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ekf2: handle GPS vel/pos timeouts individually

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- in a system with good EV + GPS it's possible that horizontal vel/pos
fusion continues successfully, but GPS fusion is failing due to mediocre
yaw alignment
This commit is contained in:
Daniel Agar 2023-08-31 11:30:23 -04:00
parent 3d61ab84c4
commit db51bfc9e8
3 changed files with 71 additions and 92 deletions
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2
src/modules/ekf2/EKF/ekf.h
View File

@ -723,7 +723,6 @@ private:
// height sensor status
bool _baro_hgt_faulty{false}; ///< true if baro data have been declared faulty TODO: move to fault flags
bool _gps_intermittent{true}; ///< true if data into the buffer is intermittent
// imu fault status
uint64_t _time_bad_vert_accel{0}; ///< last time a bad vertical accel was detected (uSec)
@ -1014,7 +1013,6 @@ private:
// control fusion of GPS observations
void controlGpsFusion(const imuSample &imu_delayed);
bool shouldResetGpsFusion() const;
bool isYawFailure() const;
// control fusion of magnetometer observations

65
src/modules/ekf2/EKF/gps_control.cpp
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2021-2022 PX4 Development Team. All rights reserved.
* Copyright (c) 2021-2023 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
@ -46,8 +46,6 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
return;
}
_gps_intermittent = !isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GNSS_MAX_INTERVAL);
// check for arrival of new sensor data at the fusion time horizon
_gps_data_ready = _gps_buffer->pop_first_older_than(imu_delayed.time_us, &_gps_sample_delayed);
@ -90,6 +88,7 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
const Vector3f velocity{gps_sample.vel};
const float vel_var = sq(math::max(gps_sample.sacc, _params.gps_vel_noise));
const Vector3f vel_obs_var(vel_var, vel_var, vel_var * sq(1.5f));
const bool vel_good = velocity.isAllFinite() && (gps_sample.sacc > 0.f) && (gps_sample.sacc < _params.req_sacc);
updateVelocityAidSrcStatus(gps_sample.time_us,
velocity, // observation
vel_obs_var, // observation variance
@ -112,6 +111,7 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
const float pos_var = sq(pos_noise);
const Vector2f pos_obs_var(pos_var, pos_var);
const bool pos_good = position.isAllFinite() && (gps_sample.hacc > 0.f) && (gps_sample.hacc < _params.req_hacc);
updateHorizontalPositionAidSrcStatus(gps_sample.time_us,
position, // observation
pos_obs_var, // observation variance
@ -141,7 +141,12 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
}
const bool continuing_conditions_passing = mandatory_conditions_passing && !gps_checks_failing;
const bool starting_conditions_passing = continuing_conditions_passing && gps_checks_passing;
const bool starting_conditions_passing = continuing_conditions_passing
&& isNewestSampleRecent(_time_last_gps_buffer_push, GNSS_MAX_INTERVAL)
&& _gps_checks_passed
&& gps_checks_passing
&& !gps_checks_failing;
if (_control_status.flags.gps) {
if (mandatory_conditions_passing) {
@ -151,7 +156,11 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
fuseVelocity(_aid_src_gnss_vel);
fuseHorizontalPosition(_aid_src_gnss_pos);
bool do_vel_pos_reset = shouldResetGpsFusion();
const bool vel_fusion_failing = isTimedOut(_aid_src_gnss_vel.time_last_fuse, _params.reset_timeout_max);
const bool pos_fusion_failing = isTimedOut(_aid_src_gnss_pos.time_last_fuse, _params.reset_timeout_max);
bool vel_reset = vel_fusion_failing && vel_good;
bool pos_reset = pos_fusion_failing && pos_good;
if (isYawFailure()
&& _control_status.flags.in_air
@ -189,19 +198,23 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
#endif // CONFIG_EKF2_EXTERNAL_VISION
do_vel_pos_reset = true;
vel_reset = true;
pos_reset = true;
}
}
if (do_vel_pos_reset) {
ECL_WARN("GPS fusion timeout, resetting velocity and position");
if (vel_reset) {
// reset velocity
ECL_WARN("GPS fusion timeout, resetting velocity to GPS (%.3f, %.3f, %.3f)",
(double)velocity(0), (double)velocity(1), (double)velocity(2));
_information_events.flags.reset_vel_to_gps = true;
resetVelocityTo(velocity, vel_obs_var);
_aid_src_gnss_vel.time_last_fuse = _time_delayed_us;
}
if (pos_reset) {
// reset position
ECL_WARN("GPS fusion timeout, resetting position to GPS (%.3f, %.3f)", (double)position(0), (double)position(1));
_information_events.flags.reset_pos_to_gps = true;
resetHorizontalPositionTo(position, pos_obs_var);
_aid_src_gnss_pos.time_last_fuse = _time_delayed_us;
@ -258,37 +271,6 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
}
}
bool Ekf::shouldResetGpsFusion() const
{
/* We are relying on aiding to constrain drift so after a specified time
* with no aiding we need to do something
*/
bool has_horizontal_aiding_timed_out = isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max)
&& isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max);
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
if (has_horizontal_aiding_timed_out) {
// horizontal aiding hasn't timed out if optical flow still active
if (_control_status.flags.opt_flow && isRecent(_aid_src_optical_flow.time_last_fuse, _params.reset_timeout_max)) {
has_horizontal_aiding_timed_out = false;
}
}
#endif // CONFIG_EKF2_OPTICAL_FLOW
const bool is_reset_required = has_horizontal_aiding_timed_out
|| isTimedOut(_time_last_hor_pos_fuse, 2 * _params.reset_timeout_max);
const bool is_inflight_nav_failure = _control_status.flags.in_air
&& isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max)
&& isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max)
&& (_time_last_hor_vel_fuse > _time_last_on_ground_us)
&& (_time_last_hor_pos_fuse > _time_last_on_ground_us);
return (is_reset_required || is_inflight_nav_failure);
}
bool Ekf::isYawFailure() const
{
if (!isYawEmergencyEstimateAvailable()) {
@ -325,8 +307,7 @@ void Ekf::controlGpsYawFusion(const gpsSample &gps_sample, bool gps_checks_passi
const bool starting_conditions_passing = continuing_conditions_passing
&& _control_status.flags.tilt_align
&& gps_checks_passing
&& !is_gps_yaw_data_intermittent
&& !_gps_intermittent;
&& !is_gps_yaw_data_intermittent;
if (_control_status.flags.gps_yaw) {

96
src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
View File

@ -341,51 +341,51 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
341 33890000 -0.23 -0.0057 -0.0079 0.97 -1 -0.7 0.77 -16 -7.5 -3.7e+02 -0.0015 -0.0057 -8.9e-05 -0.019 0.0056 -0.092 0.37 0.0037 0.025 0 0 0 0 0 0.0011 7.2e-05 8.2e-05 8.4e-05 0.032 0.038 0.0072 0.38 0.41 0.036 2.8e-07 2.8e-07 3e-06 0.027 0.025 0.0005 0.0025 8.1e-05 0.0025 0.0025 0.0025 0.0025 0 0
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