diff --git a/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp index 860c6eca5e..e5c0e7bd35 100644 --- a/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp +++ b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp @@ -99,6 +99,10 @@ bool Ekf::fuseOptFlow(VectorState &H, const bool update_terrain) _aid_src_optical_flow.time_last_fuse = _time_delayed_us; _aid_src_optical_flow.fused = true; + if (update_terrain) { + _time_last_terrain_fuse = _time_delayed_us; + } + return true; } diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_fusion.cpp index a06bdb9478..c2fd636720 100644 --- a/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_fusion.cpp +++ b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_fusion.cpp @@ -66,5 +66,9 @@ bool Ekf::fuseHaglRng(estimator_aid_source1d_s &aid_src, bool update_height, boo aid_src.time_last_fuse = _time_delayed_us; aid_src.fused = true; + if (update_terrain) { + _time_last_terrain_fuse = _time_delayed_us; + } + return true; } diff --git a/src/modules/ekf2/EKF/ekf.cpp b/src/modules/ekf2/EKF/ekf.cpp index 1b439c8879..5efb2b84ff 100644 --- a/src/modules/ekf2/EKF/ekf.cpp +++ b/src/modules/ekf2/EKF/ekf.cpp @@ -110,6 +110,7 @@ void Ekf::reset() _time_last_hor_vel_fuse = 0; _time_last_ver_vel_fuse = 0; _time_last_heading_fuse = 0; + _time_last_terrain_fuse = 0; _last_known_pos.setZero(); diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index 6498de504b..2a5b7ab317 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -585,6 +585,7 @@ private: uint64_t _time_last_hor_vel_fuse{0}; ///< time the last fusion of horizontal velocity measurements was performed (uSec) uint64_t _time_last_ver_vel_fuse{0}; ///< time the last fusion of verticalvelocity measurements was performed (uSec) uint64_t _time_last_heading_fuse{0}; + uint64_t _time_last_terrain_fuse{0}; Vector3f _last_known_pos{}; ///< last known local position vector (m) diff --git a/src/modules/ekf2/EKF/terrain_control.cpp b/src/modules/ekf2/EKF/terrain_control.cpp index 8f277abac6..61356b1a41 100644 --- a/src/modules/ekf2/EKF/terrain_control.cpp +++ b/src/modules/ekf2/EKF/terrain_control.cpp @@ -67,15 +67,7 @@ void Ekf::controlTerrainFakeFusion() && !_control_status.flags.rng_terrain && !_control_status.flags.opt_flow_terrain) { - bool recent_terrain_aiding = false; - -#if defined(CONFIG_EKF2_RANGE_FINDER) - recent_terrain_aiding |= isRecent(_aid_src_rng_hgt.time_last_fuse, (uint64_t)1e6); -#endif // CONFIG_EKF2_RANGE_FINDER - -#if defined(CONFIG_EKF2_OPTICAL_FLOW) - recent_terrain_aiding |= isRecent(_aid_src_optical_flow.time_last_fuse, (uint64_t)1e6); -#endif // CONFIG_EKF2_OPTICAL_FLOW + bool recent_terrain_aiding = isRecent(_time_last_terrain_fuse, (uint64_t)1e6); if (_control_status.flags.vehicle_at_rest || !recent_terrain_aiding) { initTerrain(); @@ -85,15 +77,22 @@ void Ekf::controlTerrainFakeFusion() bool Ekf::isTerrainEstimateValid() const { - // Assume being valid when the uncertainty is small compared to the height above ground - float hagl_var = INFINITY; - sym::ComputeHaglInnovVar(P, 0.f, &hagl_var); - bool valid = hagl_var < fmaxf(sq(0.1f * getHagl()), 0.2f); + bool valid = false; + + if (_time_last_terrain_fuse != 0) { + // Assume being valid when the uncertainty is small compared to the height above ground + float hagl_var = INFINITY; + sym::ComputeHaglInnovVar(P, 0.f, &hagl_var); + + if (hagl_var < fmaxf(sq(0.1f * getHagl()), 0.2f)) { + valid = true; + } + } #if defined(CONFIG_EKF2_RANGE_FINDER) // Assume that the terrain estimate is always valid when direct observations are fused - if (_control_status.flags.rng_terrain && isRecent(_aid_src_rng_hgt.time_last_fuse, (uint64_t)5e6)) { + if (_control_status.flags.rng_terrain && isRecent(_aid_src_rng_hgt.time_last_fuse, _params.hgt_fusion_timeout_max)) { valid = true; } 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 4c928c8ca1..ba51b8a17a 100644 --- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv +++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv @@ -358,34 +358,34 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7 35590000,0.64,-0.0066,0.02,0.77,-3.3,-3.1,-0.13,-1e+06,1.2e+04,-3.7e+02,-0.0012,-0.0057,0.00014,0.065,0.005,-0.11,-0.2,-0.047,0.46,0.0004,-0.0016,-0.025,0,0,-3.7e+02,0.00013,9.3e-05,0.0011,0.15,0.2,0.011,0.65,0.72,0.05,2.9e-07,4.4e-07,1.8e-06,0.0047,0.0051,9e-05,1.7e-05,4.3e-06,0.00038,5.4e-06,5.8e-06,0.00037,1,1,0.01 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