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Fix vel pos test ratio

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kamilritz
2019-12-05 20:09:34 +11:00
committed by Paul Riseborough
parent 2df2dede2f
commit ecd199d5d0
4 changed files with 10 additions and 12 deletions
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EKF/control.cpp
+1 -1
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@@ -728,7 +728,7 @@ void Ekf::controlGpsFusion()
// set innovation gate size
gps_pos_innov_gates(0) = fmaxf(_params.gps_pos_innov_gate, 1.0f);
gps_pos_innov_gates(1) = fmaxf(_params.gps_vel_innov_gate, 1.0f);
gps_vel_innov_gates(0) = gps_vel_innov_gates(1) = fmaxf(_params.gps_vel_innov_gate, 1.0f);
// fuse GPS measurement
fuseHorizontalVelocity(_gps_vel_innov, gps_vel_innov_gates,gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
EKF/ekf.h
+1 -1
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@@ -261,7 +261,7 @@ public:
// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
// Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned.
void get_innovation_test_status(uint16_t &status, float &mag, float &gps_vel, float &gps_pos, float &ev_vel, float &ev_pos, float &hgt, float &tas, float &hagl, float &beta) override;
void get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas, float &hagl, float &beta) override;
// return a bitmask integer that describes which state estimates can be used for flight control
void get_ekf_soln_status(uint16_t *status) override;
EKF/ekf_helper.cpp
+7 -9
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@@ -1277,20 +1277,18 @@ bool Ekf::reset_imu_bias()
// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
// Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned.
void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &gps_vel, float &gps_pos, float &ev_vel, float &ev_pos, float &hgt, float &tas, float &hagl, float &beta)
void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas, float &hagl, float &beta)
{
// return the integer bitmask containing the consistency check pass/fail status
status = _innov_check_fail_status.value;
// return the largest magnetometer innovation test ratio
mag = sqrtf(math::max(_yaw_test_ratio, math::max(math::max(_mag_test_ratio[0], _mag_test_ratio[1]), _mag_test_ratio[2])));
// return the largest NED GPS velocity innovation test ratio
gps_vel = sqrtf(math::max(_gps_vel_test_ratio(0), _gps_vel_test_ratio(1)));
// return the largest NE GPS position innovation test ratio
gps_pos = sqrtf(_gps_pos_test_ratio(0));
// return the largest external vision velocity innovation test ratio
ev_vel = sqrtf(math::max(_ev_vel_test_ratio(0), _ev_vel_test_ratio(1)));
// return the largest horizontal external vision position innovation test ratio
ev_pos = sqrtf(_ev_pos_test_ratio(0));
// return the largest velocity innovation test ratio
vel = math::max(sqrtf(math::max(_gps_vel_test_ratio(0), _gps_vel_test_ratio(1))),
sqrtf(math::max(_ev_vel_test_ratio(0), _ev_vel_test_ratio(1))));
// return the largest position innovation test ratio
pos = math::max(sqrtf(_gps_pos_test_ratio(0)),sqrtf(_ev_pos_test_ratio(0)));
// return the vertical position innovation test ratio
hgt = sqrtf(_gps_pos_test_ratio(0));
// return the airspeed fusion innovation test ratio
EKF/estimator_interface.h
+1 -1
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@@ -373,7 +373,7 @@ public:
// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
// Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned.
virtual void get_innovation_test_status(uint16_t &status, float &mag, float &gps_vel, float &gps_pos, float &ev_vel, float &ev_pos, float &hgt, float &tas, float &hagl, float &beta) = 0;
virtual void get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas, float &hagl, float &beta) = 0;
// return a bitmask integer that describes which state estimates can be used for flight control
virtual void get_ekf_soln_status(uint16_t *status) = 0;