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

- 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>
2026-10-23 04:53:33 +08:00 · 2023-08-04 10:39:16 -04:00
parent 7db667558e
commit d75bb62a65
26 changed files with 1650 additions and 1397 deletions
@@ -0,0 +1,190 @@
+/****************************************************************************
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+
+/**
+ * @file mag_heading_control.cpp
+ * Control functions for ekf mag heading fusion
+ */
+
+#include "ekf.h"
+
+void Ekf::controlMagHeadingFusion(const magSample &mag_sample, const bool common_starting_conditions_passing,
+				  estimator_aid_source1d_s &aid_src)
+{
+	static constexpr const char *AID_SRC_NAME = "mag heading";
+
+	// use mag bias if variance good
+	Vector3f mag_bias{0.f, 0.f, 0.f};
+	const Vector3f mag_bias_var = getMagBiasVariance();
+
+	if ((mag_bias_var.min() > 0.f) && (mag_bias_var.max() <= sq(_params.mag_noise))) {
+		mag_bias = _state.mag_B;
+	}
+
+	// calculate mag heading
+	// Rotate the measurements into earth frame using the zero yaw angle
+	const Dcmf R_to_earth = updateYawInRotMat(0.f, _R_to_earth);
+
+	// the angle of the projection onto the horizontal gives the yaw angle
+	// calculate the yaw innovation and wrap to the interval between +-pi
+	const Vector3f mag_earth_pred = R_to_earth * (mag_sample.mag - mag_bias);
+	const float declination = getMagDeclination();
+	const float measured_hdg = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + declination;
+
+	resetEstimatorAidStatus(aid_src);
+	aid_src.observation = measured_hdg;
+	aid_src.observation_variance = math::max(sq(_params.mag_heading_noise), sq(0.01f));
+
+	if (_control_status.flags.yaw_align) {
+		// mag heading
+		aid_src.innovation = wrap_pi(getEulerYaw(_R_to_earth) - aid_src.observation);
+
+	} else {
+		// mag heading delta (logging only)
+		aid_src.innovation = wrap_pi(wrap_pi(getEulerYaw(_R_to_earth) - _mag_heading_pred_prev)
+					     - wrap_pi(measured_hdg - _mag_heading_prev));
+	}
+
+	// determine if we should use mag heading aiding
+	bool continuing_conditions_passing = ((_params.mag_fusion_type == MagFuseType::HEADING)
+					      || (_params.mag_fusion_type == MagFuseType::AUTO && !_control_status.flags.mag_3D))
+					     && _control_status.flags.tilt_align
+					     && (_control_status.flags.yaw_align || (!_control_status.flags.ev_yaw && !_control_status.flags.yaw_align))
+					     && !_control_status.flags.mag_fault
+					     && !_control_status.flags.mag_field_disturbed
+					     && !_control_status.flags.ev_yaw
+					     && !_control_status.flags.gps_yaw
+					     && PX4_ISFINITE(aid_src.observation)
+					     && PX4_ISFINITE(aid_src.observation_variance);
+
+	const bool starting_conditions_passing = common_starting_conditions_passing
+			&& continuing_conditions_passing
+			&& isTimedOut(aid_src.time_last_fuse, 3e6);
+
+	if (_control_status.flags.mag_hdg) {
+		aid_src.fusion_enabled = true;
+		aid_src.timestamp_sample = mag_sample.time_us;
+
+		if (continuing_conditions_passing && _control_status.flags.yaw_align) {
+
+			const bool declination_changed = _control_status_prev.flags.mag_hdg
+							 && (fabsf(declination - _mag_heading_last_declination) > math::radians(3.f));
+
+			if (mag_sample.reset || declination_changed) {
+				if (declination_changed) {
+					ECL_INFO("reset to %s, declination changed %.5f->%.5f",
+						 AID_SRC_NAME, (double)_mag_heading_last_declination, (double)declination);
+
+				} else {
+					ECL_INFO("reset to %s", AID_SRC_NAME);
+				}
+
+				resetMagHeading(_mag_lpf.getState());
+				aid_src.time_last_fuse = _time_delayed_us;
+
+			} else {
+				fuseYaw(aid_src);
+			}
+
+			const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.reset_timeout_max);
+
+			if (is_fusion_failing) {
+				if (_nb_mag_heading_reset_available > 0) {
+					// Data seems good, attempt a reset
+					ECL_WARN("%s fusion failing, resetting", AID_SRC_NAME);
+					resetMagHeading(_mag_lpf.getState());
+					aid_src.time_last_fuse = _time_delayed_us;
+
+					if (_control_status.flags.in_air) {
+						_nb_mag_heading_reset_available--;
+					}
+
+				} else if (starting_conditions_passing) {
+					// Data seems good, but previous reset did not fix the issue
+					// something else must be wrong, declare the sensor faulty and stop the fusion
+					_control_status.flags.mag_fault = true;
+					ECL_WARN("stopping %s fusion, starting conditions failing", AID_SRC_NAME);
+					stopMagHdgFusion();
+
+				} else {
+					// A reset did not fix the issue but all the starting checks are not passing
+					// This could be a temporary issue, stop the fusion without declaring the sensor faulty
+					ECL_WARN("stopping %s, fusion failing", AID_SRC_NAME);
+					stopMagHdgFusion();
+				}
+			}
+
+		} else {
+			// Stop fusion but do not declare it faulty
+			ECL_WARN("stopping %s fusion, continuing conditions failing", AID_SRC_NAME);
+			stopMagHdgFusion();
+		}
+
+	} else {
+		if (starting_conditions_passing) {
+			// activate fusion
+			ECL_INFO("starting %s fusion", AID_SRC_NAME);
+
+			if (!_control_status.flags.yaw_align) {
+				// reset heading
+				resetMagHeading(_mag_lpf.getState());
+				_control_status.flags.yaw_align = true;
+			}
+
+			_control_status.flags.mag_hdg = true;
+			aid_src.time_last_fuse = _time_delayed_us;
+
+			_nb_mag_heading_reset_available = 1;
+		}
+	}
+
+	aid_src.fusion_enabled = _control_status.flags.mag_hdg;
+
+	// record corresponding mag heading and yaw state for future mag heading delta heading innovation (logging only)
+	_mag_heading_prev = measured_hdg;
+	_mag_heading_pred_prev = getEulerYaw(_state.quat_nominal);
+
+	_mag_heading_last_declination = getMagDeclination();
+}
+
+void Ekf::stopMagHdgFusion()
+{
+	if (_control_status.flags.mag_hdg) {
+		ECL_INFO("stopping mag heading fusion");
+		resetEstimatorAidStatus(_aid_src_mag_heading);
+
+		_control_status.flags.mag_hdg = false;
+
+		_fault_status.flags.bad_hdg = false;
+	}
+}