState()) < _params.mag_heading_noise) { diff --git a/src/modules/ekf2/EKF/mag_fusion.cpp b/src/modules/ekf2/EKF/mag_fusion.cpp index d6b6a593d0..b1a8cc68fe 100644 --- a/src/modules/ekf2/EKF/mag_fusion.cpp +++ b/src/modules/ekf2/EKF/mag_fusion.cpp @@ -191,7 +191,7 @@ bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bo Kfusion.slice(State::mag_B.idx, 0) = K_mag_B; } - if (measurementUpdate(Kfusion, aid_src_mag.innovation_variance[index], aid_src_mag.innovation[index])) { + if (measurementUpdate(Kfusion, H, aid_src_mag.observation_variance[index], aid_src_mag.innovation[index])) { fused[index] = true; limitDeclination(); @@ -261,7 +261,7 @@ bool Ekf::fuseDeclination(float decl_sigma) // Calculate the Kalman gains VectorState Kfusion = P * H / innovation_variance; - const bool is_fused = measurementUpdate(Kfusion, innovation_variance, innovation); + const bool is_fused = measurementUpdate(Kfusion, H, R_DECL, innovation); _fault_status.flags.bad_mag_decl = !is_fused; diff --git a/src/modules/ekf2/EKF/optflow_fusion.cpp b/src/modules/ekf2/EKF/optflow_fusion.cpp index ba2180d9b3..5dd257c725 100644 --- a/src/modules/ekf2/EKF/optflow_fusion.cpp +++ b/src/modules/ekf2/EKF/optflow_fusion.cpp @@ -146,7 +146,7 @@ void Ekf::fuseOptFlow() VectorState Kfusion = P * H / _aid_src_optical_flow.innovation_variance[index]; - if (measurementUpdate(Kfusion, _aid_src_optical_flow.innovation_variance[index], _aid_src_optical_flow.innovation[index])) { + if (measurementUpdate(Kfusion, H, _aid_src_optical_flow.observation_variance[index], _aid_src_optical_flow.innovation[index])) { fused[index] = true; } } diff --git a/src/modules/ekf2/EKF/position_fusion.cpp b/src/modules/ekf2/EKF/position_fusion.cpp index a645196633..a1d2f85c27 100644 --- a/src/modules/ekf2/EKF/position_fusion.cpp +++ b/src/modules/ekf2/EKF/position_fusion.cpp @@ -80,8 +80,8 @@ void Ekf::fuseHorizontalPosition(estimator_aid_source2d_s &aid_src) { // x & y if (!aid_src.innovation_rejected - && fuseDirectStateMeasurement(aid_src.innovation[0], aid_src.innovation_variance[0], State::pos.idx + 0) - && fuseDirectStateMeasurement(aid_src.innovation[1], aid_src.innovation_variance[1], State::pos.idx + 1) + && fuseDirectStateMeasurement(aid_src.innovation[0], aid_src.innovation_variance[0], aid_src.observation_variance[0], State::pos.idx + 0) + && fuseDirectStateMeasurement(aid_src.innovation[1], aid_src.innovation_variance[1], aid_src.observation_variance[1], State::pos.idx + 1) ) { aid_src.fused = true; aid_src.time_last_fuse = _time_delayed_us; @@ -97,7 +97,7 @@ void Ekf::fuseVerticalPosition(estimator_aid_source1d_s &aid_src) { // z if (!aid_src.innovation_rejected - && fuseDirectStateMeasurement(aid_src.innovation, aid_src.innovation_variance, State::pos.idx + 2) + && fuseDirectStateMeasurement(aid_src.innovation, aid_src.innovation_variance, aid_src.observation_variance, State::pos.idx + 2) ) { aid_src.fused = true; aid_src.time_last_fuse = _time_delayed_us; diff --git a/src/modules/ekf2/EKF/python/tuning_tools/baro_static_pressure_compensation/baro_static_pressure_compensation_tuning.py b/src/modules/ekf2/EKF/python/tuning_tools/baro_static_pressure_compensation/baro_static_pressure_compensation_tuning.py index 062e6687ef..01fe5e758c 100644 --- a/src/modules/ekf2/EKF/python/tuning_tools/baro_static_pressure_compensation/baro_static_pressure_compensation_tuning.py +++ b/src/modules/ekf2/EKF/python/tuning_tools/baro_static_pressure_compensation/baro_static_pressure_compensation_tuning.py @@ -44,7 +44,7 @@ from pyulog.px4 import PX4ULog import numpy as np import quaternion from scipy import optimize -from scipy.signal import detrend +from scipy.signal import sosfilt, butter def getAllData(logfile): log = ULog(logfile) @@ -59,9 +59,6 @@ def getAllData(logfile): baro = getData(log, 'vehicle_air_data', 'baro_alt_meter') t_baro = ms2s(getData(log, 'vehicle_air_data', 'timestamp')) - baro_bias = getData(log, 'estimator_baro_bias', 'bias') - t_baro_bias = ms2s(getData(log, 'estimator_baro_bias', 'timestamp')) - q = np.matrix([getData(log, 'vehicle_attitude', 'q[0]'), getData(log, 'vehicle_attitude', 'q[1]'), getData(log, 'vehicle_attitude', 'q[2]'), @@ -71,18 +68,17 @@ def getAllData(logfile): gnss_h = getData(log, 'vehicle_gps_position', 'altitude_msl_m') t_gnss = ms2s(getData(log, 'vehicle_gps_position', 'timestamp')) - (t_aligned, v_body_aligned, baro_aligned, v_local_z_aligned, gnss_h_aligned, baro_bias_aligned) = alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_h, t_baro_bias, baro_bias) + (t_aligned, v_body_aligned, baro_aligned, v_local_z_aligned, gnss_h_aligned) = alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_h) t_aligned -= t_aligned[0] - return (t_aligned, v_body_aligned, baro_aligned, v_local_z_aligned, gnss_h_aligned, baro_bias_aligned) + return (t_aligned, v_body_aligned, baro_aligned, v_local_z_aligned, gnss_h_aligned) -def alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_h, t_baro_bias, baro_bias): +def alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_h): #TODO: use resample? len_q = len(t_q) len_l = len(t_local) len_g = len(t_gnss) - len_bb = len(t_baro_bias) i_q = 0 i_l = 0 i_g = 0 @@ -91,7 +87,6 @@ def alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_ baro_aligned = [] gnss_h_aligned = [] v_local_z_aligned = [] - baro_bias_aligned = [] t_aligned = [] for i_b in range(len(t_baro)): @@ -102,8 +97,6 @@ def alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_ i_q += 1 while t_gnss[i_g] < t and i_g < len_g-1: i_g += 1 - while t_baro_bias[i_bb] < t and i_bb < len_bb-1: - i_bb += 1 # Only use in air data if dist_bottom[i_l] < 1.0: @@ -118,10 +111,9 @@ def alignData(t_local, v_local, dist_bottom, t_q, q, baro, t_baro, t_gnss, gnss_ baro_aligned = np.append(baro_aligned, baro[i_b]) v_local_z_aligned = np.append(v_local_z_aligned, v_local[2, i_l]) gnss_h_aligned = np.append(gnss_h_aligned, gnss_h[i_g]) - baro_bias_aligned = np.append(baro_bias_aligned, baro_bias[i_bb]) t_aligned.append(t) - return (t_aligned, v_body_aligned, baro_aligned, v_local_z_aligned, gnss_h_aligned, baro_bias_aligned) + return (t_aligned, v_body_aligned, baro_aligned, v_local_z_aligned, gnss_h_aligned) def getData(log, topic_name, variable_name, instance=0): variable_data = np.array([]) @@ -159,15 +151,19 @@ def baroCorrection(x, v_body): return correction def run(logfile): - (t, v_body, baro, v_local_z, gnss_h, baro_bias) = getAllData(logfile) + (t, v_body, baro, v_local_z, gnss_h) = getAllData(logfile) # x[0]: pcoef_xn / g # x[1]: pcoef_xp / g # x[2]: pcoef_yn / g # x[3]: pcoef_yp / g # x[4]: pcoef_z / g - baro -= baro_bias - baro_error = detrend(gnss_h - baro) + baro_error = (gnss_h - baro) + + # Remove low ferquency part of the signal as we're only interested in the short-term errors + baro_error -= baro_error[0] + sos = butter(4, 0.01, 'hp', fs=1/(t[1]-t[0]), output='sos') + baro_error = sosfilt(sos, baro_error) J = lambda x: np.sum(np.power(baro_error - baroCorrection(x, v_body), 2.0)) # cost function diff --git a/src/modules/ekf2/EKF/sideslip_fusion.cpp b/src/modules/ekf2/EKF/sideslip_fusion.cpp index e806d13bfc..c35501f241 100644 --- a/src/modules/ekf2/EKF/sideslip_fusion.cpp +++ b/src/modules/ekf2/EKF/sideslip_fusion.cpp @@ -142,7 +142,7 @@ void Ekf::fuseSideslip(estimator_aid_source1d_s &sideslip) K.slice(State::wind_vel.idx, 0) = K_wind; } - const bool is_fused = measurementUpdate(K, sideslip.innovation_variance, sideslip.innovation); + const bool is_fused = measurementUpdate(K, H, sideslip.observation_variance, sideslip.innovation); sideslip.fused = is_fused; _fault_status.flags.bad_sideslip = !is_fused; diff --git a/src/modules/ekf2/EKF/velocity_fusion.cpp b/src/modules/ekf2/EKF/velocity_fusion.cpp index f44ecc874f..fbb079c1fd 100644 --- a/src/modules/ekf2/EKF/velocity_fusion.cpp +++ b/src/modules/ekf2/EKF/velocity_fusion.cpp @@ -83,8 +83,8 @@ void Ekf::fuseHorizontalVelocity(estimator_aid_source2d_s &aid_src) { // vx, vy if (!aid_src.innovation_rejected - && fuseDirectStateMeasurement(aid_src.innovation[0], aid_src.innovation_variance[0], State::vel.idx + 0) - && fuseDirectStateMeasurement(aid_src.innovation[1], aid_src.innovation_variance[1], State::vel.idx + 1) + && fuseDirectStateMeasurement(aid_src.innovation[0], aid_src.innovation_variance[0], aid_src.observation_variance[0], State::vel.idx + 0) + && fuseDirectStateMeasurement(aid_src.innovation[1], aid_src.innovation_variance[1], aid_src.observation_variance[1], State::vel.idx + 1) ) { aid_src.fused = true; aid_src.time_last_fuse = _time_delayed_us; @@ -100,9 +100,9 @@ void Ekf::fuseVelocity(estimator_aid_source3d_s &aid_src) { // vx, vy, vz if (!aid_src.innovation_rejected - && fuseDirectStateMeasurement(aid_src.innovation[0], aid_src.innovation_variance[0], State::vel.idx + 0) - && fuseDirectStateMeasurement(aid_src.innovation[1], aid_src.innovation_variance[1], State::vel.idx + 1) - && fuseDirectStateMeasurement(aid_src.innovation[2], aid_src.innovation_variance[2], State::vel.idx + 2) + && fuseDirectStateMeasurement(aid_src.innovation[0], aid_src.innovation_variance[0], aid_src.observation_variance[0], State::vel.idx + 0) + && fuseDirectStateMeasurement(aid_src.innovation[1], aid_src.innovation_variance[1], aid_src.observation_variance[1], State::vel.idx + 1) + && fuseDirectStateMeasurement(aid_src.innovation[2], aid_src.innovation_variance[2], aid_src.observation_variance[2], State::vel.idx + 2) ) { aid_src.fused = true; aid_src.time_last_fuse = _time_delayed_us; diff --git a/src/modules/ekf2/EKF/yaw_fusion.cpp b/src/modules/ekf2/EKF/yaw_fusion.cpp index ddab6ee634..e5f94938aa 100644 --- a/src/modules/ekf2/EKF/yaw_fusion.cpp +++ b/src/modules/ekf2/EKF/yaw_fusion.cpp @@ -113,7 +113,7 @@ bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H _innov_check_fail_status.flags.reject_yaw = false; } - if (measurementUpdate(Kfusion, aid_src_status.innovation_variance, aid_src_status.innovation)) { + if (measurementUpdate(Kfusion, H_YAW, aid_src_status.observation_variance, aid_src_status.innovation)) { _time_last_heading_fuse = _time_delayed_us; diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp index f0a4ac7955..c75093711e 100644 --- a/src/modules/ekf2/EKF2.cpp +++ b/src/modules/ekf2/EKF2.cpp @@ -135,7 +135,6 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode): _param_ekf2_decl_type(_params->mag_declination_source), _param_ekf2_mag_type(_params->mag_fusion_type), _param_ekf2_mag_acclim(_params->mag_acc_gate), - _param_ekf2_mag_yawlim(_params->mag_yaw_rate_gate), _param_ekf2_mag_check(_params->mag_check), _param_ekf2_mag_chk_str(_params->mag_check_strength_tolerance_gs), _param_ekf2_mag_chk_inc(_params->mag_check_inclination_tolerance_deg), diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp index 2107af227b..1d54315b8c 100644 --- a/src/modules/ekf2/EKF2.hpp +++ b/src/modules/ekf2/EKF2.hpp @@ -605,7 +605,6 @@ private: (ParamExtInt) _param_ekf2_decl_type, (ParamExtInt) _param_ekf2_mag_type, (ParamExtFloat) _param_ekf2_mag_acclim, - (ParamExtFloat) _param_ekf2_mag_yawlim, (ParamExtInt) _param_ekf2_mag_check, (ParamExtFloat) _param_ekf2_mag_chk_str, (ParamExtFloat) _param_ekf2_mag_chk_inc, diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c index 73b26edd86..396ba96515 100644 --- a/src/modules/ekf2/ekf2_params.c +++ b/src/modules/ekf2/ekf2_params.c @@ -503,9 +503,9 @@ PARAM_DEFINE_INT32(EKF2_DECL_TYPE, 7); PARAM_DEFINE_INT32(EKF2_MAG_TYPE, 0); /** - * Horizontal acceleration threshold used by automatic selection of magnetometer fusion method. + * Horizontal acceleration threshold used for heading observability check * - * This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered horizontal acceleration is greater than this parameter value, then the EKF will use 3-axis magnetometer fusion. + * The heading is assumed to be observable when the body acceleration is greater than this parameter when a global position/velocity aiding source is active. * * @group EKF2 * @min 0.0 @@ -515,19 +515,6 @@ PARAM_DEFINE_INT32(EKF2_MAG_TYPE, 0); */ PARAM_DEFINE_FLOAT(EKF2_MAG_ACCLIM, 0.5f); -/** - * Yaw rate threshold used by automatic selection of magnetometer fusion method. - * - * This parameter is used when the magnetometer fusion method is set automatically (EKF2_MAG_TYPE = 0). If the filtered yaw rate is greater than this parameter value, then the EKF will use 3-axis magnetometer fusion. - * - * @group EKF2 - * @min 0.0 - * @max 1.0 - * @unit rad/s - * @decimal 2 - */ -PARAM_DEFINE_FLOAT(EKF2_MAG_YAWLIM, 0.20f); - /** * Gate size for barometric and GPS height fusion * diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv index d53bf5e7cf..2fd39cd68e 100644 --- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv +++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv @@ -12,380 +12,380 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7 990000,1,-0.0099,-0.013,0.00013,0.015,0.0064,-0.092,0.0022,0.0014,-0.029,1.6e-05,-1.5e-05,3.3e-07,0,0,-0.00016,0,0,0,0,0,0,0,0,0.021,0.021,0.00065,1.5,1.5,2,0.3,0.3,0.61,0.0099,0.01,0.00068,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1 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+34890000,-0.27,0.014,-0.0078,0.96,0.065,0.089,3.7,0.089,-0.019,0.57,-0.0013,-0.0057,5.1e-05,0.064,-0.03,-0.12,-0.11,-0.024,0.5,0.082,-0.035,-0.066,0,0,0.00036,0.00034,0.042,0.02,0.022,0.005,0.4,0.41,0.03,2.6e-07,2.4e-07,2e-06,0.028,0.028,0.0001,0.0011,5.2e-05,0.0012,0.001,0.00061,0.0012,1,1 diff --git a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp index 482f7671ea..513e6d057b 100644 --- a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp +++ b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp @@ -100,6 +100,11 @@ bool EkfWrapper::isIntendingBetaFusion() const return _ekf->control_status_flags().fuse_beta; } +bool EkfWrapper::isIntendingAirspeedFusion() const +{ + return _ekf->control_status_flags().fuse_aspd; +} + void EkfWrapper::enableGpsFusion() { _ekf_params->gnss_ctrl |= static_cast(GnssCtrl::HPOS) | static_cast(GnssCtrl::VEL); diff --git a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h index beb43e64e3..43753e9bc5 100644 --- a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h +++ b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h @@ -73,6 +73,8 @@ public: void disableBetaFusion(); bool isIntendingBetaFusion() const; + bool isIntendingAirspeedFusion() const; + void enableGpsFusion(); void disableGpsFusion(); bool isIntendingGpsFusion() const; diff --git a/src/modules/ekf2/test/sensor_simulator/sensor_simulator.cpp b/src/modules/ekf2/test/sensor_simulator/sensor_simulator.cpp index ea485b7258..3d1649317e 100644 --- a/src/modules/ekf2/test/sensor_simulator/sensor_simulator.cpp +++ b/src/modules/ekf2/test/sensor_simulator/sensor_simulator.cpp @@ -132,7 +132,7 @@ void SensorSimulator::setSensorDataToDefault() _flow.setData(_flow.dataAtRest()); _gps.setData(_gps.getDefaultGpsData()); _imu.setData(Vector3f{0.0f, 0.0f, -CONSTANTS_ONE_G}, Vector3f{0.0f, 0.0f, 0.0f}); - _mag.setData(Vector3f{0.2f, 0.0f, 0.4f}); + _mag.setData(Vector3f{0.218f, 0.f, 0.43f}); _rng.setData(0.2f, 100); _vio.setData(_vio.dataAtRest()); } @@ -358,7 +358,7 @@ void SensorSimulator::setSensorDataFromTrajectory() // Magnetometer if (_mag.isRunning()) { - const Vector3f world_mag_field = Vector3f{0.2f, 0.0f, 0.4f}; + const Vector3f world_mag_field = Vector3f{0.218f, 0.f, 0.43f}; const Vector3f mag_field_body = R_world_to_body * world_mag_field; _mag.setData(mag_field_body); } @@ -419,7 +419,10 @@ void SensorSimulator::simulateOrientation(Quatf orientation) _R_body_to_world = Dcmf(orientation); const Vector3f world_sensed_gravity = {0.0f, 0.0f, -CONSTANTS_ONE_G}; - const Vector3f world_mag_field = Vector3f{0.2f, 0.0f, 0.4f}; + + // The world mag field Y component is 0 as most unit tests assume no magnetic dectination + const Vector3f world_mag_field = Vector3f{0.218f, 0.f, 0.43f}; + const Vector3f sensed_gravity_body = _R_body_to_world.transpose() * world_sensed_gravity; const Vector3f body_mag_field = _R_body_to_world.transpose() * world_mag_field; diff --git a/src/modules/ekf2/test/test_EKF_airspeed.cpp b/src/modules/ekf2/test/test_EKF_airspeed.cpp index 28964035c9..d284b959e3 100644 --- a/src/modules/ekf2/test/test_EKF_airspeed.cpp +++ b/src/modules/ekf2/test/test_EKF_airspeed.cpp @@ -166,3 +166,39 @@ TEST_F(EkfAirspeedTest, testResetWindUsingAirspeed) EXPECT_NEAR(vel_wind_earth(0), vel_wind_expected(0), 1.f); EXPECT_NEAR(vel_wind_earth(1), vel_wind_expected(1), 1.f); } + +TEST_F(EkfAirspeedTest, testAirspeedDeadReckoning) +{ + const Vector3f simulated_velocity_earth(-3.6f, 8.f, 0.0f); + const Vector2f airspeed_body(15.f, 0.0f); + _sensor_simulator.runSeconds(10); + + _ekf->set_in_air_status(true); + _ekf->set_vehicle_at_rest(false); + _ekf->set_is_fixed_wing(true); + + const double latitude_new = -15.0000005; + const double longitude_new = -115.0000005; + const float altitude_new = 1500.0; + + _ekf->setEkfGlobalOrigin(latitude_new, longitude_new, altitude_new); + _ekf->resetGlobalPosToExternalObservation(latitude_new, longitude_new, 50.f, 0); + + // Simulate the fact that the sideslip can start immediately, without + // waiting for a measurement sample. + _ekf_wrapper.enableBetaFusion(); + _sensor_simulator.runSeconds(1.f); + EXPECT_TRUE(_ekf_wrapper.isIntendingBetaFusion()); + + _sensor_simulator.startAirspeedSensor(); + _sensor_simulator._airspeed.setData(airspeed_body(0), airspeed_body(0)); + _sensor_simulator.runSeconds(1.f); + EXPECT_TRUE(_ekf_wrapper.isIntendingAirspeedFusion()); + + EXPECT_TRUE(_ekf_wrapper.isWindVelocityEstimated()); + const Vector3f vel = _ekf->getVelocity(); + EXPECT_NEAR(vel.norm(), airspeed_body.norm(), 1e-3f); + const Vector2f vel_wind_earth = _ekf->getWindVelocity(); + EXPECT_NEAR(vel_wind_earth(0), 0.f, .1f); + EXPECT_NEAR(vel_wind_earth(1), 0.f, .1f); +} diff --git a/src/modules/ekf2/test/test_EKF_basics.cpp b/src/modules/ekf2/test/test_EKF_basics.cpp index 928cb24e03..c7a8ffa836 100644 --- a/src/modules/ekf2/test/test_EKF_basics.cpp +++ b/src/modules/ekf2/test/test_EKF_basics.cpp @@ -107,7 +107,8 @@ TEST_F(EkfBasicsTest, initialControlMode) EXPECT_EQ(0, (int) _ekf->control_status_flags().opt_flow); EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_hdg); EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_3D); - EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_dec); + EXPECT_EQ(1, (int) _ekf->control_status_flags().mag); + EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_dec); EXPECT_EQ(0, (int) _ekf->control_status_flags().in_air); EXPECT_EQ(0, (int) _ekf->control_status_flags().wind); EXPECT_EQ(1, (int) _ekf->control_status_flags().baro_hgt); @@ -161,7 +162,8 @@ TEST_F(EkfBasicsTest, gpsFusion) EXPECT_EQ(0, (int) _ekf->control_status_flags().opt_flow); EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_hdg); EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_3D); - EXPECT_EQ(0, (int) _ekf->control_status_flags().mag_dec); + EXPECT_EQ(1, (int) _ekf->control_status_flags().mag); + EXPECT_EQ(1, (int) _ekf->control_status_flags().mag_dec); EXPECT_EQ(0, (int) _ekf->control_status_flags().in_air); EXPECT_EQ(0, (int) _ekf->control_status_flags().wind); EXPECT_EQ(1, (int) _ekf->control_status_flags().baro_hgt); diff --git a/src/modules/ekf2/test/test_EKF_drag_fusion.cpp b/src/modules/ekf2/test/test_EKF_drag_fusion.cpp index ca03a0f5e7..edd81e640c 100644 --- a/src/modules/ekf2/test/test_EKF_drag_fusion.cpp +++ b/src/modules/ekf2/test/test_EKF_drag_fusion.cpp @@ -144,8 +144,10 @@ TEST_F(EkfDragFusionTest, testLateralMomentumDrag) predicted_accel(0) = CONSTANTS_ONE_G * sinf(pitch); predicted_accel(1) = - CONSTANTS_ONE_G * sinf(roll); Vector2f wind_speed = predicted_accel / mcoef; - EXPECT_NEAR(vel_wind_earth(0), wind_speed(0), fmaxf(1.0f, 0.1f * fabsf(wind_speed(0)))); - EXPECT_NEAR(vel_wind_earth(1), wind_speed(1), fmaxf(1.0f, 0.1f * fabsf(wind_speed(1)))); + // Note that the wind direction is stightly incorrect heading estimate due to a mismatch between + // the simulated mag field and assumed dectination from the WMM + EXPECT_NEAR(vel_wind_earth(0), wind_speed(0), fmaxf(1.0f, 0.15f * fabsf(wind_speed.norm()))); + EXPECT_NEAR(vel_wind_earth(1), wind_speed(1), fmaxf(1.0f, 0.15f * fabsf(wind_speed.norm()))); }; TEST_F(EkfDragFusionTest, testForwardBluffBodyDrag) diff --git a/src/modules/ekf2/test/test_EKF_flow.cpp b/src/modules/ekf2/test/test_EKF_flow.cpp index 0c541b0df4..9d3df6cbd8 100644 --- a/src/modules/ekf2/test/test_EKF_flow.cpp +++ b/src/modules/ekf2/test/test_EKF_flow.cpp @@ -241,7 +241,7 @@ TEST_F(EkfFlowTest, yawMotionCorrectionWithAutopilotGyroData) _sensor_simulator.runSeconds(5.f); // AND WHEN: there is a pure yaw rotation - const Vector3f body_rate(0.f, 0.f, 3.14159f); + const Vector3f body_rate(0.f, 0.f, 2.9f); const Vector3f flow_offset(0.15, -0.05f, 0.2f); _ekf_wrapper.setFlowOffset(flow_offset); @@ -277,6 +277,47 @@ TEST_F(EkfFlowTest, yawMotionCorrectionWithFlowGyroData) _sensor_simulator.runSeconds(5.f); + // AND WHEN: there is a pure yaw rotation + const Vector3f body_rate(0.f, 0.f, 2.9f); + const Vector3f flow_offset(-0.15, 0.05f, 0.2f); + _ekf_wrapper.setFlowOffset(flow_offset); + + const Vector2f simulated_horz_velocity(body_rate % flow_offset); + flowSample flow_sample = _sensor_simulator._flow.dataAtRest(); + setFlowFromHorizontalVelocityAndDistance(flow_sample, simulated_horz_velocity, simulated_distance_to_ground); + + // use flow sensor gyro data + // for clarification of the sign, see definition of flowSample + flow_sample.gyro_rate = -body_rate; + + _sensor_simulator._flow.setData(flow_sample); + _sensor_simulator._imu.setGyroData(body_rate); + _sensor_simulator.runSeconds(10.f); + + // THEN: the flow due to the yaw rotation and the offsets is canceled + // and the velocity estimate stays 0 + const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity()); + EXPECT_NEAR(estimated_horz_velocity(0), 0.f, 0.01f) + << "estimated vel = " << estimated_horz_velocity(0); + EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.01f) + << "estimated vel = " << estimated_horz_velocity(1); + _ekf->state().vector().print(); + _ekf->covariances().print(); +} + +TEST_F(EkfFlowTest, yawMotionNoMagFusion) +{ + // WHEN: fusing range finder and optical flow data in air + const float simulated_distance_to_ground = 5.f; + startRangeFinderFusion(simulated_distance_to_ground); + startZeroFlowFusion(); + _ekf_wrapper.setMagFuseTypeNone(); + + _ekf->set_in_air_status(true); + _ekf->set_vehicle_at_rest(false); + + _sensor_simulator.runSeconds(5.f); + // AND WHEN: there is a pure yaw rotation const Vector3f body_rate(0.f, 0.f, 3.14159f); const Vector3f flow_offset(-0.15, 0.05f, 0.2f); @@ -301,4 +342,6 @@ TEST_F(EkfFlowTest, yawMotionCorrectionWithFlowGyroData) << "estimated vel = " << estimated_horz_velocity(0); EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.01f) << "estimated vel = " << estimated_horz_velocity(1); + _ekf->state().vector().print(); + _ekf->covariances().print(); } diff --git a/src/modules/ekf2/test/test_EKF_mag.cpp b/src/modules/ekf2/test/test_EKF_mag.cpp index 32903e6e6c..6641b4fe6d 100644 --- a/src/modules/ekf2/test/test_EKF_mag.cpp +++ b/src/modules/ekf2/test/test_EKF_mag.cpp @@ -70,7 +70,9 @@ TEST_F(EkfMagTest, fusionStartWithReset) { // GIVEN: some meaningful mag data const float mag_heading = M_PI_F / 3.f; - const Vector3f mag_data(0.2f * cosf(mag_heading), -0.2f * sinf(mag_heading), 0.4f); + const float incl = 63.1f; + const Vector3f mag_data(0.2f * cosf(mag_heading), -0.2f * sinf(mag_heading), + 0.4f * sinf(incl) * sqrtf(0.2f * 0.2f + 0.4f * 0.4f)); _sensor_simulator._mag.setData(mag_data); const int initial_quat_reset_counter = _ekf_wrapper.getQuaternionResetCounter(); @@ -95,7 +97,7 @@ TEST_F(EkfMagTest, fusionStartWithReset) float mag_decl = atan2f(mag_earth(1), mag_earth(0)); float mag_decl_wmm_deg = 0.f; _ekf->get_mag_decl_deg(mag_decl_wmm_deg); - EXPECT_NEAR(degrees(mag_decl), mag_decl_wmm_deg, 1e-6f); + EXPECT_NEAR(degrees(mag_decl), mag_decl_wmm_deg, 1e-5f); float mag_incl = asinf(mag_earth(2) / fmaxf(mag_earth.norm(), 1e-4f)); float mag_incl_wmm_deg = 0.f; diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp index 35632b7aec..7de353c8f9 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.cpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.cpp @@ -361,7 +361,7 @@ void FixedwingAttitudeControl::Run() /* add yaw rate setpoint from sticks in all attitude-controlled modes */ if (_vcontrol_mode.flag_control_manual_enabled) { - body_rates_setpoint(2) += math::constrain(_manual_control_setpoint.yaw * radians(_param_fw_y_rmax.get()), + body_rates_setpoint(2) += math::constrain(_manual_control_setpoint.yaw * radians(_param_man_yr_max.get()), -radians(_param_fw_y_rmax.get()), radians(_param_fw_y_rmax.get())); } diff --git a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp index 20421f056d..6c902878e1 100644 --- a/src/modules/fw_att_control/FixedwingAttitudeControl.hpp +++ b/src/modules/fw_att_control/FixedwingAttitudeControl.hpp @@ -155,7 +155,8 @@ private: (ParamFloat) _param_fw_wr_imax, (ParamFloat) _param_fw_wr_p, - (ParamFloat) _param_fw_y_rmax + (ParamFloat) _param_fw_y_rmax, + (ParamFloat) _param_man_yr_max ) diff --git a/src/modules/gimbal/gimbal.cpp b/src/modules/gimbal/gimbal.cpp index c663d31cea..5893d29738 100644 --- a/src/modules/gimbal/gimbal.cpp +++ b/src/modules/gimbal/gimbal.cpp @@ -211,7 +211,10 @@ static int gimbal_thread_main(int argc, char *argv[]) // Reset control as no one is active anymore, or yet. thread_data.control_data.sysid_primary_control = 0; thread_data.control_data.compid_primary_control = 0; - thread_data.control_data.device_compid = 0; + // If the output is set to AUX we still want the input to be able to control the gimbal + // via mavlink, so we set the device_compid to 1. This follows the mavlink spec which states + // that the gimbal_device_id should be between 1 and 6. + thread_data.control_data.device_compid = params.mnt_mode_out == 0 ? 1 : 0; } InputBase::UpdateResult update_result = InputBase::UpdateResult::NoUpdate;