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ekf2: separate mag and mag heading control logic (#21212)

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- split mag_3d into new standalone mag fusion and mag fusion allowed to update all states (full mag_3d)
 - new dedicated control logic for mag/mag_3d fusion and standalone mag heading fusion
 - if WMM available use for mag_I and mag_B init
 - mag states reset if external yaw reset (yaw estimator, GPS yaw, etc)
 - mag reset if declination changed (eliminate _mag_yaw_reset_req)
 - mag fusion (but not mag_hdg or mag_3d) can be active during gps_yaw or ev_yaw (if yaw aligned north)

Co-authored-by: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2023-08-04 10:39:16 -04:00
committed by GitHub
co-authored by bresch
parent 7db667558e
commit d75bb62a65
26 changed files with 1650 additions and 1397 deletions
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src/modules/ekf2/EKF/common.h
+4 -4
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@@ -102,9 +102,6 @@ enum MagFuseType : uint8_t {
// Integer definitions for mag_fusion_type
AUTO = 0, ///< The selection of either heading or 3D magnetometer fusion will be automatic
HEADING = 1, ///< Simple yaw angle fusion will always be used. This is less accurate, but less affected by earth field distortions. It should not be used for pitch angles outside the range from -60 to +60 deg
MAG_3D = 2, ///< Magnetometer 3-axis fusion will always be used. This is more accurate, but more affected by localised earth field distortions
UNUSED = 3, ///< Not implemented
INDOOR = 4, ///< The same as option 0, but magnetometer or yaw fusion will not be used unless earth frame external aiding (GPS or External Vision) is being used. This prevents inconsistent magnetic fields associated with indoor operation degrading state estimates.
NONE = 5 ///< Do not use magnetometer under any circumstance..
};
@@ -335,7 +332,7 @@ struct parameters {
// magnetometer fusion
float mag_heading_noise{3.0e-1f}; ///< measurement noise used for simple heading fusion (rad)
float mag_noise{5.0e-2f}; ///< measurement noise used for 3-axis magnetoemeter fusion (Gauss)
float mag_noise{5.0e-2f}; ///< measurement noise used for 3-axis magnetometer fusion (Gauss)
float mag_declination_deg{0.0f}; ///< magnetic declination (degrees)
float heading_innov_gate{2.6f}; ///< heading fusion innovation consistency gate size (STD)
float mag_innov_gate{3.0f}; ///< magnetometer fusion innovation consistency gate size (STD)
@@ -601,6 +598,9 @@ union filter_control_status_u {
uint64_t fake_pos : 1; ///< 32 - true when fake position measurements are being fused
uint64_t fake_hgt : 1; ///< 33 - true when fake height measurements are being fused
uint64_t gravity_vector : 1; ///< 34 - true when gravity vector measurements are being fused
uint64_t mag : 1; ///< 35 - true if 3-axis magnetometer measurement fusion (mag states only) is intended
uint64_t ev_yaw_fault : 1; ///< 36 - true when the EV heading has been declared faulty and is no longer being used
} flags;
uint64_t value;
};