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EKF: prevent optical flow, GPS and baro fusion from blocking each other

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This commit is contained in:
Paul Riseborough
2016-03-11 11:03:43 +11:00
parent e9ccfdd484
commit cc5512905a
1 changed files with 16 additions and 13 deletions
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EKF/ekf.cpp
+16 -13
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@@ -204,40 +204,43 @@ bool Ekf::update()
}
}
// determine if we have height data that can be fused
// determine if range finder data has fallen behind the fusin time horizon fuse it if we are
// not tilted too much to use it
if (_range_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_range_sample_delayed)
&& (_R_prev(2, 2) > 0.7071f)) {
// if we have range data we always try to estimate terrain nheight
&& (_R_prev(2, 2) > 0.7071f)) {
// if we have range data we always try to estimate terrain height
_fuse_hagl_data = true;
// only use if for height in the main filter if specifically enabled
// only use range finder as a height observation in the main filter if specifically enabled
if (_params.vdist_sensor_type == VDIST_SENSOR_RANGE) {
_fuse_height = true;
}
} else if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed)
}
// determine if baro data has fallen behind the fuson time horizon and fuse it in the main filter if enabled
if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed)
&& _params.vdist_sensor_type == VDIST_SENSOR_BARO) {
_fuse_height = true;
}
// If we are using GPS aiding and data has fallen behind the fusion time horizon then fuse it
// if we aren't doing any aiding, fake GPS measurements at the last known position to constrain drift
// Coincide fake measurements with baro data for efficiency with a minimum fusion rate of 5Hz
if (_gps_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_gps_sample_delayed) && _control_status.flags.gps) {
_fuse_pos = true;
_fuse_vert_vel = true;
_fuse_hor_vel = true;
_fuse_flow = false;
}
} else if (_flow_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_flow_sample_delayed)
// If we are using optical flow aiding and data has fallen behind the fusion time horizon, then fuse it
if (_flow_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_flow_sample_delayed)
&& _control_status.flags.opt_flow && (_time_last_imu - _time_last_optflow) < 2e5
&& (_R_prev(2, 2) > 0.7071f)) {
_fuse_pos = false;
_fuse_vert_vel = false;
_fuse_hor_vel = false;
_fuse_flow = true;
}
} else if (!_control_status.flags.gps && !_control_status.flags.opt_flow
// if we aren't doing any aiding, fake GPS measurements at the last known position to constrain drift
// Coincide fake measurements with baro data for efficiency with a minimum fusion rate of 5Hz
if (!_control_status.flags.gps && !_control_status.flags.opt_flow
&& ((_time_last_imu - _time_last_fake_gps > 2e5) || _fuse_height)) {
_fuse_pos = true;
_gps_sample_delayed.pos(0) = _last_known_posNE(0);