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Merge pull request #293 from PX4/pr-fixExtVisionFallback

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EKF: Allow fallback to non-aiding mode if external vision fusion is lost
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Paul Riseborough 2017-07-13 20:45:24 +09:00 committed by GitHub
commit d69cc3d7c8
1 changed files with 16 additions and 1 deletions
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17
EKF/control.cpp
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@ -231,6 +231,21 @@ void Ekf::controlExternalVisionFusion()
fuseHeading();
}
}
// handle the case when we are relying on ev data and lose it
if (_control_status.flags.ev_pos && !_control_status.flags.gps && !_control_status.flags.opt_flow) {
// We are relying on ev aiding to constrain drift so after 5s without aiding we need to do something
if ((_time_last_imu - _time_last_pos_fuse > 5e6)) {
// Switch to the non-aiding mode, zero the velocity states
// and set the synthetic position to the current estimate
_control_status.flags.ev_pos = false;
_last_known_posNE(0) = _state.pos(0);
_last_known_posNE(1) = _state.pos(1);
_state.vel.setZero();
}
}
}
void Ekf::controlOpticalFlowFusion()
@ -321,7 +336,7 @@ void Ekf::controlOpticalFlowFusion()
}
// handle the case when we are relying on optical flow fusion and lose it
if (_control_status.flags.opt_flow && !_control_status.flags.gps) {
if (_control_status.flags.opt_flow && !_control_status.flags.gps && !_control_status.flags.ev_pos) {
// We are relying on flow aiding to constrain attitude drift so after 5s without aiding we need to do something
if ((_time_last_imu - _time_last_of_fuse > 5e6)) {
// Switch to the non-aiding mode, zero the velocity states