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ekf2: improve attitude estimation without horizontal aiding

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- fake_pos only if at rest or tilt variances becomes large
 - fake pos: don't run when grav fusion is enabled
 - gravity fusion enabled by default
 - gravity: only fuse when accel norm and lpf norm are consistent

Co-authored-by: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2024-01-17 10:27:25 -05:00
co-authored by bresch
parent 8158a14eff
commit ed0d26de8a
9 changed files with 650 additions and 631 deletions
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src/modules/ekf2/EKF/gravity_fusion.cpp
+14 -9
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@@ -46,16 +46,21 @@
void Ekf::controlGravityFusion(const imuSample &imu)
{
// fuse gravity observation if our overall acceleration isn't too big
const float gravity_scale = _accel_vec_filt.norm() / CONSTANTS_ONE_G;
_control_status.flags.gravity_vector = (_params.imu_ctrl & static_cast<int32_t>(ImuCtrl::GravityVector))
&& (((gravity_scale >= 0.9f && gravity_scale <= 1.1f)) || _control_status.flags.vehicle_at_rest)
&& !isHorizontalAidingActive();
// get raw accelerometer reading at delayed horizon and expected measurement noise (gaussian)
const Vector3f measurement = imu.delta_vel / imu.delta_vel_dt - getAccelBias();
const float measurement_var = sq(_params.gravity_noise);
const Vector3f measurement = imu.delta_vel / imu.delta_vel_dt - _state.accel_bias;
const float measurement_var = math::max(sq(_params.gravity_noise), sq(0.01f));
const float accel_lpf_norm_sq = _accel_vec_filt.norm_squared();
const float accel_norm_sq = measurement.norm_squared();
const float upper_accel_limit = CONSTANTS_ONE_G * 1.1f;
const float lower_accel_limit = CONSTANTS_ONE_G * 0.9f;
const bool accel_lpf_norm_good = (accel_lpf_norm_sq > sq(lower_accel_limit)) && (accel_lpf_norm_sq < sq(upper_accel_limit));
const bool accel_norm_good = (accel_norm_sq > sq(lower_accel_limit)) && (accel_norm_sq < sq(upper_accel_limit));
// fuse gravity observation if our overall acceleration isn't too big
_control_status.flags.gravity_vector = (_params.imu_ctrl & static_cast<int32_t>(ImuCtrl::GravityVector))
&& ((accel_lpf_norm_good && accel_norm_good) || _control_status.flags.vehicle_at_rest)
&& !isHorizontalAidingActive();
// calculate kalman gains and innovation variances
Vector3f innovation; // innovation of the last gravity fusion observation (m/s**2)