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ekf2: OF control logic fixes

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- always compute innovation variance and test ratios (updateOptFlow())
 - if horizontal aiding active require good test ratio before starting OF
 - strict on ground (not flying) optical flow fusion workaround to when
vehicle is also at rest (much more conservative)
 - add additional OF reset terrain validity and OF quality check
This commit is contained in:
Daniel Agar
2023-03-14 16:54:53 -04:00
parent 2605562a69
commit e1a4473118
5 changed files with 40 additions and 9 deletions
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src/modules/ekf2/EKF/optical_flow_control.cpp
+22 -5
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@@ -59,6 +59,7 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
// Accumulate autopilot gyro data across the same time interval as the flow sensor
const Vector3f delta_angle(imu_delayed.delta_ang - (getGyroBias() * imu_delayed.delta_ang_dt));
if (_delta_time_of < 0.1f) {
_imu_del_ang_of += delta_angle;
_delta_time_of += imu_delayed.delta_ang_dt;
@@ -110,7 +111,7 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
// compensate for body motion to give a LOS rate
_flow_compensated_XY_rad = _flow_sample_delayed.flow_xy_rad - _flow_sample_delayed.gyro_xyz.xy();
} else if (!_control_status.flags.in_air) {
} else if (!_control_status.flags.in_air && _control_status.flags.vehicle_at_rest) {
if (!is_delta_time_good) {
// handle special case of SITL and PX4Flow where dt is forced to
@@ -154,7 +155,7 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
const bool flight_condition_not_ok = _control_status.flags.in_air && !isTerrainEstimateValid();
const bool inhibit_flow_use = ((preflight_motion_not_ok || flight_condition_not_ok) && !is_flow_required)
|| !_control_status.flags.tilt_align;
|| !_control_status.flags.tilt_align;
// Handle cases where we are using optical flow but we should not use it anymore
if (_control_status.flags.opt_flow) {
@@ -169,7 +170,15 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
// optical flow fusion mode selection logic
if ((_params.fusion_mode & SensorFusionMask::USE_OPT_FLOW) // optical flow has been selected by the user
&& !_control_status.flags.opt_flow // we are not yet using flow data
&& !inhibit_flow_use) {
&& !inhibit_flow_use
&& _range_sensor.isDataHealthy()) {
if (isHorizontalAidingActive()
&& ((_aid_src_optical_flow.test_ratio[0] > 0.1f) || (_aid_src_optical_flow.test_ratio[1] > 0.1f))
) {
// if horizontal aiding already active don't allow optical flow to start unless the test ratio is good
return;
}
// set the flag and reset the fusion timeout
ECL_INFO("starting optical flow fusion");
@@ -205,6 +214,8 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
// Fuse optical flow LOS rate observations into the main filter only if height above ground has been updated recently
// but use a relaxed time criteria to enable it to coast through bad range finder data
if (isRecent(_time_last_hagl_fuse, (uint64_t)10e6)) {
_aid_src_optical_flow.fusion_enabled = true;
fuseOptFlow();
_last_known_pos.xy() = _state.pos.xy();
}
@@ -214,7 +225,10 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
// handle the case when we have optical flow, are reliant on it, but have not been using it for an extended period
if (isTimedOut(_aid_src_optical_flow.time_last_fuse, _params.no_aid_timeout_max)
&& !isOtherSourceOfHorizontalAidingThan(_control_status.flags.opt_flow)) {
&& !isOtherSourceOfHorizontalAidingThan(_control_status.flags.opt_flow)
&& (_flow_sample_delayed.quality >= _params.flow_qual_min)
&& isTerrainEstimateValid()
) {
ECL_INFO("reset velocity to flow");
_information_events.flags.reset_vel_to_flow = true;
@@ -229,7 +243,10 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
}
}
} else if (_control_status.flags.opt_flow && !isRecent(_flow_sample_delayed.time_us, (uint64_t)10e6)) {
} else if (_control_status.flags.opt_flow
&& (!isRecent(_flow_sample_delayed.time_us, (uint64_t)10e6)
|| !isRecent(_aid_src_optical_flow.time_last_fuse, (uint64_t)10e6))
) {
stopFlowFusion();
}