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ekf2: move height control-related function to file

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This commit is contained in:
bresch
2022-08-24 09:16:11 -04:00
committed by Daniel Agar
parent d87feee5b0
commit f555281c94
2 changed files with 74 additions and 74 deletions
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src/modules/ekf2/EKF/control.cpp
-74
View File
@@ -654,80 +654,6 @@ void Ekf::controlGpsYawFusion(bool gps_checks_passing, bool gps_checks_failing)
}
}
void Ekf::controlHeightFusion()
{
checkVerticalAccelerationHealth();
updateGroundEffect();
controlBaroHeightFusion();
controlGnssHeightFusion();
controlRangeHeightFusion();
controlEvHeightFusion();
checkHeightSensorRefFallback();
}
void Ekf::checkHeightSensorRefFallback()
{
if (_height_sensor_ref != HeightSensor::UNKNOWN) {
// The reference sensor is running, all good
return;
}
HeightSensor fallback_list[4];
switch (_params.height_sensor_ref) {
default:
/* FALLTHROUGH */
case HeightSensor::UNKNOWN:
fallback_list[0] = HeightSensor::GNSS;
fallback_list[1] = HeightSensor::BARO;
fallback_list[2] = HeightSensor::EV;
fallback_list[3] = HeightSensor::RANGE;
break;
case HeightSensor::BARO:
fallback_list[0] = HeightSensor::BARO;
fallback_list[1] = HeightSensor::GNSS;
fallback_list[2] = HeightSensor::EV;
fallback_list[3] = HeightSensor::RANGE;
break;
case HeightSensor::GNSS:
fallback_list[0] = HeightSensor::GNSS;
fallback_list[1] = HeightSensor::BARO;
fallback_list[2] = HeightSensor::EV;
fallback_list[3] = HeightSensor::RANGE;
break;
case HeightSensor::RANGE:
fallback_list[0] = HeightSensor::RANGE;
fallback_list[1] = HeightSensor::EV;
fallback_list[2] = HeightSensor::BARO;
fallback_list[3] = HeightSensor::GNSS;
break;
case HeightSensor::EV:
fallback_list[0] = HeightSensor::EV;
fallback_list[1] = HeightSensor::RANGE;
fallback_list[2] = HeightSensor::BARO;
fallback_list[3] = HeightSensor::GNSS;
break;
}
for (unsigned i = 0; i < 4; i++) {
if (((fallback_list[i] == HeightSensor::BARO) && _control_status.flags.baro_hgt)
|| ((fallback_list[i] == HeightSensor::GNSS) && _control_status.flags.gps_hgt)
|| ((fallback_list[i] == HeightSensor::RANGE) && _control_status.flags.rng_hgt)
|| ((fallback_list[i] == HeightSensor::EV) && _control_status.flags.ev_hgt)) {
ECL_INFO("fallback to secondary height reference");
_height_sensor_ref = fallback_list[i];
break;
}
}
}
bool Ekf::isConditionalRangeAidSuitable()
{
bool is_range_aid_suitable = false;
src/modules/ekf2/EKF/height_control.cpp
+74
View File
@@ -37,6 +37,80 @@
#include "ekf.h"
void Ekf::controlHeightFusion()
{
checkVerticalAccelerationHealth();
updateGroundEffect();
controlBaroHeightFusion();
controlGnssHeightFusion();
controlRangeHeightFusion();
controlEvHeightFusion();
checkHeightSensorRefFallback();
}
void Ekf::checkHeightSensorRefFallback()
{
if (_height_sensor_ref != HeightSensor::UNKNOWN) {
// The reference sensor is running, all good
return;
}
HeightSensor fallback_list[4];
switch (_params.height_sensor_ref) {
default:
/* FALLTHROUGH */
case HeightSensor::UNKNOWN:
fallback_list[0] = HeightSensor::GNSS;
fallback_list[1] = HeightSensor::BARO;
fallback_list[2] = HeightSensor::EV;
fallback_list[3] = HeightSensor::RANGE;
break;
case HeightSensor::BARO:
fallback_list[0] = HeightSensor::BARO;
fallback_list[1] = HeightSensor::GNSS;
fallback_list[2] = HeightSensor::EV;
fallback_list[3] = HeightSensor::RANGE;
break;
case HeightSensor::GNSS:
fallback_list[0] = HeightSensor::GNSS;
fallback_list[1] = HeightSensor::BARO;
fallback_list[2] = HeightSensor::EV;
fallback_list[3] = HeightSensor::RANGE;
break;
case HeightSensor::RANGE:
fallback_list[0] = HeightSensor::RANGE;
fallback_list[1] = HeightSensor::EV;
fallback_list[2] = HeightSensor::BARO;
fallback_list[3] = HeightSensor::GNSS;
break;
case HeightSensor::EV:
fallback_list[0] = HeightSensor::EV;
fallback_list[1] = HeightSensor::RANGE;
fallback_list[2] = HeightSensor::BARO;
fallback_list[3] = HeightSensor::GNSS;
break;
}
for (unsigned i = 0; i < 4; i++) {
if (((fallback_list[i] == HeightSensor::BARO) && _control_status.flags.baro_hgt)
|| ((fallback_list[i] == HeightSensor::GNSS) && _control_status.flags.gps_hgt)
|| ((fallback_list[i] == HeightSensor::RANGE) && _control_status.flags.rng_hgt)
|| ((fallback_list[i] == HeightSensor::EV) && _control_status.flags.ev_hgt)) {
ECL_INFO("fallback to secondary height reference");
_height_sensor_ref = fallback_list[i];
break;
}
}
}
void Ekf::checkVerticalAccelerationHealth()
{
// Check for IMU accelerometer vibration induced clipping as evidenced by the vertical