fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-26 07:33:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: only allow ref sensor to reset height

Browse Source
This commit is contained in:
bresch
2024-08-06 10:19:13 -04:00
committed by Daniel Agar
parent 8ed3489bd1
commit d2478d00cf
6 changed files with 98 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/aid_sources/barometer/baro_height_control.cpp
+6 -3
View File
@@ -126,7 +126,7 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max);
if (isHeightResetRequired()) {
if (isHeightResetRequired() && (_height_sensor_ref == HeightSensor::BARO)) {
// All height sources are failing
ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME);
@@ -142,10 +142,13 @@ void Ekf::controlBaroHeightFusion(const imuSample &imu_sample)
aid_src.time_last_fuse = imu_sample.time_us;
} else if (is_fusion_failing) {
// Some other height source is still working
ECL_WARN("stopping %s height fusion, fusion failing", HGT_SRC_NAME);
stopBaroHgtFusion();
_baro_hgt_faulty = true;
if (isRecent(_time_last_hgt_fuse, _params.hgt_fusion_timeout_max)) {
// Some other height source is still working
_baro_hgt_faulty = true;
}
}
} else {
src/modules/ekf2/EKF/aid_sources/external_vision/ev_height_control.cpp
+1 -1
View File
@@ -142,7 +142,7 @@ void Ekf::controlEvHeightFusion(const imuSample &imu_sample, const extVisionSamp
const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max);
if (isHeightResetRequired() && quality_sufficient) {
if (isHeightResetRequired() && quality_sufficient && (_height_sensor_ref == HeightSensor::EV)) {
// All height sources are failing
ECL_WARN("%s fusion reset required, all height sources failing", AID_SRC_NAME);
_information_events.flags.reset_hgt_to_ev = true;
src/modules/ekf2/EKF/aid_sources/gnss/gnss_height_control.cpp
+2 -2
View File
@@ -100,12 +100,12 @@ void Ekf::controlGnssHeightFusion(const gnssSample &gps_sample)
const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max);
if (isHeightResetRequired()) {
if (isHeightResetRequired() && (_height_sensor_ref == HeightSensor::GNSS)) {
// All height sources are failing
ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME);
_information_events.flags.reset_hgt_to_gps = true;
resetVerticalPositionTo(-(measurement - bias_est.getBias()), measurement_var);
resetVerticalPositionTo(aid_src.observation, measurement_var);
bias_est.setBias(_state.pos(2) + measurement);
aid_src.time_last_fuse = _time_delayed_us;
src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp
+1 -1
View File
@@ -173,7 +173,7 @@ void Ekf::controlRangeHaglFusion(const imuSample &imu_sample)
const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max);
if (isHeightResetRequired() && _control_status.flags.rng_hgt) {
if (isHeightResetRequired() && _control_status.flags.rng_hgt && (_height_sensor_ref == HeightSensor::RANGE)) {
// All height sources are failing
ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME);