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ekf2: only allow ref sensor to reset height

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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
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src/modules/ekf2/test/test_EKF_height_fusion.cpp
+87
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@@ -261,6 +261,93 @@ TEST_F(EkfHeightFusionTest, gpsRefFailOver)
EXPECT_TRUE(_ekf->getHeightSensorRef() == HeightSensor::UNKNOWN);
}
TEST_F(EkfHeightFusionTest, gpsRefAllHgtFailReset)
{
// GIVEN: EKF that fuses GNSS (reference) and baro
_sensor_simulator.startBaro();
_sensor_simulator.startGps();
_ekf_wrapper.setGpsHeightRef();
_ekf_wrapper.enableBaroHeightFusion();
_ekf_wrapper.enableGpsHeightFusion();
_sensor_simulator.runSeconds(11);
EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
EXPECT_TRUE(_ekf->getHeightSensorRef() == HeightSensor::GNSS);
const Vector3f previous_position = _ekf->getPosition();
ResetLoggingChecker reset_logging_checker(_ekf);
reset_logging_checker.capturePreResetState();
// WHEN:
const float gnss_height_step = 10.f;
_sensor_simulator._gps.stepHeightByMeters(gnss_height_step);
const float baro_height_step = 5.f;
_sensor_simulator._baro.setData(_sensor_simulator._baro.getData() + baro_height_step);
_sensor_simulator.runSeconds(15);
// THEN: then the fusion of both sensors starts to fail and the height is reset to the
// reference sensor (GNSS)
EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
const Vector3f new_position = _ekf->getPosition();
EXPECT_NEAR(new_position(2), previous_position(2) - gnss_height_step, 0.2f);
// Also check the reset counters to make sure the reset logic triggered
reset_logging_checker.capturePostResetState();
EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(1));
EXPECT_TRUE(reset_logging_checker.isVerticalPositionResetCounterIncreasedBy(1));
}
TEST_F(EkfHeightFusionTest, baroRefAllHgtFailReset)
{
// GIVEN: EKF that fuses GNSS and baro (reference)
_sensor_simulator.startBaro();
_sensor_simulator.startGps();
_ekf_wrapper.setBaroHeightRef();
_ekf_wrapper.enableBaroHeightFusion();
_ekf_wrapper.enableGpsHeightFusion();
_sensor_simulator.runSeconds(11);
EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
EXPECT_TRUE(_ekf->getHeightSensorRef() == HeightSensor::BARO);
const Vector3f previous_position = _ekf->getPosition();
ResetLoggingChecker reset_logging_checker(_ekf);
reset_logging_checker.capturePreResetState();
// WHEN:
const float gnss_height_step = 10.f;
_sensor_simulator._gps.stepHeightByMeters(gnss_height_step);
const float baro_height_step = 5.f;
_sensor_simulator._baro.setData(_sensor_simulator._baro.getData() + baro_height_step);
_sensor_simulator.runSeconds(20);
// THEN: then the fusion of both sensors starts to fail and the height is reset to the
// reference sensor (baro)
EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion());
EXPECT_TRUE(_ekf_wrapper.isIntendingBaroHeightFusion());
const Vector3f new_position = _ekf->getPosition();
EXPECT_NEAR(new_position(2), previous_position(2) - baro_height_step, 0.2f);
// Also check the reset counters to make sure the reset logic triggered
reset_logging_checker.capturePostResetState();
// The velocity does not reset as baro only provides height measurement
EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(0));
// The height resets twice in a row as the baro innovation is not corrected after a height
// reset and triggers a new reset at the next iteration
EXPECT_TRUE(reset_logging_checker.isVerticalPositionResetCounterIncreasedBy(2));
}
TEST_F(EkfHeightFusionTest, changeEkfOriginAlt)
{
_sensor_simulator.startBaro();