ekf2: move baro control logic to file

src/modules/ekf2/CMakeLists.txt

@@ -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

src/modules/ekf2/EKF/CMakeLists.txt

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

src/modules/ekf2/EKF/baro_height_control.cpp

@@ -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");
+	}
+}

src/modules/ekf2/EKF/control.cpp

@@ -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)) {

src/modules/ekf2/EKF/ekf_helper.cpp

@@ -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) {