diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index a1047b97e4..7d732998ed 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -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 diff --git a/src/modules/ekf2/EKF/gps_control.cpp b/src/modules/ekf2/EKF/gps_control.cpp index c5db7851da..6d719da015 100644 --- a/src/modules/ekf2/EKF/gps_control.cpp +++ b/src/modules/ekf2/EKF/gps_control.cpp @@ -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) { diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv index 21eeff723a..822f144f04 100644 --- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv +++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv @@ -341,51 +341,51 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7 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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