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PX4 style fixes (excluding EKF generated code)

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This commit is contained in:
Daniel Agar
2018-05-03 22:25:36 -04:00
parent e5952fadaf
commit c5b2f59f57
22 changed files with 384 additions and 187 deletions
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EKF/vel_pos_fusion.cpp
+27 -3
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@@ -109,10 +109,12 @@ void Ekf::fuseVelPosHeight()
// casued by rotor wash ground interaction by applying a temporary deadzone to baro innovations.
float deadzone_start = 0.25f * _params.baro_noise;
float deadzone_end = deadzone_start + _params.gnd_effect_deadzone;
if (_control_status.flags.gnd_effect) {
if (innovation[5] < -deadzone_start) {
if (innovation[5] <= -deadzone_end) {
innovation[5] += deadzone_end;
} else {
innovation[5] = -deadzone_start;
}
@@ -136,11 +138,12 @@ void Ekf::fuseVelPosHeight()
fuse_map[5] = true;
// use range finder with tilt correction
innovation[5] = _state.pos(2) - (-math::max(_range_sample_delayed.rng * _R_rng_to_earth_2_2,
_params.rng_gnd_clearance)) - _hgt_sensor_offset;
_params.rng_gnd_clearance)) - _hgt_sensor_offset;
// observation variance - user parameter defined
R[5] = fmaxf((sq(_params.range_noise) + sq(_params.range_noise_scaler * _range_sample_delayed.rng)) * sq(_R_rng_to_earth_2_2), 0.01f);
// innovation gate size
gate_size[5] = fmaxf(_params.range_innov_gate, 1.0f);
} else if (_control_status.flags.ev_hgt) {
fuse_map[5] = true;
// calculate the innovation assuming the external vision observaton is in local NED frame
@@ -183,31 +186,39 @@ void Ekf::fuseVelPosHeight()
if ((_fuse_hor_vel || _fuse_hor_vel_aux) && vel_check_pass) {
_time_last_vel_fuse = _time_last_imu;
_innov_check_fail_status.flags.reject_vel_NED = false;
} else if (!vel_check_pass) {
_innov_check_fail_status.flags.reject_vel_NED = true;
}
_fuse_hor_vel = _fuse_hor_vel_aux = false;
// record the successful position fusion event
if (pos_check_pass && _fuse_pos) {
if (!_fuse_hpos_as_odom) {
_time_last_pos_fuse = _time_last_imu;
} else {
_time_last_delpos_fuse = _time_last_imu;
}
_innov_check_fail_status.flags.reject_pos_NE = false;
} else if (!pos_check_pass) {
_innov_check_fail_status.flags.reject_pos_NE = true;
}
_fuse_pos = false;
// record the successful height fusion event
if (innov_check_pass_map[5] && _fuse_height) {
_time_last_hgt_fuse = _time_last_imu;
_innov_check_fail_status.flags.reject_pos_D = false;
} else if (!innov_check_pass_map[5]) {
_innov_check_fail_status.flags.reject_pos_D = true;
}
_fuse_height = false;
for (unsigned obs_index = 0; obs_index < 6; obs_index++) {
@@ -225,6 +236,7 @@ void Ekf::fuseVelPosHeight()
// update covarinace matrix via Pnew = (I - KH)P
float KHP[_k_num_states][_k_num_states];
for (unsigned row = 0; row < _k_num_states; row++) {
for (unsigned column = 0; column < _k_num_states; column++) {
KHP[row][column] = Kfusion[row] * P[state_index][column];
@@ -234,11 +246,12 @@ void Ekf::fuseVelPosHeight()
// if the covariance correction will result in a negative variance, then
// the covariance marix is unhealthy and must be corrected
bool healthy = true;
for (int i = 0; i < _k_num_states; i++) {
if (P[i][i] < KHP[i][i]) {
// zero rows and columns
zeroRows(P,i,i);
zeroCols(P,i,i);
zeroRows(P, i, i);
zeroCols(P, i, i);
//flag as unhealthy
healthy = false;
@@ -246,29 +259,40 @@ void Ekf::fuseVelPosHeight()
// update individual measurement health status
if (obs_index == 0) {
_fault_status.flags.bad_vel_N = true;
} else if (obs_index == 1) {
_fault_status.flags.bad_vel_E = true;
} else if (obs_index == 2) {
_fault_status.flags.bad_vel_D = true;
} else if (obs_index == 3) {
_fault_status.flags.bad_pos_N = true;
} else if (obs_index == 4) {
_fault_status.flags.bad_pos_E = true;
} else if (obs_index == 5) {
_fault_status.flags.bad_pos_D = true;
}
} else {
// update individual measurement health status
if (obs_index == 0) {
_fault_status.flags.bad_vel_N = false;
} else if (obs_index == 1) {
_fault_status.flags.bad_vel_E = false;
} else if (obs_index == 2) {
_fault_status.flags.bad_vel_D = false;
} else if (obs_index == 3) {
_fault_status.flags.bad_pos_N = false;
} else if (obs_index == 4) {
_fault_status.flags.bad_pos_E = false;
} else if (obs_index == 5) {
_fault_status.flags.bad_pos_D = false;
}