fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 18:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2 rng kin: allow check to become true during horizontal motion

Browse Source 
Even if there is some horizontal motion, a passing check should be
accepted as the terrain can be flat. However, the vehicle must not be
moving horizontally to invalidate the consistency as a change in terrain
can make the kinematic check temporarily fail.
This commit is contained in:
bresch
2023-09-22 09:02:35 -04:00
committed by Daniel Agar
parent e920bfb188
commit db97a38a9d
3 changed files with 22 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/range_height_control.cpp
+4 -4
View File
@@ -62,15 +62,15 @@ void Ekf::controlRangeHeightFusion()
const Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
_range_sensor.setRange(_range_sensor.getRange() + pos_offset_earth(2) / _range_sensor.getCosTilt());
// Run the kinematic consistency check when not moving horizontally
if (_control_status.flags.in_air && !_control_status.flags.fixed_wing
&& (sq(_state.vel(0)) + sq(_state.vel(1)) < fmaxf(P.trace<2>(State::vel.idx), 0.1f))) {
if (_control_status.flags.in_air) {
const bool horizontal_motion = _control_status.flags.fixed_wing
|| (sq(_state.vel(0)) + sq(_state.vel(1)) > fmaxf(P.trace<2>(State::vel.idx), 0.1f));
const float dist_dependant_var = sq(_params.range_noise_scaler * _range_sensor.getDistBottom());
const float var = sq(_params.range_noise) + dist_dependant_var;
_rng_consistency_check.setGate(_params.range_kin_consistency_gate);
_rng_consistency_check.update(_range_sensor.getDistBottom(), math::max(var, 0.001f), _state.vel(2), P(State::vel.idx + 2, State::vel.idx + 2), _time_delayed_us);
_rng_consistency_check.update(_range_sensor.getDistBottom(), math::max(var, 0.001f), _state.vel(2), P(State::vel.idx + 2, State::vel.idx + 2), horizontal_motion, _time_delayed_us);
}
} else {