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Clean get*innov* interface
This commit is contained in:
kamilritz
committed by
Paul Riseborough
Paul Riseborough
parent
86b9079bdc
commit
d5dc6bb8ea
@@ -67,44 +67,61 @@ public:
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void getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos);
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// gets the innovations of the earth magnetic field measurements
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void get_mag_innov(float mag_innov[3]) override;
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void getGpsVelPosInnovRatio(float& hvel, float &vvel, float& hpos, float &vpos);
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void getEvVelPosInnov(float hvel[2], float& vvel, float hpos[2], float& vpos);
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void get_heading_innov(float *heading_innov);
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void getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos);
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// gets the innovation variances of the earth magnetic field measurements
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void get_mag_innov_var(float mag_innov_var[3]) override;
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void getEvVelPosInnovRatio(float& hvel, float &vvel, float& hpos, float &vpos);
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void getAuxVelInnov(float aux_vel_innov[2]);
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void getAuxVelInnovVar(float aux_vel_innov[2]);
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// gets the innovations of synthetic sideslip measurement
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void get_beta_innov(float *beta_innov) override;
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void getAuxVelInnovRatio(float &aux_vel_innov_ratio);
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// gets the innovation variance of the synthetic sideslip measurement
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void get_beta_innov_var(float *beta_innov_var) override;
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void getFlowInnov(float flow_innov[2]);
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// gets the innovation variance of the heading measurement
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void get_heading_innov_var(float *heading_innov_var) override;
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void getFlowInnovVar(float flow_innov_var[2]);
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// gets the innovation variance of the flow measurement
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void get_flow_innov_var(float flow_innov_var[2]) override;
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void getFlowInnovRatio(float &flow_innov_ratio);
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// gets the innovation of the flow measurement
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void get_flow_innov(float flow_innov[2]) override;
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void getHeadingInnov(float &heading_innov);
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// gets the innovation variance of the drag specific force measurement
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void get_drag_innov_var(float drag_innov_var[2]) override;
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void getHeadingInnovVar(float &heading_innov_var);
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// gets the innovation of the drag specific force measurement
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void get_drag_innov(float drag_innov[2]) override;
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void getHeadingInnovRatio(float &heading_innov_ratio);
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void getHaglInnovVar(float *hagl_innov_var) override;
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void getHaglInnov(float *hagl_innov) override;
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void getMagInnov(float mag_innov[3]);
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void getMagInnovVar(float mag_innov_var[3]);
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void getMagInnovRatio(float &mag_innov_ratio);
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void getDragInnov(float drag_innov[2]);
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void getDragInnovVar(float drag_innov_var[2]);
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void getDragInnovRatio(float drag_innov_ratio[2]);
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void getAirspeedInnov(float &airspeed_innov);
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void getAirspeedInnovVar(float &airspeed_innov_var);
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void getAirspeedInnovRatio(float &airspeed_innov_ratio);
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void getBetaInnov(float &beta_innov);
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void getBetaInnovVar(float &beta_innov_var);
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void getBetaInnovRatio(float &beta_innov_ratio);
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void getHaglInnov(float &hagl_innov);
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void getHaglInnovVar(float &hagl_innov_var);
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void getHaglInnovRatio(float &hagl_innov_ratio);
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// get the state vector at the delayed time horizon
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void get_state_delayed(float *state) override;
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@@ -244,7 +261,7 @@ public:
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// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
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// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
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// Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned.
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void get_innovation_test_status(uint16_t *status, float *mag, float *vel, float *pos, float *hgt, float *tas, float *hagl, float *beta) override;
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void get_innovation_test_status(uint16_t &status, float &mag, float &gps_vel, float &gps_pos, float &ev_vel, float &ev_pos, float &hgt, float &tas, float &hagl, float &beta);
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// return a bitmask integer that describes which state estimates can be used for flight control
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void get_ekf_soln_status(uint16_t *status) override;
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@@ -367,20 +384,24 @@ private:
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float _aux_vel_innov[2] {}; ///< horizontal auxiliary velocity innovations: (m/sec)
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float _aux_vel_innov_var[2] {}; ///< horizontal auxiliary velocity innovation variances: ((m/sec)**2)
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float _heading_innov{0.0f}; ///< heading measurement innovation (rad)
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float _heading_innov_var{0.0f}; ///< heading measurement innovation variance (rad**2)
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float _mag_innov[3] {}; ///< earth magnetic field innovations (Gauss)
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float _mag_innov_var[3] {}; ///< earth magnetic field innovation variance (Gauss**2)
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float _drag_innov[2] {}; ///< multirotor drag measurement innovation (m/sec**2)
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float _drag_innov_var[2] {}; ///< multirotor drag measurement innovation variance ((m/sec**2)**2)
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float _airspeed_innov{0.0f}; ///< airspeed measurement innovation (m/sec)
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float _airspeed_innov_var{0.0f}; ///< airspeed measurement innovation variance ((m/sec)**2)
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float _beta_innov{0.0f}; ///< synthetic sideslip measurement innovation (rad)
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float _beta_innov_var{0.0f}; ///< synthetic sideslip measurement innovation variance (rad**2)
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float _drag_innov[2] {}; ///< multirotor drag measurement innovation (m/sec**2)
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float _drag_innov_var[2] {}; ///< multirotor drag measurement innovation variance ((m/sec**2)**2)
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float _heading_innov{0.0f}; ///< heading measurement innovation (rad)
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float _heading_innov_var{0.0f}; ///< heading measurement innovation variance (rad**2)
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float _hagl_innov{0.0f}; ///< innovation of the last height above terrain measurement (m)
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float _hagl_innov_var{0.0f}; ///< innovation variance for the last height above terrain measurement (m**2)
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// optical flow processing
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float _flow_innov[2] {}; ///< flow measurement innovation (rad/sec)
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@@ -450,8 +471,6 @@ private:
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// Terrain height state estimation
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float _terrain_vpos{0.0f}; ///< estimated vertical position of the terrain underneath the vehicle in local NED frame (m)
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float _terrain_var{1e4f}; ///< variance of terrain position estimate (m**2)
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float _hagl_innov{0.0f}; ///< innovation of the last height above terrain measurement (m)
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float _hagl_innov_var{0.0f}; ///< innovation variance for the last height above terrain measurement (m**2)
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uint64_t _time_last_hagl_fuse{0}; ///< last system time that the hagl measurement failed it's checks (uSec)
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bool _terrain_initialised{false}; ///< true when the terrain estimator has been initialized
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float _sin_tilt_rng{0.0f}; ///< sine of the range finder tilt rotation about the Y body axis
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+120
-31
@@ -840,10 +840,12 @@ void Ekf::getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float
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memcpy(&vpos, _gps_vel_pos_innov_var+5, sizeof(float) * 1);
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}
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// writes the innovations of the earth magnetic field measurements
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void Ekf::get_mag_innov(float mag_innov[3])
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void Ekf::getGpsVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos)
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{
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memcpy(mag_innov, _mag_innov, 3 * sizeof(float));
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memcpy(&hvel, _gps_vel_pos_test_ratio+HVEL, sizeof(float));
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memcpy(&vvel, _gps_vel_pos_test_ratio+VVEL, sizeof(float));
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memcpy(&hpos, _gps_vel_pos_test_ratio+HPOS, sizeof(float));
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memcpy(&vpos, _gps_vel_pos_test_ratio+VPOS, sizeof(float));
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}
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void Ekf::getEvVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos)
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@@ -861,8 +863,13 @@ void Ekf::getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &
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memcpy(hpos, _ev_vel_pos_innov_var+3, sizeof(float) * 2);
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memcpy(&vpos, _ev_vel_pos_innov_var+5, sizeof(float) * 1);
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}
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void Ekf::getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos)
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{
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memcpy(beta_innov, &_beta_innov, sizeof(float));
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memcpy(&hvel, _ev_vel_pos_test_ratio+HVEL, sizeof(float));
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memcpy(&vvel, _ev_vel_pos_test_ratio+VVEL, sizeof(float));
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memcpy(&hpos, _ev_vel_pos_test_ratio+HPOS, sizeof(float));
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memcpy(&vpos, _ev_vel_pos_test_ratio+VPOS, sizeof(float));
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}
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void Ekf::getAuxVelInnov(float aux_vel_innov[2])
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@@ -874,37 +881,115 @@ void Ekf::getAuxVelInnovVar(float aux_vel_innov_var[2])
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{
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memcpy(aux_vel_innov_var, _aux_vel_innov_var, sizeof(_aux_vel_innov_var));
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}
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void Ekf::getAuxVelInnovRatio(float &aux_vel_innov_ratio)
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{
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memcpy(&aux_vel_innov_ratio, &_aux_vel_test_ratio, sizeof(_aux_vel_test_ratio));
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}
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// gets the innovation variances of velocity and position measurements
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// 0-2 vel, 3-5 pos
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void Ekf::get_vel_pos_innov_var(float vel_pos_innov_var[6])
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void Ekf::getFlowInnov(float flow_innov[2])
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{
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memcpy(vel_pos_innov_var, _vel_pos_innov_var, sizeof(float) * 6);
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memcpy(flow_innov, _flow_innov, sizeof(_flow_innov));
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}
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// gets the innovation variances of the earth magnetic field measurements
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void Ekf::get_mag_innov_var(float mag_innov_var[3])
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void Ekf::getFlowInnovVar(float flow_innov_var[2])
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{
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memcpy(mag_innov_var, _mag_innov_var, sizeof(float) * 3);
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memcpy(flow_innov_var, _flow_innov_var, sizeof(_flow_innov_var));
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}
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// gets the innovation variance of the airspeed measurement
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void Ekf::get_airspeed_innov_var(float *airspeed_innov_var)
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void Ekf::getFlowInnovRatio(float &flow_innov_ratio)
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{
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memcpy(airspeed_innov_var, &_airspeed_innov_var, sizeof(float));
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memcpy(&flow_innov_ratio, &_optflow_test_ratio, sizeof(_optflow_test_ratio));
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}
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// gets the innovation variance of the synthetic sideslip measurement
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void Ekf::get_beta_innov_var(float *beta_innov_var)
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void Ekf::getHeadingInnov(float &heading_innov)
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{
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memcpy(beta_innov_var, &_beta_innov_var, sizeof(float));
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memcpy(&heading_innov, &_heading_innov, sizeof(_heading_innov));
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}
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// gets the innovation variance of the heading measurement
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void Ekf::get_heading_innov_var(float *heading_innov_var)
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void Ekf::getHeadingInnovVar(float &heading_innov_var)
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{
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memcpy(heading_innov_var, &_heading_innov_var, sizeof(float));
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memcpy(&heading_innov_var, &_heading_innov_var, sizeof(_heading_innov_var));
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}
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void Ekf::getHeadingInnovRatio(float &heading_innov_ratio)
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{
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memcpy(&heading_innov_ratio, &_yaw_test_ratio, sizeof(_yaw_test_ratio));
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}
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void Ekf::getMagInnov(float mag_innov[3])
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{
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memcpy(mag_innov, _mag_innov, sizeof(_mag_innov));
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}
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void Ekf::getMagInnovVar(float mag_innov_var[3])
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{
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memcpy(mag_innov_var, _mag_innov_var, sizeof(_mag_innov_var));
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}
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void Ekf::getMagInnovRatio(float &mag_innov_ratio)
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{
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mag_innov_ratio = math::max(math::max(_mag_test_ratio[0], _mag_test_ratio[1]), _mag_test_ratio[2]);
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}
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void Ekf::getDragInnov(float drag_innov[2])
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{
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memcpy(&drag_innov, _drag_innov, sizeof(_drag_innov));
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}
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void Ekf::getDragInnovVar(float drag_innov_var[2])
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{
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memcpy(drag_innov_var, _drag_innov_var, sizeof(_drag_innov_var));
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}
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void Ekf::getDragInnovRatio(float drag_innov_ratio[2])
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{
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memcpy(drag_innov_ratio, &_drag_test_ratio, sizeof(_drag_test_ratio));
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}
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void Ekf::getAirspeedInnov(float &airspeed_innov)
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{
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memcpy(&airspeed_innov, &_airspeed_innov, sizeof(_airspeed_innov));
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}
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void Ekf::getAirspeedInnovVar(float &airspeed_innov_var)
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{
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memcpy(&airspeed_innov_var, &_airspeed_innov_var, sizeof(_airspeed_innov_var));
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}
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void Ekf::getAirspeedInnovRatio(float &airspeed_innov_ratio)
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{
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memcpy(&airspeed_innov_ratio, &_tas_test_ratio, sizeof(_tas_test_ratio));
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}
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void Ekf::getBetaInnov(float &beta_innov)
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{
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memcpy(&beta_innov, &_beta_innov, sizeof(_beta_innov));
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}
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void Ekf::getBetaInnovVar(float &beta_innov_var)
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{
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memcpy(&beta_innov_var, &_beta_innov_var, sizeof(_beta_innov_var));
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}
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void Ekf::getBetaInnovRatio(float &beta_innov_ratio)
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{
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memcpy(&beta_innov_ratio, &_beta_test_ratio, sizeof(_beta_test_ratio));
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}
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void Ekf::getHaglInnov(float &hagl_innov)
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{
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memcpy(&hagl_innov, &_hagl_innov, sizeof(_hagl_innov));
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}
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void Ekf::getHaglInnovVar(float &hagl_innov_var)
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{
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memcpy(&hagl_innov_var, &_hagl_innov_var, sizeof(_hagl_innov_var));
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}
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void Ekf::getHaglInnovRatio(float &hagl_innov_ratio)
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{
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memcpy(&hagl_innov_ratio, &_hagl_test_ratio, sizeof(_hagl_test_ratio));
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}
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// get GPS check status
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@@ -1169,24 +1254,28 @@ bool Ekf::reset_imu_bias()
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// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
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// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
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// Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned.
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void Ekf::get_innovation_test_status(uint16_t *status, float *mag, float *vel, float *pos, float *hgt, float *tas, float *hagl, float *beta)
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void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &gps_vel, float &gps_pos, float &ev_vel, float &ev_pos, float &hgt, float &tas, float &hagl, float &beta)
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{
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// return the integer bitmask containing the consistency check pass/fail status
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*status = _innov_check_fail_status.value;
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status = _innov_check_fail_status.value;
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// return the largest magnetometer innovation test ratio
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*mag = sqrtf(math::max(_yaw_test_ratio, math::max(math::max(_mag_test_ratio[0], _mag_test_ratio[1]), _mag_test_ratio[2])));
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// return the largest NED velocity innovation test ratio
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*vel = sqrtf(math::max(math::max(_vel_pos_test_ratio[0], _vel_pos_test_ratio[1]), _vel_pos_test_ratio[2]));
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// return the largest NE position innovation test ratio
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*pos = sqrtf(math::max(_vel_pos_test_ratio[3], _vel_pos_test_ratio[4]));
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mag = sqrtf(math::max(_yaw_test_ratio, math::max(math::max(_mag_test_ratio[0], _mag_test_ratio[1]), _mag_test_ratio[2])));
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// return the largest NED GPS velocity innovation test ratio
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gps_vel = sqrtf(math::max(_gps_vel_pos_test_ratio[HVEL], _gps_vel_pos_test_ratio[VVEL]));
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// return the largest NE GPS position innovation test ratio
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gps_pos = sqrtf(_gps_vel_pos_test_ratio[HPOS]);
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// return the largest external vision velocity innovation test ratio
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ev_vel = sqrtf(math::max(_ev_vel_pos_test_ratio[HVEL], _ev_vel_pos_test_ratio[VVEL]));
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// return the largest horizontal external vision position innovation test ratio
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ev_pos = sqrtf(_ev_vel_pos_test_ratio[HPOS]);
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// return the vertical position innovation test ratio
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*hgt = sqrtf(_vel_pos_test_ratio[5]);
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hgt = sqrtf(_gps_vel_pos_test_ratio[VPOS]);
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// return the airspeed fusion innovation test ratio
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*tas = sqrtf(_tas_test_ratio);
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tas = sqrtf(_tas_test_ratio);
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// return the terrain height innovation test ratio
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*hagl = sqrtf(_terr_test_ratio);
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hagl = sqrtf(_hagl_test_ratio);
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// return the synthetic sideslip innovation test ratio
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*beta = sqrtf(_beta_test_ratio);
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beta = sqrtf(_beta_test_ratio);
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}
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// return a bitmask integer that describes which state estimates are valid
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+66
-37
@@ -71,36 +71,80 @@ public:
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virtual void getGpsVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) = 0;
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// gets the GPS innovation variances of velocity and position measurements
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virtual void getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) = 0;
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// gets the GPS innovation test ratios of velocity and position measurements
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virtual void getGpsVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) = 0;
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// gets the external vision innovations of velocity and position measurements
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virtual void getEvVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) = 0;
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// gets the external vision innovation variances of velocity and position measurements
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virtual void getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) = 0;
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// gets the external vision innovation test ratios of velocity and position measurements
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virtual void getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) = 0;
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// gets the innovation of airspeed measurement
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virtual void get_airspeed_innov(float *airspeed_innov) = 0;
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// gets the innovations for of the horizontal auxiliary velocity measurement
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virtual void getAuxVelInnov(float aux_vel_innov[2]) = 0;
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// gets the innovation variances for of the horizontal auxiliary velocity measurement
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virtual void getAuxVelInnovVar(float aux_vel_innov[2]) = 0;
|
||||
// gets the innovation test ratios of the horizontal auxiliary velocity measurement
|
||||
virtual void getAuxVelInnovRatio(float &aux_vel_innov_ratio) = 0;
|
||||
|
||||
|
||||
// gets the innovation of the flow measurement
|
||||
virtual void getFlowInnov(float flow_innov[2]) = 0;
|
||||
// gets the innovation variance of the flow measurement
|
||||
virtual void getFlowInnovVar(float flow_innov_var[2]) = 0;
|
||||
// gets the innovation test ratios of the flow measurement
|
||||
virtual void getFlowInnovRatio(float &flow_innov_ratio) = 0;
|
||||
|
||||
|
||||
// gets the innovations of the heading measurement
|
||||
virtual void get_heading_innov(float *heading_innov) = 0;
|
||||
|
||||
|
||||
// gets the innovation variances of the earth magnetic field measurements
|
||||
virtual void get_mag_innov_var(float mag_innov_var[3]) = 0;
|
||||
|
||||
// gets the innovation variance of the airspeed measurement
|
||||
virtual void get_airspeed_innov_var(float *get_airspeed_innov_var) = 0;
|
||||
|
||||
// gets the innovation variance of the synthetic sideslip measurement
|
||||
virtual void get_beta_innov_var(float *get_beta_innov_var) = 0;
|
||||
|
||||
virtual void getHeadingInnov(float &heading_innov) = 0;
|
||||
// gets the innovation variance of the heading measurement
|
||||
virtual void get_heading_innov_var(float *heading_innov_var) = 0;
|
||||
virtual void getHeadingInnovVar(float &heading_innov_var) = 0;
|
||||
// gets the innovation test ratios of the heading measurement
|
||||
virtual void getHeadingInnovRatio(float &heading_innov_ratio) = 0;
|
||||
|
||||
|
||||
// gets the innovations of the earth magnetic field measurements
|
||||
virtual void getMagInnov(float mag_innov[3]) = 0;
|
||||
// gets the innovation variances of the earth magnetic field measurements
|
||||
virtual void getMagInnovVar(float mag_innov_var[3]) = 0;
|
||||
// gets the innovation test ratios of the earth magnetic field measurements
|
||||
virtual void getMagInnovRatio(float &mag_innov_ratio) = 0;
|
||||
|
||||
|
||||
// gets the innovation of the drag specific force measurement
|
||||
virtual void getDragInnov(float drag_innov[2]) = 0;
|
||||
// gets the innovation variance of the drag specific force measurement
|
||||
virtual void getDragInnovVar(float drag_innov_var[2]) = 0;
|
||||
// gets the innovation test ratios of the drag specific force measurement
|
||||
virtual void getDragInnovRatio(float drag_innov_ratio[2]) = 0;
|
||||
|
||||
// gets the innovation of airspeed measurement
|
||||
virtual void getAirspeedInnov(float &airspeed_innov) = 0;
|
||||
// gets the innovation variance of the airspeed measurement
|
||||
virtual void getAirspeedInnovVar(float &get_airspeed_innov_var) = 0;
|
||||
// gets the innovation test ratios of the airspeed measurement
|
||||
virtual void getAirspeedInnovRatio(float &airspeed_innov_ratio) = 0;
|
||||
|
||||
|
||||
// gets the innovation of the synthetic sideslip measurement
|
||||
virtual void getBetaInnov(float &beta_innov) = 0;
|
||||
// gets the innovation variance of the synthetic sideslip measurement
|
||||
virtual void getBetaInnovVar(float &get_beta_innov_var) = 0;
|
||||
// gets the innovation test ratios of the synthetic sideslip measurement
|
||||
virtual void getBetaInnovRatio(float &beta_innov_ratio) = 0;
|
||||
|
||||
|
||||
// gets the innovation of the HAGL measurement
|
||||
virtual void getHaglInnov(float &hagl_innov) = 0;
|
||||
// gets the innovation variance of the HAGL measurement
|
||||
virtual void getHaglInnovVar(float &hagl_innov_var) = 0;
|
||||
// gets the innovation test ratios of the HAGL measurement
|
||||
virtual void getHaglInnovRatio(float &hagl_innov_ratio) = 0;
|
||||
|
||||
|
||||
virtual void get_state_delayed(float *state) = 0;
|
||||
|
||||
@@ -116,24 +160,6 @@ public:
|
||||
// gets the variances for the NED position states
|
||||
virtual void get_pos_var(Vector3f &pos_var) = 0;
|
||||
|
||||
// gets the innovation variance of the flow measurement
|
||||
virtual void get_flow_innov_var(float flow_innov_var[2]) = 0;
|
||||
|
||||
// gets the innovation of the flow measurement
|
||||
virtual void get_flow_innov(float flow_innov[2]) = 0;
|
||||
|
||||
// gets the innovation variance of the drag specific force measurement
|
||||
virtual void get_drag_innov_var(float drag_innov_var[2]) = 0;
|
||||
|
||||
// gets the innovation of the drag specific force measurement
|
||||
virtual void get_drag_innov(float drag_innov[2]) = 0;
|
||||
|
||||
virtual void getHaglInnovVar(float *hagl_innov_var) = 0;
|
||||
virtual void getHaglInnov(float *hagl_innov) = 0;
|
||||
//[[deprecated("Replaced by getHaglInnovVar")]]
|
||||
void get_hagl_innov_var(float *hagl_innov_var) { getHaglInnovVar(hagl_innov_var); }
|
||||
//[[deprecated("Replaced by getHaglInnov")]]
|
||||
void get_hagl_innov(float *hagl_innov) { getHaglInnov(hagl_innov); }
|
||||
|
||||
// return an array containing the output predictor angular, velocity and position tracking
|
||||
// error magnitudes (rad), (m/s), (m)
|
||||
@@ -385,7 +411,7 @@ public:
|
||||
// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
|
||||
// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
|
||||
// Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned.
|
||||
virtual void get_innovation_test_status(uint16_t *status, float *mag, float *vel, float *pos, float *hgt, float *tas, float *hagl, float *beta) = 0;
|
||||
virtual void get_innovation_test_status(uint16_t &status, float &mag, float &gps_vel, float &gps_pos, float &ev_vel, float &ev_pos, float &hgt, float &tas, float &hagl, float &beta) = 0;
|
||||
|
||||
// return a bitmask integer that describes which state estimates can be used for flight control
|
||||
virtual void get_ekf_soln_status(uint16_t *status) = 0;
|
||||
@@ -484,12 +510,15 @@ protected:
|
||||
float _gps_yaw_offset{0.0f}; // Yaw offset angle for dual GPS antennas used for yaw estimation (radians).
|
||||
|
||||
// innovation consistency check monitoring ratios
|
||||
float _yaw_test_ratio{0.0f}; // yaw innovation consistency check ratio
|
||||
float _mag_test_ratio[3] {}; // magnetometer XYZ innovation consistency check ratios
|
||||
float _yaw_test_ratio{}; // yaw innovation consistency check ratio
|
||||
float _mag_test_ratio[3] {}; // magnetometer XYZ innovation consistency check ratios
|
||||
float _gps_vel_pos_test_ratio[4] {}; // GPS velocity and position innovation consistency check ratios
|
||||
float _ev_vel_pos_test_ratio[4] {}; // EV velocity and position innovation consistency check ratios
|
||||
float _aux_vel_test_ratio{}; // Auxiliray horizontal velocity innovation consistency check ratio
|
||||
float _beta_test_ratio{0.0f}; // sideslip innovation consistency check ratio
|
||||
float _optflow_test_ratio{}; // Optical flow innovation consistency check ratio
|
||||
float _tas_test_ratio{}; // tas innovation consistency check ratio
|
||||
float _hagl_test_ratio{}; // height above terrain measurement innovation consistency check ratio
|
||||
float _beta_test_ratio{}; // sideslip innovation consistency check ratio
|
||||
float _drag_test_ratio[2] {}; // drag innovation consistency check ratio
|
||||
innovation_fault_status_u _innov_check_fail_status{};
|
||||
|
||||
|
||||
+6
-31
@@ -48,7 +48,6 @@
|
||||
void Ekf::fuseOptFlow()
|
||||
{
|
||||
float gndclearance = fmaxf(_params.rng_gnd_clearance, 0.1f);
|
||||
float optflow_test_ratio[2] = {0};
|
||||
|
||||
// get latest estimated orientation
|
||||
float q0 = _state.quat_nominal(0);
|
||||
@@ -262,9 +261,6 @@ void Ekf::fuseOptFlow()
|
||||
Kfusion[22][0] = t78*(P[22][0]*t2*t5-P[22][4]*t2*t7+P[22][1]*t2*t15+P[22][6]*t2*t10+P[22][2]*t2*t19-P[22][3]*t2*t22+P[22][5]*t2*t27);
|
||||
Kfusion[23][0] = t78*(P[23][0]*t2*t5-P[23][4]*t2*t7+P[23][1]*t2*t15+P[23][6]*t2*t10+P[23][2]*t2*t19-P[23][3]*t2*t22+P[23][5]*t2*t27);
|
||||
|
||||
// run innovation consistency checks
|
||||
optflow_test_ratio[0] = sq(_flow_innov[0]) / (sq(math::max(_params.flow_innov_gate, 1.0f)) * _flow_innov_var[0]);
|
||||
|
||||
} else if (obs_index == 1) {
|
||||
|
||||
// calculate Y axis observation Jacobian
|
||||
@@ -407,17 +403,18 @@ void Ekf::fuseOptFlow()
|
||||
Kfusion[22][1] = -t78*(P[22][0]*t2*t5+P[22][5]*t2*t8-P[22][6]*t2*t10+P[22][1]*t2*t16-P[22][2]*t2*t19+P[22][3]*t2*t22+P[22][4]*t2*t27);
|
||||
Kfusion[23][1] = -t78*(P[23][0]*t2*t5+P[23][5]*t2*t8-P[23][6]*t2*t10+P[23][1]*t2*t16-P[23][2]*t2*t19+P[23][3]*t2*t22+P[23][4]*t2*t27);
|
||||
|
||||
// run innovation consistency check
|
||||
optflow_test_ratio[1] = sq(_flow_innov[1]) / (sq(math::max(_params.flow_innov_gate, 1.0f)) * _flow_innov_var[1]);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// record the innovation test pass/fail
|
||||
// run the innovation consistency check and record result
|
||||
bool flow_fail = false;
|
||||
float test_ratio[2];
|
||||
test_ratio[0] = sq(_flow_innov[0]) / (sq(math::max(_params.flow_innov_gate, 1.0f)) * _flow_innov_var[0]);
|
||||
test_ratio[1] = sq(_flow_innov[1]) / (sq(math::max(_params.flow_innov_gate, 1.0f)) * _flow_innov_var[1]);
|
||||
_optflow_test_ratio = math::max(test_ratio[0],test_ratio[1]);
|
||||
|
||||
for (uint8_t obs_index = 0; obs_index <= 1; obs_index++) {
|
||||
if (optflow_test_ratio[obs_index] > 1.0f) {
|
||||
if (test_ratio[obs_index] > 1.0f) {
|
||||
flow_fail = true;
|
||||
_innov_check_fail_status.value |= (1 << (obs_index + 10));
|
||||
|
||||
@@ -515,28 +512,6 @@ void Ekf::fuseOptFlow()
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf::get_flow_innov(float flow_innov[2])
|
||||
{
|
||||
memcpy(flow_innov, _flow_innov, sizeof(_flow_innov));
|
||||
}
|
||||
|
||||
|
||||
void Ekf::get_flow_innov_var(float flow_innov_var[2])
|
||||
{
|
||||
memcpy(flow_innov_var, _flow_innov_var, sizeof(_flow_innov_var));
|
||||
}
|
||||
|
||||
void Ekf::get_drag_innov(float drag_innov[2])
|
||||
{
|
||||
memcpy(drag_innov, _drag_innov, sizeof(_drag_innov));
|
||||
}
|
||||
|
||||
|
||||
void Ekf::get_drag_innov_var(float drag_innov_var[2])
|
||||
{
|
||||
memcpy(drag_innov_var, _drag_innov_var, sizeof(_drag_innov_var));
|
||||
}
|
||||
|
||||
// calculate optical flow body angular rate compensation
|
||||
// returns false if bias corrected body rate data is unavailable
|
||||
bool Ekf::calcOptFlowBodyRateComp()
|
||||
|
||||
@@ -153,9 +153,9 @@ void Ekf::fuseHagl()
|
||||
|
||||
// perform an innovation consistency check and only fuse data if it passes
|
||||
float gate_size = fmaxf(_params.range_innov_gate, 1.0f);
|
||||
_terr_test_ratio = sq(_hagl_innov) / (sq(gate_size) * _hagl_innov_var);
|
||||
_hagl_test_ratio = sq(_hagl_innov) / (sq(gate_size) * _hagl_innov_var);
|
||||
|
||||
if (_terr_test_ratio <= 1.0f) {
|
||||
if (_hagl_test_ratio <= 1.0f) {
|
||||
// calculate the Kalman gain
|
||||
float gain = _terrain_var / _hagl_innov_var;
|
||||
// correct the state
|
||||
@@ -308,13 +308,4 @@ void Ekf::getTerrainVertPos(float *ret)
|
||||
memcpy(ret, &_terrain_vpos, sizeof(float));
|
||||
}
|
||||
|
||||
void Ekf::getHaglInnov(float *hagl_innov)
|
||||
{
|
||||
memcpy(hagl_innov, &_hagl_innov, sizeof(_hagl_innov));
|
||||
}
|
||||
|
||||
|
||||
void Ekf::getHaglInnovVar(float *hagl_innov_var)
|
||||
{
|
||||
memcpy(hagl_innov_var, &_hagl_innov_var, sizeof(_hagl_innov_var));
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user