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EKF2 reset IMU bias if the accel or gyro changes

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This commit is contained in:
Daniel Agar
2017-10-26 15:14:32 -04:00
committed by Lorenz Meier
parent 6d8d6323cb
commit e5ead354f0
2 changed files with 18 additions and 5 deletions
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src/modules/ekf2/ekf2_main.cpp
+17 -4
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@@ -417,10 +417,10 @@ Ekf2::Ekf2():
_mag_bias_id(this, "MAGBIAS_ID"),
_mag_bias_saved_variance(this, "MAGB_VREF"),
_mag_bias_alpha(this, "MAGB_K"),
_acc_bias_lim(this, "EKF2_ABL_LIM", false, _params->acc_bias_lim),
_acc_bias_learn_acc_lim(this, "EKF2_ABL_ACCLIM", false, _params->acc_bias_learn_acc_lim),
_acc_bias_learn_gyr_lim(this, "EKF2_ABL_GYRLIM", false, _params->acc_bias_learn_gyr_lim),
_acc_bias_learn_tc(this, "EKF2_ABL_TAU", false, _params->acc_bias_learn_tc),
_acc_bias_lim(this, "ABL_LIM", true, _params->acc_bias_lim),
_acc_bias_learn_acc_lim(this, "ABL_ACCLIM", true, _params->acc_bias_learn_acc_lim),
_acc_bias_learn_gyr_lim(this, "ABL_GYRLIM", true, _params->acc_bias_learn_gyr_lim),
_acc_bias_learn_tc(this, "ABL_TAU", true, _params->acc_bias_learn_tc),
_drag_noise(this, "DRAG_NOISE", true, _params->drag_noise),
_bcoef_x(this, "BCOEF_X", true, _params->bcoef_x),
_bcoef_y(this, "BCOEF_Y", true, _params->bcoef_y),
@@ -560,7 +560,20 @@ void Ekf2::run()
orb_check(sensor_selection_sub, &sensor_selection_updated);
if (sensor_selection_updated) {
sensor_selection_s sensor_selection_prev = sensor_selection;
orb_copy(ORB_ID(sensor_selection), sensor_selection_sub, &sensor_selection);
if ((sensor_selection_prev.timestamp > 0) && (sensor_selection.timestamp > sensor_selection_prev.timestamp)) {
if (sensor_selection.accel_device_id != sensor_selection_prev.accel_device_id) {
PX4_WARN("accel id changed, resetting IMU bias");
_ekf.reset_imu_bias();
}
if (sensor_selection.gyro_device_id != sensor_selection_prev.gyro_device_id) {
PX4_WARN("gyro id changed, resetting IMU bias");
_ekf.reset_imu_bias();
}
}
}
orb_check(optical_flow_sub, &optical_flow_updated);