fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: move baro control logic to file

Browse Source
This commit is contained in:
bresch 2022-08-05 17:47:32 +02:00 committed by Daniel Agar
parent 12e25eba62
commit d87feee5b0
5 changed files with 137 additions and 96 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
src/modules/ekf2/CMakeLists.txt
View File

@ -48,6 +48,7 @@ px4_add_module(
3600
SRCS
EKF/airspeed_fusion.cpp
EKF/baro_height_control.cpp
EKF/bias_estimator.cpp
EKF/control.cpp
EKF/covariance.cpp

1
src/modules/ekf2/EKF/CMakeLists.txt
View File

@ -33,6 +33,7 @@
add_library(ecl_EKF
airspeed_fusion.cpp
baro_height_control.cpp
bias_estimator.cpp
control.cpp
covariance.cpp

135
src/modules/ekf2/EKF/baro_height_control.cpp Normal file
View File

@ -0,0 +1,135 @@
/****************************************************************************
*
* Copyright (c) 2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file baro_height_control.cpp
* Control functions for ekf barometric height fusion
*/
#include "ekf.h"
void Ekf::controlBaroHeightFusion()
{
if (!(_params.baro_ctrl == 1)) {
stopBaroHgtFusion();
return;
}
_baro_b_est.predict(_dt_ekf_avg);
// check for intermittent data
const bool baro_hgt_intermittent = !isRecent(_time_last_baro, 2 * BARO_MAX_INTERVAL);
if (_baro_data_ready) {
_baro_lpf.update(_baro_sample_delayed.hgt);
updateBaroHgt(_baro_sample_delayed, _aid_src_baro_hgt);
const bool continuing_conditions_passing = !_baro_hgt_faulty && !baro_hgt_intermittent;
const bool starting_conditions_passing = continuing_conditions_passing;
if (_control_status.flags.baro_hgt) {
if (continuing_conditions_passing) {
fuseBaroHgt(_aid_src_baro_hgt);
const bool is_fusion_failing = isTimedOut(_aid_src_baro_hgt.time_last_fuse, _params.hgt_fusion_timeout_max);
if (isHeightResetRequired()) {
// All height sources are failing
resetHeightToBaro();
resetVerticalVelocityToZero();
} else if (is_fusion_failing) {
// Some other height source is still working
stopBaroHgtFusion();
_baro_hgt_faulty = true;
}
} else {
stopBaroHgtFusion();
}
} else {
if (starting_conditions_passing) {
startBaroHgtFusion();
}
}
} else if (_control_status.flags.baro_hgt && baro_hgt_intermittent) {
// No baro data anymore. Stop until it comes back.
stopBaroHgtFusion();
}
}
void Ekf::startBaroHgtFusion()
{
if (!_control_status.flags.baro_hgt) {
if (_params.height_sensor_ref == HeightSensor::BARO) {
_height_sensor_ref = HeightSensor::BARO;
resetHeightToBaro();
} else {
_baro_b_est.setBias(_state.pos(2) + _baro_lpf.getState());
}
_control_status.flags.baro_hgt = true;
_baro_b_est.setFusionActive();
ECL_INFO("starting baro height fusion");
}
}
void Ekf::resetHeightToBaro()
{
ECL_INFO("reset height to baro");
_information_events.flags.reset_hgt_to_baro = true;
resetVerticalPositionTo(-(_baro_sample_delayed.hgt - _baro_b_est.getBias()));
// the state variance is the same as the observation
P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.baro_noise));
_gps_hgt_b_est.setBias(_gps_hgt_b_est.getBias() + _state_reset_status.posD_change);
_rng_hgt_b_est.setBias(_rng_hgt_b_est.getBias() + _state_reset_status.posD_change);
_ev_hgt_b_est.setBias(_ev_hgt_b_est.getBias() - _state_reset_status.posD_change);
}
void Ekf::stopBaroHgtFusion()
{
if (_control_status.flags.baro_hgt) {
if (_height_sensor_ref == HeightSensor::BARO) {
_height_sensor_ref = HeightSensor::UNKNOWN;
}
_control_status.flags.baro_hgt = false;
_baro_b_est.setFusionInactive();
ECL_INFO("stopping baro height fusion");
}
}

51
src/modules/ekf2/EKF/control.cpp
View File

@ -759,57 +759,6 @@ bool Ekf::isConditionalRangeAidSuitable()
return is_range_aid_suitable;
}
void Ekf::controlBaroHeightFusion()
{
if (!(_params.baro_ctrl == 1)) {
stopBaroHgtFusion();
return;
}
_baro_b_est.predict(_dt_ekf_avg);
// check for intermittent data
const bool baro_hgt_intermittent = !isRecent(_time_last_baro, 2 * BARO_MAX_INTERVAL);
if (_baro_data_ready) {
_baro_lpf.update(_baro_sample_delayed.hgt);
updateBaroHgt(_baro_sample_delayed, _aid_src_baro_hgt);
const bool continuing_conditions_passing = !_baro_hgt_faulty && !baro_hgt_intermittent;
const bool starting_conditions_passing = continuing_conditions_passing;
if (_control_status.flags.baro_hgt) {
if (continuing_conditions_passing) {
fuseBaroHgt(_aid_src_baro_hgt);
const bool is_fusion_failing = isTimedOut(_aid_src_baro_hgt.time_last_fuse, _params.hgt_fusion_timeout_max);
if (isHeightResetRequired()) {
// All height sources are failing
resetHeightToBaro();
resetVerticalVelocityToZero();
} else if (is_fusion_failing) {
// Some other height source is still working
stopBaroHgtFusion();
_baro_hgt_faulty = true;
}
} else {
stopBaroHgtFusion();
}
} else {
if (starting_conditions_passing) {
startBaroHgtFusion();
}
}
} else if (_control_status.flags.baro_hgt && baro_hgt_intermittent) {
// No baro data anymore. Stop until it comes back.
stopBaroHgtFusion();
}
}
void Ekf::controlGnssHeightFusion()
{
if (!(_params.gnss_ctrl & GnssCtrl::VPOS)) {

45
src/modules/ekf2/EKF/ekf_helper.cpp
View File

@ -251,21 +251,6 @@ void Ekf::resetVerticalPositionTo(const float new_vert_pos)
_time_last_hgt_fuse = _time_last_imu;
}
void Ekf::resetHeightToBaro()
{
ECL_INFO("reset height to baro");
_information_events.flags.reset_hgt_to_baro = true;
resetVerticalPositionTo(-(_baro_sample_delayed.hgt - _baro_b_est.getBias()));
// the state variance is the same as the observation
P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.baro_noise));
_gps_hgt_b_est.setBias(_gps_hgt_b_est.getBias() + _state_reset_status.posD_change);
_rng_hgt_b_est.setBias(_rng_hgt_b_est.getBias() + _state_reset_status.posD_change);
_ev_hgt_b_est.setBias(_ev_hgt_b_est.getBias() - _state_reset_status.posD_change);
}
void Ekf::resetHeightToGps()
{
ECL_INFO("reset height to GPS");
@ -1303,36 +1288,6 @@ void Ekf::startMag3DFusion()
}
}
void Ekf::startBaroHgtFusion()
{
if (!_control_status.flags.baro_hgt) {
if (_params.height_sensor_ref == HeightSensor::BARO) {
_height_sensor_ref = HeightSensor::BARO;
resetHeightToBaro();
} else {
_baro_b_est.setBias(_state.pos(2) + _baro_lpf.getState());
}
_control_status.flags.baro_hgt = true;
_baro_b_est.setFusionActive();
ECL_INFO("starting baro height fusion");
}
}
void Ekf::stopBaroHgtFusion()
{
if (_control_status.flags.baro_hgt) {
if (_height_sensor_ref == HeightSensor::BARO) {
_height_sensor_ref = HeightSensor::UNKNOWN;
}
_control_status.flags.baro_hgt = false;
_baro_b_est.setFusionInactive();
ECL_INFO("stopping baro height fusion");
}
}
void Ekf::startGpsHgtFusion()
{
if (!_control_status.flags.gps_hgt) {