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EKF: Ensure bad initial data is flushed from buffers before using data to perform alignment

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This commit is contained in:
Paul Riseborough
2016-05-28 08:28:57 +10:00
parent 9557f64248
commit c905684c12
1 changed files with 15 additions and 6 deletions
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EKF/ekf.cpp
+15 -6
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@@ -406,7 +406,10 @@ bool Ekf::initialiseFilter(void)
} else if (_mag_counter != 0) {
// increment the sample count and apply a LPF to the measurement
_mag_counter ++;
_mag_filt_state = _mag_filt_state * 0.9f + _mag_sample_delayed.mag * 0.1f;
// don't start using data until we can be certain all bad initial data has been flushed
if (_mag_counter > OBS_BUFFER_LENGTH) {
_mag_filt_state = _mag_filt_state * 0.9f + _mag_sample_delayed.mag * 0.1f;
}
}
}
@@ -447,7 +450,10 @@ bool Ekf::initialiseFilter(void)
} else if (_hgt_counter != 0) {
// increment the sample count and apply a LPF to the measurement
_hgt_counter ++;
_rng_filt_state = 0.9f * _rng_filt_state + 0.1f * _range_sample_delayed.rng;
// don't start using data until we can be certain all bad initial data has been flushed
if (_hgt_counter > OBS_BUFFER_LENGTH) {
_rng_filt_state = 0.9f * _rng_filt_state + 0.1f * _range_sample_delayed.rng;
}
}
}
@@ -465,7 +471,10 @@ bool Ekf::initialiseFilter(void)
} else if (_hgt_counter != 0) {
// increment the sample count and apply a LPF to the measurement
_hgt_counter ++;
_baro_hgt_offset = 0.9f * _baro_hgt_offset + 0.1f * _baro_sample_delayed.hgt;
// don't start using data until we can be certain all bad initial data has been flushed
if (_hgt_counter > OBS_BUFFER_LENGTH) {
_baro_hgt_offset = 0.9f * _baro_hgt_offset + 0.1f * _baro_sample_delayed.hgt;
}
}
}
@@ -476,9 +485,9 @@ bool Ekf::initialiseFilter(void)
}
// check to see if we have enough measurements and return false if not
bool hgt_count_fail = _hgt_counter <= OBS_BUFFER_LENGTH;
bool mag_count_fail = _mag_counter <= OBS_BUFFER_LENGTH;
bool ev_count_fail = ((_params.fusion_mode & MASK_USE_EVPOS) || (_params.fusion_mode & MASK_USE_EVYAW)) && (_ev_counter <= OBS_BUFFER_LENGTH);
bool hgt_count_fail = _hgt_counter <= 2*OBS_BUFFER_LENGTH;
bool mag_count_fail = _mag_counter <= 2*OBS_BUFFER_LENGTH;
bool ev_count_fail = ((_params.fusion_mode & MASK_USE_EVPOS) || (_params.fusion_mode & MASK_USE_EVYAW)) && (_ev_counter <= 2*OBS_BUFFER_LENGTH);
if (hgt_count_fail || mag_count_fail || ev_count_fail) {
return false;