diff --git a/.ci/Jenkinsfile-compile b/.ci/Jenkinsfile-compile index 4988c6fda6..f65a679baa 100644 --- a/.ci/Jenkinsfile-compile +++ b/.ci/Jenkinsfile-compile @@ -62,6 +62,8 @@ pipeline { "holybro_durandal-v1_default", "holybro_kakutef7_default", "holybro_kakuteh7_default", + "holybro_kakuteh7v2_default", + "holybro_kakuteh7mini_default", "holybro_pix32v5_default", "matek_gnss-m9n-f4_canbootloader", "matek_gnss-m9n-f4_default", diff --git a/.vscode/cmake-variants.yaml b/.vscode/cmake-variants.yaml index 08235cc335..2e04d91b8b 100644 --- a/.vscode/cmake-variants.yaml +++ b/.vscode/cmake-variants.yaml @@ -180,7 +180,7 @@ CONFIG: short: cubepilot_cubeorange buildType: MinSizeRel settings: - CONFIG: cubepilot_orange_test + CONFIG: cubepilot_cubeorange_test emlid_navio2_default: short: emlid_navio2 buildType: MinSizeRel diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults index dc972e9cdf..eafe1cd017 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults @@ -14,9 +14,14 @@ param set-default MAV_TYPE 1 # Default parameters for fixed wing UAVs. # param set-default COM_POS_FS_DELAY 5 -param set-default COM_POS_FS_EPH 15 + +# there is a 2.5 factor applied on the _FS thresholds if for invalidation +param set-default COM_POS_FS_EPH 50 param set-default COM_POS_FS_EPV 30 param set-default COM_VEL_FS_EVH 5 + +param set-default COM_POS_LOW_EPH 50 + # Disable preflight disarm to not interfere with external launching param set-default COM_DISARM_PRFLT -1 diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults index 41217999d7..6a0bc29952 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults @@ -10,6 +10,11 @@ set VEHICLE_TYPE vtol # MAV_TYPE_VTOL_FIXEDROTOR 22 param set-default MAV_TYPE 22 +# there is a 2.5 factor applied on COM_POS_FS_EPH if for invalidation +param set-default COM_POS_FS_EPH 50 + +param set-default COM_POS_LOW_EPH 50 + param set-default MIS_TAKEOFF_ALT 20 param set-default MIS_YAW_TMT 10 diff --git a/Tools/setup/ubuntu.sh b/Tools/setup/ubuntu.sh index 209c719ad5..c609c914a6 100755 --- a/Tools/setup/ubuntu.sh +++ b/Tools/setup/ubuntu.sh @@ -217,6 +217,17 @@ if [[ $INSTALL_SIM == "true" ]]; then # Set Java 11 as default sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version") + # Install Gazebo + if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then + sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' + wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - + # Update list, since new gazebo-stable.list has been added + sudo apt-get update -y --quiet + sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \ + ignition-fortress \ + ; + fi + # Install Gazebo classic if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then gazebo_version=9 @@ -255,16 +266,6 @@ if [[ $INSTALL_SIM == "true" ]]; then echo "export SVGA_VGPU10=0" >> ~/.profile fi - # Install Gazebo - if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then - sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list' - wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - - # Update list, since new gazebo-stable.list has been added - sudo apt-get update -y --quiet - sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \ - ignition-fortress \ - ; - fi fi if [[ $INSTALL_NUTTX == "true" ]]; then diff --git a/msg/FailsafeFlags.msg b/msg/FailsafeFlags.msg index 8271298f11..cf83ec08cf 100644 --- a/msg/FailsafeFlags.msg +++ b/msg/FailsafeFlags.msg @@ -48,6 +48,7 @@ bool mission_failure # Mission failure bool vtol_fixed_wing_system_failure # vehicle in fixed-wing system failure failsafe mode (after quad-chute) bool wind_limit_exceeded # Wind limit exceeded bool flight_time_limit_exceeded # Maximum flight time exceeded +bool local_position_accuracy_low # Local position estimate has dropped below threshold, but is currently still declared valid # Failure detector bool fd_critical_failure # Critical failure (attitude/altitude limit exceeded, or external ATS) diff --git a/platforms/nuttx/src/px4/common/px4_mtd.cpp b/platforms/nuttx/src/px4/common/px4_mtd.cpp index 8c5d4318a5..8f45bd58e3 100644 --- a/platforms/nuttx/src/px4/common/px4_mtd.cpp +++ b/platforms/nuttx/src/px4/common/px4_mtd.cpp @@ -308,7 +308,7 @@ int px4_mtd_config(const px4_mtd_manifest_t *mft_mtd) instances[i] = new mtd_instance_s; - if (instances == nullptr) { + if (instances[i] == nullptr) { memoryout: PX4_ERR("failed to allocate memory!"); return rv; @@ -444,41 +444,39 @@ __EXPORT int px4_mtd_query(const char *sub, const char *val, const char **get) { int rv = -ENODEV; - if (instances != nullptr) { + static const char *keys[] = PX4_MFT_MTD_STR_TYPES; + static const px4_mtd_types_t types[] = PX4_MFT_MTD_TYPES; + int key = 0; - static const char *keys[] = PX4_MFT_MTD_STR_TYPES; - static const px4_mtd_types_t types[] = PX4_MFT_MTD_TYPES; - int key = 0; - - for (unsigned int k = 0; k < arraySize(keys); k++) { - if (!strcmp(keys[k], sub)) { - key = types[k]; - break; - } + for (unsigned int k = 0; k < arraySize(keys); k++) { + if (!strcmp(keys[k], sub)) { + key = types[k]; + break; } + } - rv = -EINVAL; + rv = -EINVAL; - if (key != 0) { - rv = -ENOENT; + if (key != 0) { + rv = -ENOENT; - for (int i = 0; i < num_instances; i++) { - for (unsigned n = 0; n < instances[i]->n_partitions_current; n++) { - if (instances[i]->partition_types[n] == key) { - if (get != nullptr && val == nullptr) { - *get = instances[i]->partition_names[n]; - return 0; - } + for (int i = 0; i < num_instances; i++) { + for (unsigned n = 0; n < instances[i]->n_partitions_current; n++) { + if (instances[i]->partition_types[n] == key) { + if (get != nullptr && val == nullptr) { + *get = instances[i]->partition_names[n]; + return 0; + } - if (val != nullptr && strcmp(instances[i]->partition_names[n], val) == 0) { - return 0; - } + if (val != nullptr && strcmp(instances[i]->partition_names[n], val) == 0) { + return 0; } } } } } + return rv; } diff --git a/src/drivers/drv_sensor.h b/src/drivers/drv_sensor.h index 7ecbb56878..df9018c7e5 100644 --- a/src/drivers/drv_sensor.h +++ b/src/drivers/drv_sensor.h @@ -111,11 +111,11 @@ #define DRV_DIFF_PRESS_DEVTYPE_SDP32 0x4B #define DRV_DIFF_PRESS_DEVTYPE_SDP33 0x4C -#define DRV_BARO_DEVTYPE_LPS33HW 0x4C #define DRV_BARO_DEVTYPE_TCBP001TA 0x4D #define DRV_BARO_DEVTYPE_MS5837 0x4E #define DRV_BARO_DEVTYPE_SPL06 0x4F +#define DRV_BARO_DEVTYPE_LPS33HW 0x50 #define DRV_BARO_DEVTYPE_MPL3115A2 0x51 #define DRV_ACC_DEVTYPE_FXOS8701C 0x52 diff --git a/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp index a69cd26826..2d65182c19 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.cpp @@ -37,7 +37,7 @@ using namespace time_literals; AirspeedChecks::AirspeedChecks() - : _param_fw_arsp_mode_handle(param_find("FW_ARSP_MODE")), _param_fw_airspd_trim_handle(param_find("FW_AIRSPD_TRIM")) + : _param_fw_arsp_mode_handle(param_find("FW_ARSP_MODE")), _param_fw_airspd_max_handle(param_find("FW_AIRSPD_MAX")) { } @@ -58,10 +58,10 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter) reporter.setIsPresent(health_component_t::differential_pressure); - float airspeed_trim = 10.0f; - param_get(_param_fw_airspd_trim_handle, &airspeed_trim); - - const float arming_max_airspeed_allowed = airspeed_trim / 2.0f; // set to half of trim airspeed + // Maximally allow the airspeed reading to be at FW_AIRSPD_MAX when arming. This is to catch very badly calibrated + // airspeed sensors, but also high wind conditions that prevent a forward flight of the vehicle. + float arming_max_airspeed_allowed = 20.f; + param_get(_param_fw_airspd_max_handle, &arming_max_airspeed_allowed); /* * Check if airspeed is declared valid or not by airspeed selector. @@ -79,21 +79,17 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter) } } - /* - * Check if airspeed is higher than maximally accepted while the vehicle is landed / not flying - * Negative and positive offsets are considered. This check is optional, because the pitot cover - * might have been removed before arming. - */ if (!context.isArmed() && _param_com_arm_arsp_en.get() && fabsf(airspeed_validated.calibrated_airspeed_m_s) > arming_max_airspeed_allowed) { /* EVENT * @description - * Check the airspeed calibration and the pitot. + * Current airspeed reading too high. Check if wind is below maximum airspeed and redo airspeed + * calibration if the measured airspeed does not correspond to wind conditions. * * * Measured: {1:.1m/s}, limit: {2:.1m/s}. * - * This check can be configured via COM_ARM_ARSP_EN parameter. + * This check can be configured via COM_ARM_ARSP_EN and FW_AIRSPD_MAX parameter. * */ reporter.armingCheckFailure(NavModes::None, health_component_t::differential_pressure, @@ -101,7 +97,7 @@ void AirspeedChecks::checkAndReport(const Context &context, Report &reporter) events::Log::Error, "Airspeed too high", airspeed_validated.calibrated_airspeed_m_s, arming_max_airspeed_allowed); if (reporter.mavlink_log_pub()) { - mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Airspeed too high - check cal or pitot"); + mavlink_log_critical(reporter.mavlink_log_pub(), "Preflight Fail: Airspeed too high - check airspeed calibration"); } } diff --git a/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.hpp index 866ae54250..59aa82bc52 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.hpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/airspeedCheck.hpp @@ -50,7 +50,7 @@ private: uORB::Subscription _airspeed_validated_sub{ORB_ID(airspeed_validated)}; const param_t _param_fw_arsp_mode_handle; - const param_t _param_fw_airspd_trim_handle; + const param_t _param_fw_airspd_max_handle; DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase, (ParamInt) _param_cbrk_airspd_chk, diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp index 9828dcb920..e11cef237b 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp @@ -126,6 +126,8 @@ void EstimatorChecks::checkAndReport(const Context &context, Report &reporter) if (condition_gps_position_was_valid && reporter.failsafeFlags().gps_position_invalid) { gpsNoLongerValid(context, reporter); } + + lowPositionAccuracy(context, reporter, lpos); } void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &reporter, @@ -669,6 +671,35 @@ void EstimatorChecks::gpsNoLongerValid(const Context &context, Report &reporter) } } +void EstimatorChecks::lowPositionAccuracy(const Context &context, Report &reporter, + const vehicle_local_position_s &lpos) const +{ + const bool local_position_valid_but_low_accuracy = !reporter.failsafeFlags().local_position_invalid + && (_param_com_low_eph.get() > FLT_EPSILON && lpos.eph > _param_com_low_eph.get()); + + if (!reporter.failsafeFlags().local_position_accuracy_low && local_position_valid_but_low_accuracy) { + + // only report if armed + if (context.isArmed()) { + /* EVENT + * @description Local position estimate valid but has low accuracy. Warn user. + * + * + * This check can be configured via COM_POS_LOW_EPH parameter. + * + */ + events::send(events::ID("check_estimator_low_position_accuracy"), {events::Log::Error, events::LogInternal::Info}, + "Local position estimate has low accuracy"); + + if (reporter.mavlink_log_pub()) { + mavlink_log_warning(reporter.mavlink_log_pub(), "Local position estimate has low accuracy\t"); + } + } + } + + reporter.failsafeFlags().local_position_accuracy_low = local_position_valid_but_low_accuracy; +} + void EstimatorChecks::setModeRequirementFlags(const Context &context, bool pre_flt_fail_innov_heading, bool pre_flt_fail_innov_vel_horiz, const vehicle_local_position_s &lpos, const sensor_gps_s &vehicle_gps_position, failsafe_flags_s &failsafe_flags) diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp index f591cf03da..0bd2502fcd 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.hpp @@ -67,6 +67,7 @@ private: void checkGps(const Context &context, Report &reporter, const sensor_gps_s &vehicle_gps_position) const; void gpsNoLongerValid(const Context &context, Report &reporter) const; + void lowPositionAccuracy(const Context &context, Report &reporter, const vehicle_local_position_s &lpos) const; void setModeRequirementFlags(const Context &context, bool pre_flt_fail_innov_heading, bool pre_flt_fail_innov_vel_horiz, const vehicle_local_position_s &lpos, const sensor_gps_s &vehicle_gps_position, failsafe_flags_s &failsafe_flags); @@ -117,6 +118,7 @@ private: (ParamFloat) _param_com_pos_fs_eph, (ParamFloat) _param_com_pos_fs_epv, (ParamFloat) _param_com_vel_fs_evh, - (ParamInt) _param_com_pos_fs_delay + (ParamInt) _param_com_pos_fs_delay, + (ParamFloat) _param_com_low_eph ) }; diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index 4d93e1b96f..5d17953644 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -714,32 +714,47 @@ PARAM_DEFINE_INT32(COM_POS_FS_DELAY, 1); /** * Horizontal position error threshold. * - * This is the horizontal position error (EPH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. + * This is the horizontal position error (EPH) threshold that will trigger a failsafe. + * The default is appropriate for a multicopter. Can be increased for a fixed-wing. + * If the previous position error was below this threshold, there is an additional + * factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation). * * @unit m + * @min 0 + * @decimal 1 * @group Commander */ -PARAM_DEFINE_FLOAT(COM_POS_FS_EPH, 5); +PARAM_DEFINE_FLOAT(COM_POS_FS_EPH, 5.f); /** * Vertical position error threshold. * - * This is the vertical position error (EPV) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. + * This is the vertical position error (EPV) threshold that will trigger a failsafe. + * The default is appropriate for a multicopter. Can be increased for a fixed-wing. + * If the previous position error was below this threshold, there is an additional + * factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation). * * @unit m + * @min 0 + * @decimal 1 * @group Commander */ -PARAM_DEFINE_FLOAT(COM_POS_FS_EPV, 10); +PARAM_DEFINE_FLOAT(COM_POS_FS_EPV, 10.f); /** * Horizontal velocity error threshold. * - * This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. The default is appropriate for a multicopter. Can be increased for a fixed-wing. + * This is the horizontal velocity error (EVH) threshold that will trigger a failsafe. + * The default is appropriate for a multicopter. Can be increased for a fixed-wing. + * If the previous velocity error was below this threshold, there is an additional + * factor of 2.5 applied (threshold for invalidation 2.5 times the one for validation). * * @unit m/s + * @min 0 + * @decimal 1 * @group Commander */ -PARAM_DEFINE_FLOAT(COM_VEL_FS_EVH, 1); +PARAM_DEFINE_FLOAT(COM_VEL_FS_EVH, 1.f); /** * Next flight UUID @@ -1073,3 +1088,20 @@ PARAM_DEFINE_INT32(COM_FLT_TIME_MAX, -1); * @unit m/s */ PARAM_DEFINE_FLOAT(COM_WIND_MAX, -1.f); + +/** + * EPH threshold for RTL + * + * Specify the threshold for triggering a warning for low local position accuracy. Additionally triggers + * a RTL if currently in Mission or Loiter mode. + * Local position has to be still declared valid, which is most of all depending on COM_POS_FS_EPH. + * Use this feature on systems with dead-reckoning capabilites (e.g. fixed-wing vehicles with airspeed sensor) + * to improve the user notification and failure mitigation when flying in GNSS-denied areas. + * + * Set to -1 to disable. + * + * @group Commander + * @min -1 + * @unit m + */ +PARAM_DEFINE_FLOAT(COM_POS_LOW_EPH, -1.0f); diff --git a/src/modules/commander/failsafe/failsafe.cpp b/src/modules/commander/failsafe/failsafe.cpp index 69747868f1..4d26276ef2 100644 --- a/src/modules/commander/failsafe/failsafe.cpp +++ b/src/modules/commander/failsafe/failsafe.cpp @@ -395,6 +395,12 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state, ActionOptions(Action::RTL).clearOn(ClearCondition::OnModeChangeOrDisarm)); CHECK_FAILSAFE(status_flags, flight_time_limit_exceeded, ActionOptions(Action::RTL)); + // trigger RTL if low position accurancy is detected + if (state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_MISSION || + state.user_intended_mode == vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER) { + CHECK_FAILSAFE(status_flags, local_position_accuracy_low, ActionOptions(Action::RTL)); + } + CHECK_FAILSAFE(status_flags, primary_geofence_breached, fromGfActParam(_param_gf_action.get())); // Battery diff --git a/src/modules/ekf2/EKF/RingBuffer.h b/src/modules/ekf2/EKF/RingBuffer.h index e11a1f95c2..aeb4471ad5 100644 --- a/src/modules/ekf2/EKF/RingBuffer.h +++ b/src/modules/ekf2/EKF/RingBuffer.h @@ -81,10 +81,7 @@ public: _size = size; - _head = 0; - _tail = 0; - - _first_write = true; + reset(); return true; } @@ -171,6 +168,19 @@ public: return count; } + void reset() + { + if (_buffer) { + for (uint8_t i = 0; i < _size; i++) { + _buffer[i] = {}; + } + + _head = 0; + _tail = 0; + _first_write = true; + } + } + private: data_type *_buffer{nullptr}; diff --git a/src/modules/ekf2/EKF/airspeed_fusion.cpp b/src/modules/ekf2/EKF/airspeed_fusion.cpp index 0f8534dbab..01319a9d72 100644 --- a/src/modules/ekf2/EKF/airspeed_fusion.cpp +++ b/src/modules/ekf2/EKF/airspeed_fusion.cpp @@ -157,6 +157,8 @@ void Ekf::resetWindUsingAirspeed() _state.wind_vel(0) = _state.vel(0) - _airspeed_sample_delayed.true_airspeed * cosf(euler_yaw); _state.wind_vel(1) = _state.vel(1) - _airspeed_sample_delayed.true_airspeed * sinf(euler_yaw); + ECL_INFO("reset wind using airspeed to (%.3f, %.3f)", (double)_state.wind_vel(0), (double)_state.wind_vel(1)); + resetWindCovarianceUsingAirspeed(); _aid_src_airspeed.time_last_fuse = _time_delayed_us; @@ -164,8 +166,11 @@ void Ekf::resetWindUsingAirspeed() void Ekf::resetWindToZero() { + ECL_INFO("reset wind to zero"); + // If we don't have an airspeed measurement, then assume the wind is zero _state.wind_vel.setZero(); + // start with a small initial uncertainty to improve the initial estimate P.uncorrelateCovarianceSetVariance<2>(22, _params.initial_wind_uncertainty); } diff --git a/src/modules/ekf2/EKF/common.h b/src/modules/ekf2/EKF/common.h index a3c4bd34fc..48a19ac095 100644 --- a/src/modules/ekf2/EKF/common.h +++ b/src/modules/ekf2/EKF/common.h @@ -126,6 +126,11 @@ enum class PositionSensor : uint8_t { EV = 2, }; +enum class ImuCtrl : uint8_t { + GyroBias = (1<<0), + AccelBias = (1<<1), +}; + enum GnssCtrl : uint8_t { HPOS = (1<<0), VPOS = (1<<1), @@ -150,7 +155,7 @@ enum SensorFusionMask : uint16_t { // Bit locations for fusion_mode DEPRECATED_USE_GPS = (1<<0), ///< set to true to use GPS data (DEPRECATED, use gnss_ctrl) USE_OPT_FLOW = (1<<1), ///< set to true to use optical flow data - INHIBIT_ACC_BIAS = (1<<2), ///< set to true to inhibit estimation of accelerometer delta velocity bias + DEPRECATED_INHIBIT_ACC_BIAS = (1<<2), ///< set to true to inhibit estimation of accelerometer delta velocity bias DEPRECATED_USE_EXT_VIS_POS = (1<<3), ///< set to true to use external vision position data DEPRECATED_USE_EXT_VIS_YAW = (1<<4), ///< set to true to use external vision quaternion data for yaw USE_DRAG = (1<<5), ///< set to true to use the multi-rotor drag model to estimate wind @@ -279,6 +284,8 @@ struct parameters { int32_t filter_update_interval_us{10000}; ///< filter update interval in microseconds + int32_t imu_ctrl{static_cast(ImuCtrl::GyroBias) | static_cast(ImuCtrl::AccelBias)}; + // measurement source control int32_t fusion_mode{}; ///< bitmasked integer that selects some aiding sources int32_t height_sensor_ref{HeightSensor::BARO}; diff --git a/src/modules/ekf2/EKF/covariance.cpp b/src/modules/ekf2/EKF/covariance.cpp index 7a8edf0c25..234a1e2991 100644 --- a/src/modules/ekf2/EKF/covariance.cpp +++ b/src/modules/ekf2/EKF/covariance.cpp @@ -81,9 +81,9 @@ void Ekf::initialiseCovariance() } // gyro bias - P(10,10) = sq(_params.switch_on_gyro_bias * dt); - P(11,11) = P(10,10); - P(12,12) = P(10,10); + _prev_delta_ang_bias_var(0) = P(10,10) = sq(_params.switch_on_gyro_bias * dt); + _prev_delta_ang_bias_var(1) = P(11,11) = P(10,10); + _prev_delta_ang_bias_var(2) = P(12,12) = P(10,10); // accel bias _prev_dvel_bias_var(0) = P(13,13) = sq(_params.switch_on_accel_bias * dt); @@ -121,7 +121,36 @@ void Ekf::predictCovariance(const imuSample &imu_delayed) const bool is_manoeuvre_level_high = _ang_rate_magnitude_filt > _params.acc_bias_learn_gyr_lim || _accel_magnitude_filt > _params.acc_bias_learn_acc_lim; - const bool do_inhibit_all_axes = (_params.fusion_mode & SensorFusionMask::INHIBIT_ACC_BIAS) + // gyro bias inhibit + const bool do_inhibit_all_gyro_axes = !(_params.imu_ctrl & static_cast(ImuCtrl::GyroBias)); + + for (unsigned stateIndex = 10; stateIndex <= 12; stateIndex++) { + const unsigned index = stateIndex - 10; + + bool is_bias_observable = true; + + // TODO: gyro bias conditions + + const bool do_inhibit_axis = do_inhibit_all_gyro_axes || !is_bias_observable; + + if (do_inhibit_axis) { + // store the bias state variances to be reinstated later + if (!_gyro_bias_inhibit[index]) { + _prev_delta_ang_bias_var(index) = P(stateIndex, stateIndex); + _gyro_bias_inhibit[index] = true; + } + + } else { + if (_gyro_bias_inhibit[index]) { + // reinstate the bias state variances + P(stateIndex, stateIndex) = _prev_delta_ang_bias_var(index); + _gyro_bias_inhibit[index] = false; + } + } + } + + // accel bias inhibit + const bool do_inhibit_all_accel_axes = !(_params.imu_ctrl & static_cast(ImuCtrl::AccelBias)) || is_manoeuvre_level_high || _fault_status.flags.bad_acc_vertical; @@ -141,7 +170,7 @@ void Ekf::predictCovariance(const imuSample &imu_delayed) is_bias_observable = (fabsf(_R_to_earth(2, index)) > 0.966f); // cos 15 degrees ~= 0.966 } - const bool do_inhibit_axis = do_inhibit_all_axes || imu_delayed.delta_vel_clipping[index] || !is_bias_observable; + const bool do_inhibit_axis = do_inhibit_all_accel_axes || imu_delayed.delta_vel_clipping[index] || !is_bias_observable; if (do_inhibit_axis) { // store the bias state variances to be reinstated later @@ -239,7 +268,17 @@ void Ekf::predictCovariance(const imuSample &imu_delayed) // the variances, therefore use algorithm to minimise numerical error for (unsigned i = 10; i <= 12; i++) { const int index = i - 10; - nextP(i, i) = kahanSummation(nextP(i, i), process_noise(i), _delta_angle_bias_var_accum(index)); + + if (!_gyro_bias_inhibit[index]) { + // add process noise that is not from the IMU + // process noise contribution for delta velocity states can be very small compared to + // the variances, therefore use algorithm to minimise numerical error + nextP(i, i) = kahanSummation(nextP(i, i), process_noise(i), _delta_angle_bias_var_accum(index)); + + } else { + nextP.uncorrelateCovarianceSetVariance<1>(i, _prev_delta_ang_bias_var(index)); + _delta_angle_bias_var_accum(index) = 0.f; + } } for (int i = 13; i <= 15; i++) { diff --git a/src/modules/ekf2/EKF/ekf.cpp b/src/modules/ekf2/EKF/ekf.cpp index 82dc180dda..3eccd4c607 100644 --- a/src/modules/ekf2/EKF/ekf.cpp +++ b/src/modules/ekf2/EKF/ekf.cpp @@ -81,6 +81,62 @@ void Ekf::reset() resetGpsDriftCheckFilters(); _output_predictor.reset(); + + // Ekf private fields + _time_last_horizontal_aiding = 0; + _time_last_v_pos_aiding = 0; + _time_last_v_vel_aiding = 0; + + _time_last_hor_pos_fuse = 0; + _time_last_hgt_fuse = 0; + _time_last_hor_vel_fuse = 0; + _time_last_ver_vel_fuse = 0; + _time_last_heading_fuse = 0; + + _time_last_flow_terrain_fuse = 0; + _time_last_zero_velocity_fuse = 0; + _time_last_healthy_rng_data = 0; + + _last_known_pos.setZero(); + + _time_acc_bias_check = 0; + + _gps_checks_passed = false; + + _gps_alt_ref = NAN; + + _baro_counter = 0; + _mag_counter = 0; + + _time_bad_vert_accel = 0; + _time_good_vert_accel = 0; + _clip_counter = 0; + + resetEstimatorAidStatus(_aid_src_baro_hgt); + resetEstimatorAidStatus(_aid_src_rng_hgt); + resetEstimatorAidStatus(_aid_src_airspeed); + resetEstimatorAidStatus(_aid_src_sideslip); + + resetEstimatorAidStatus(_aid_src_fake_pos); + resetEstimatorAidStatus(_aid_src_fake_hgt); + + resetEstimatorAidStatus(_aid_src_ev_hgt); + resetEstimatorAidStatus(_aid_src_ev_pos); + resetEstimatorAidStatus(_aid_src_ev_vel); + resetEstimatorAidStatus(_aid_src_ev_yaw); + + resetEstimatorAidStatus(_aid_src_gnss_hgt); + resetEstimatorAidStatus(_aid_src_gnss_pos); + resetEstimatorAidStatus(_aid_src_gnss_vel); + resetEstimatorAidStatus(_aid_src_gnss_yaw); + + resetEstimatorAidStatus(_aid_src_mag_heading); + resetEstimatorAidStatus(_aid_src_mag); + + resetEstimatorAidStatus(_aid_src_aux_vel); + + resetEstimatorAidStatus(_aid_src_optical_flow); + resetEstimatorAidStatus(_aid_src_terrain_optical_flow); } bool Ekf::update() @@ -198,11 +254,6 @@ bool Ekf::initialiseFilter() // Initialise the terrain estimator initHagl(); - // reset the essential fusion timeout counters - _time_last_hgt_fuse = _time_delayed_us; - _time_last_hor_pos_fuse = _time_delayed_us; - _time_last_hor_vel_fuse = _time_delayed_us; - // reset the output predictor state history to match the EKF initial values _output_predictor.alignOutputFilter(_state.quat_nominal, _state.vel, _state.pos); diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index 135791c041..bfb002482a 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -331,6 +331,7 @@ public: float getMagBiasLimit() const { return 0.5f; } // 0.5 Gauss bool accel_bias_inhibited() const { return _accel_bias_inhibit[0] || _accel_bias_inhibit[1] || _accel_bias_inhibit[2]; } + bool gyro_bias_inhibited() const { return _gyro_bias_inhibit[0] || _gyro_bias_inhibit[1] || _gyro_bias_inhibit[2]; } const auto &state_reset_status() const { return _state_reset_status; } @@ -533,8 +534,8 @@ private: SquareMatrix24f P{}; ///< state covariance matrix - Vector3f _delta_vel_bias_var_accum{}; ///< kahan summation algorithm accumulator for delta velocity bias variance Vector3f _delta_angle_bias_var_accum{}; ///< kahan summation algorithm accumulator for delta angle bias variance + Vector3f _delta_vel_bias_var_accum{}; ///< kahan summation algorithm accumulator for delta velocity bias variance Vector2f _drag_innov{}; ///< multirotor drag measurement innovation (m/sec**2) Vector2f _drag_innov_var{}; ///< multirotor drag measurement innovation variance ((m/sec**2)**2) @@ -618,9 +619,11 @@ private: // variables used to inhibit accel bias learning bool _accel_bias_inhibit[3] {}; ///< true when the accel bias learning is being inhibited for the specified axis + bool _gyro_bias_inhibit[3] {}; ///< true when the gyro bias learning is being inhibited for the specified axis Vector3f _accel_vec_filt{}; ///< acceleration vector after application of a low pass filter (m/sec**2) float _accel_magnitude_filt{0.0f}; ///< acceleration magnitude after application of a decaying envelope filter (rad/sec) float _ang_rate_magnitude_filt{0.0f}; ///< angular rate magnitude after application of a decaying envelope filter (rad/sec) + Vector3f _prev_delta_ang_bias_var{}; ///< saved delta angle XYZ bias variances (rad/sec) Vector3f _prev_dvel_bias_var{}; ///< saved delta velocity XYZ bias variances (m/sec)**2 // Terrain height state estimation @@ -769,6 +772,12 @@ private: bool measurementUpdate(Vector24f &K, float innovation_variance, float innovation) { for (unsigned i = 0; i < 3; i++) { + // gyro bias: states 10, 11, 12 + if (_gyro_bias_inhibit[i]) { + K(10 + i) = 0.0f; + } + + // accel bias: states 13, 14, 15 if (_accel_bias_inhibit[i]) { K(13 + i) = 0.0f; } @@ -973,17 +982,17 @@ private: bool isTimedOut(uint64_t last_sensor_timestamp, uint64_t timeout_period) const { - return last_sensor_timestamp + timeout_period < _time_delayed_us; + return (last_sensor_timestamp == 0) || (last_sensor_timestamp + timeout_period < _time_delayed_us); } bool isRecent(uint64_t sensor_timestamp, uint64_t acceptance_interval) const { - return sensor_timestamp + acceptance_interval > _time_delayed_us; + return (sensor_timestamp != 0) && (sensor_timestamp + acceptance_interval > _time_delayed_us); } bool isNewestSampleRecent(uint64_t sensor_timestamp, uint64_t acceptance_interval) const { - return sensor_timestamp + acceptance_interval > _time_latest_us; + return (sensor_timestamp != 0) && (sensor_timestamp + acceptance_interval > _time_latest_us); } void startAirspeedFusion(); diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index 8697e1e688..e33fb98269 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -116,8 +116,10 @@ void Ekf::resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var) void Ekf::resetHorizontalPositionToLastKnown() { + ECL_INFO("reset position to last known (%.3f, %.3f)", (double)_last_known_pos(0), (double)_last_known_pos(1)); + _information_events.flags.reset_pos_to_last_known = true; - ECL_INFO("reset position to last known position"); + // Used when falling back to non-aiding mode of operation resetHorizontalPositionTo(_last_known_pos.xy(), sq(_params.pos_noaid_noise)); } @@ -242,6 +244,8 @@ bool Ekf::resetMagHeading() float yaw_new = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + getMagDeclination(); float yaw_new_variance = sq(fmaxf(_params.mag_heading_noise, 1.e-2f)); + ECL_INFO("reset mag heading %.3f -> %.3f rad", (double)getEulerYaw(_R_to_earth), (double)yaw_new); + // update quaternion states and corresponding covarainces resetQuatStateYaw(yaw_new, yaw_new_variance); @@ -854,8 +858,7 @@ void Ekf::updateHorizontalDeadReckoningstatus() } // report if we have been deadreckoning for too long, initial state is deadreckoning until aiding is present - bool deadreckon_time_exceeded = (_time_last_horizontal_aiding == 0) - || isTimedOut(_time_last_horizontal_aiding, (uint64_t)_params.valid_timeout_max); + bool deadreckon_time_exceeded = isTimedOut(_time_last_horizontal_aiding, (uint64_t)_params.valid_timeout_max); if (!_horizontal_deadreckon_time_exceeded && deadreckon_time_exceeded) { // deadreckon time now exceeded @@ -871,7 +874,7 @@ void Ekf::updateVerticalDeadReckoningStatus() _time_last_v_pos_aiding = _time_last_hgt_fuse; _vertical_position_deadreckon_time_exceeded = false; - } else if ((_time_last_v_pos_aiding == 0) || isTimedOut(_time_last_v_pos_aiding, (uint64_t)_params.valid_timeout_max)) { + } else if (isTimedOut(_time_last_v_pos_aiding, (uint64_t)_params.valid_timeout_max)) { _vertical_position_deadreckon_time_exceeded = true; } @@ -879,8 +882,9 @@ void Ekf::updateVerticalDeadReckoningStatus() _time_last_v_vel_aiding = _time_last_ver_vel_fuse; _vertical_velocity_deadreckon_time_exceeded = false; - } else if (((_time_last_v_vel_aiding == 0) || isTimedOut(_time_last_v_vel_aiding, (uint64_t)_params.valid_timeout_max)) + } else if (isTimedOut(_time_last_v_vel_aiding, (uint64_t)_params.valid_timeout_max) && _vertical_position_deadreckon_time_exceeded) { + _vertical_velocity_deadreckon_time_exceeded = true; } } @@ -1180,20 +1184,27 @@ void Ekf::loadMagCovData() void Ekf::startAirspeedFusion() { - // If starting wind state estimation, reset the wind states and covariances before fusing any data - if (!_control_status.flags.wind) { - // activate the wind states - _control_status.flags.wind = true; - // reset the wind speed states and corresponding covariances - resetWindUsingAirspeed(); - } + if (!_control_status.flags.fuse_aspd) { + ECL_INFO("starting airspeed fusion"); - _control_status.flags.fuse_aspd = true; + // If starting wind state estimation, reset the wind states and covariances before fusing any data + if (!_control_status.flags.wind) { + // activate the wind states + _control_status.flags.wind = true; + // reset the wind speed states and corresponding covariances + resetWindUsingAirspeed(); + } + + _control_status.flags.fuse_aspd = true; + } } void Ekf::stopAirspeedFusion() { - _control_status.flags.fuse_aspd = false; + if (_control_status.flags.fuse_aspd) { + ECL_INFO("stopping airspeed fusion"); + _control_status.flags.fuse_aspd = false; + } } void Ekf::stopGpsFusion() @@ -1307,6 +1318,8 @@ void Ekf::resetQuatStateYaw(float yaw, float yaw_variance) _state_reset_status.reset_count.quat++; + _time_last_heading_fuse = _time_delayed_us; + _last_static_yaw = NAN; } diff --git a/src/modules/ekf2/EKF/ev_vel_control.cpp b/src/modules/ekf2/EKF/ev_vel_control.cpp index 66dd27661f..807948ef27 100644 --- a/src/modules/ekf2/EKF/ev_vel_control.cpp +++ b/src/modules/ekf2/EKF/ev_vel_control.cpp @@ -205,7 +205,7 @@ void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, const bool common if (starting_conditions_passing) { // activate fusion, only reset if necessary if (!isHorizontalAidingActive() || yaw_alignment_changed) { - ECL_INFO("starting %s fusion, resetting state", AID_SRC_NAME); + ECL_INFO("starting %s fusion, resetting velocity to (%.3f, %.3f, %.3f)", AID_SRC_NAME, (double)measurement(0), (double)measurement(1), (double)measurement(2)); _information_events.flags.reset_vel_to_vision = true; resetVelocityTo(measurement, measurement_var); diff --git a/src/modules/ekf2/EKF/fake_height_control.cpp b/src/modules/ekf2/EKF/fake_height_control.cpp index c11f22cd33..ef8c318081 100644 --- a/src/modules/ekf2/EKF/fake_height_control.cpp +++ b/src/modules/ekf2/EKF/fake_height_control.cpp @@ -104,7 +104,7 @@ void Ekf::resetFakeHgtFusion() void Ekf::resetHeightToLastKnown() { _information_events.flags.reset_pos_to_last_known = true; - ECL_INFO("reset height to last known"); + ECL_INFO("reset height to last known (%.3f)", (double)_last_known_pos(2)); resetVerticalPositionTo(_last_known_pos(2), sq(_params.pos_noaid_noise)); } diff --git a/src/modules/ekf2/EKF/mag_control.cpp b/src/modules/ekf2/EKF/mag_control.cpp index f17f1ef133..0291ca0427 100644 --- a/src/modules/ekf2/EKF/mag_control.cpp +++ b/src/modules/ekf2/EKF/mag_control.cpp @@ -51,7 +51,7 @@ void Ekf::controlMagFusion() if (mag_data_ready) { // sensor or calibration has changed, clear any mag bias and reset low pass filter - if (mag_sample.reset) { + if (mag_sample.reset || (_mag_counter == 0)) { // Zero the magnetometer bias states _state.mag_B.zero(); diff --git a/src/modules/ekf2/EKF/optical_flow_control.cpp b/src/modules/ekf2/EKF/optical_flow_control.cpp index c6f32ce2e2..a504e8278c 100644 --- a/src/modules/ekf2/EKF/optical_flow_control.cpp +++ b/src/modules/ekf2/EKF/optical_flow_control.cpp @@ -179,7 +179,7 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed) } else { _information_events.flags.reset_pos_to_last_known = true; - ECL_INFO("reset position to last known position"); + ECL_INFO("reset position to last known (%.3f, %.3f)", (double)_last_known_pos(0), (double)_last_known_pos(1)); resetHorizontalPositionTo(_last_known_pos.xy(), 0.f); } } @@ -212,7 +212,7 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed) resetHorizontalVelocityTo(_flow_vel_ne, calcOptFlowMeasVar(_flow_sample_delayed)); // reset position, estimate is relative to initial position in this mode, so we start with zero error - ECL_INFO("reset position to last known"); + ECL_INFO("reset position to last known (%.3f, %.3f)", (double)_last_known_pos(0), (double)_last_known_pos(1)); _information_events.flags.reset_pos_to_last_known = true; resetHorizontalPositionTo(_last_known_pos.xy(), 0.f); diff --git a/src/modules/ekf2/EKF/vel_pos_fusion.cpp b/src/modules/ekf2/EKF/vel_pos_fusion.cpp index f252579f32..f44c91650f 100644 --- a/src/modules/ekf2/EKF/vel_pos_fusion.cpp +++ b/src/modules/ekf2/EKF/vel_pos_fusion.cpp @@ -201,6 +201,12 @@ bool Ekf::fuseVelPosHeight(const float innov, const float innov_var, const int o } for (unsigned i = 0; i < 3; i++) { + // gyro bias: states 10, 11, 12 + if (_gyro_bias_inhibit[i]) { + Kfusion(10 + i) = 0.0f; + } + + // accel bias: states 13, 14, 15 if (_accel_bias_inhibit[i]) { Kfusion(13 + i) = 0.0f; } diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp index 39cd4bbd18..c07d44f8ce 100644 --- a/src/modules/ekf2/EKF2.cpp +++ b/src/modules/ekf2/EKF2.cpp @@ -59,6 +59,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode): _wind_pub(multi_mode ? ORB_ID(estimator_wind) : ORB_ID(wind)), _params(_ekf.getParamHandle()), _param_ekf2_predict_us(_params->filter_update_interval_us), + _param_ekf2_imu_ctrl(_params->imu_ctrl), _param_ekf2_mag_delay(_params->mag_delay_ms), _param_ekf2_baro_delay(_params->baro_delay_ms), _param_ekf2_gps_delay(_params->gps_delay_ms), @@ -745,6 +746,27 @@ void EKF2::VerifyParams() events::send(events::ID("ekf2_aid_mask_ev"), events::Log::Warning, "Use EKF2_EV_CTRL instead", _param_ekf2_aid_mask.get()); } + + + // IMU EKF2_AID_MASK -> EKF2_IMU_CTRL (2023-01-31) + if (_param_ekf2_aid_mask.get() & SensorFusionMask::DEPRECATED_INHIBIT_ACC_BIAS) { + + // EKF2_IMU_CTRL set disable accel bias bit + _param_ekf2_imu_ctrl.set(_param_ekf2_imu_ctrl.get() & ~(static_cast(ImuCtrl::AccelBias))); + + // EKF2_AID_MASK clear inhibit accel bias bit + _param_ekf2_aid_mask.set(_param_ekf2_aid_mask.get() & ~(SensorFusionMask::DEPRECATED_INHIBIT_ACC_BIAS)); + + _param_ekf2_imu_ctrl.commit(); + _param_ekf2_aid_mask.commit(); + + mavlink_log_critical(&_mavlink_log_pub, "EKF2 IMU accel bias inhibit use EKF2_IMU_CTRL instead of EKF2_AID_MASK\n"); + /* EVENT + * @description EKF2_AID_MASK is set to {1:.0}. + */ + events::send(events::ID("ekf2_aid_mask_imu"), events::Log::Warning, + "Use EKF2_IMU_CTRL instead", _param_ekf2_aid_mask.get()); + } } void EKF2::PublishAidSourceStatus(const hrt_abstime ×tamp) @@ -1322,7 +1344,7 @@ void EKF2::PublishSensorBias(const hrt_abstime ×tamp) bias.timestamp_sample = _ekf.time_delayed_us(); // take device ids from sensor_selection_s if not using specific vehicle_imu_s - if (_device_id_gyro != 0) { + if ((_device_id_gyro != 0) && (_param_ekf2_imu_ctrl.get() & static_cast(ImuCtrl::GyroBias))) { bias.gyro_device_id = _device_id_gyro; gyro_bias.copyTo(bias.gyro_bias); bias.gyro_bias_limit = _ekf.getGyroBiasLimit(); @@ -1332,7 +1354,7 @@ void EKF2::PublishSensorBias(const hrt_abstime ×tamp) _last_gyro_bias_published = gyro_bias; } - if ((_device_id_accel != 0) && !(_param_ekf2_aid_mask.get() & SensorFusionMask::INHIBIT_ACC_BIAS)) { + if ((_device_id_accel != 0) && (_param_ekf2_imu_ctrl.get() & static_cast(ImuCtrl::AccelBias))) { bias.accel_device_id = _device_id_accel; accel_bias.copyTo(bias.accel_bias); bias.accel_bias_limit = _ekf.getAccelBiasLimit(); @@ -2214,7 +2236,7 @@ void EKF2::UpdateCalibration(const hrt_abstime ×tamp, InFlightCalibration & void EKF2::UpdateAccelCalibration(const hrt_abstime ×tamp) { // the EKF is operating in the correct mode and there are no filter faults - const bool bias_valid = !(_param_ekf2_aid_mask.get() & SensorFusionMask::INHIBIT_ACC_BIAS) + const bool bias_valid = (_param_ekf2_imu_ctrl.get() & static_cast(ImuCtrl::AccelBias)) && _ekf.control_status_flags().tilt_align && (_ekf.fault_status().value == 0) && !_ekf.fault_status_flags().bad_acc_bias @@ -2231,10 +2253,11 @@ void EKF2::UpdateAccelCalibration(const hrt_abstime ×tamp) void EKF2::UpdateGyroCalibration(const hrt_abstime ×tamp) { // the EKF is operating in the correct mode and there are no filter faults - const bool bias_valid = _ekf.control_status_flags().tilt_align + const bool bias_valid = (_param_ekf2_imu_ctrl.get() & static_cast(ImuCtrl::GyroBias)) + && _ekf.control_status_flags().tilt_align && (_ekf.fault_status().value == 0); - const bool learning_valid = bias_valid; // TODO + const bool learning_valid = bias_valid && !_ekf.gyro_bias_inhibited(); UpdateCalibration(timestamp, _gyro_cal, _ekf.getGyroBias(), _ekf.getGyroBiasVariance(), _ekf.getGyroBiasLimit(), bias_valid, learning_valid); diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp index aa8d4bd0f2..57be3660fa 100644 --- a/src/modules/ekf2/EKF2.hpp +++ b/src/modules/ekf2/EKF2.hpp @@ -397,6 +397,8 @@ private: DEFINE_PARAMETERS( (ParamExtInt) _param_ekf2_predict_us, + (ParamExtInt) _param_ekf2_imu_ctrl, + (ParamExtFloat) _param_ekf2_mag_delay, ///< magnetometer measurement delay relative to the IMU (mSec) (ParamExtFloat) diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c index 482df4c1e6..ec4134e3a3 100644 --- a/src/modules/ekf2/ekf2_params.c +++ b/src/modules/ekf2/ekf2_params.c @@ -52,6 +52,17 @@ */ PARAM_DEFINE_INT32(EKF2_PREDICT_US, 10000); +/** + * IMU control + * + * @group EKF2 + * @min 0 + * @max 3 + * @bit 0 Gyro Bias + * @bit 1 Accel Bias + */ +PARAM_DEFINE_INT32(EKF2_IMU_CTRL, 3); + /** * Magnetometer measurement delay relative to IMU measurements * @@ -602,7 +613,7 @@ PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 3.0f); * Set bits in the following positions to enable: * 0 : Deprecated, use EKF2_GPS_CTRL instead * 1 : Set to true to use optical flow data if available - * 2 : Set to true to inhibit IMU delta velocity bias estimation + * 2 : Deprecated, use EKF2_IMU_CTRL instead * 3 : Deprecated, use EKF2_EV_CTRL instead * 4 : Deprecated, use EKF2_EV_CTRL instead * 5 : Set to true to enable multi-rotor drag specific force fusion @@ -615,7 +626,7 @@ PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 3.0f); * @max 511 * @bit 0 unused * @bit 1 use optical flow - * @bit 2 inhibit IMU bias estimation + * @bit 2 unused * @bit 3 unused * @bit 4 unused * @bit 5 multi-rotor drag fusion diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv index 6948ceb33d..104952abbc 100644 --- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv +++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv @@ -1,391 +1,391 @@ 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+34890000,0.98,-0.0068,-0.012,0.18,-0.022,0.004,3.6,0.07,-0.0065,0.56,-1.4e-05,-5.6e-05,2.2e-06,0.00018,-0.00029,-0.001,0.2,0.002,0.43,0,0,0,0,0,1.5e-06,3e-05,2.9e-05,4.2e-05,0.043,0.043,0.0061,0.052,0.052,0.032,2.6e-11,2.6e-11,7.9e-11,2e-06,2e-06,5e-08,0,0,0,0,0,0,0,0 diff --git a/src/modules/ekf2/test/test_EKF_airspeed.cpp b/src/modules/ekf2/test/test_EKF_airspeed.cpp index ff73948bd3..4ae7628997 100644 --- a/src/modules/ekf2/test/test_EKF_airspeed.cpp +++ b/src/modules/ekf2/test/test_EKF_airspeed.cpp @@ -106,8 +106,8 @@ TEST_F(EkfAirspeedTest, testWindVelocityEstimation) const Vector3f vel_wind_expected = simulated_velocity_earth - R_to_earth_sim * (Vector3f(airspeed_body(0), airspeed_body(1), 0.0f)); - EXPECT_NEAR(vel_wind_earth(0), vel_wind_expected(0), 1e-3f); - EXPECT_NEAR(vel_wind_earth(1), vel_wind_expected(1), 1e-3f); + EXPECT_NEAR(vel_wind_earth(0), vel_wind_expected(0), 1e-2f); + EXPECT_NEAR(vel_wind_earth(1), vel_wind_expected(1), 1e-2f); EXPECT_NEAR(height_before_pressure_correction, 0.0f, 1e-5f); diff --git a/src/modules/ekf2/test/test_EKF_mag.cpp b/src/modules/ekf2/test/test_EKF_mag.cpp index 299266f112..712bd144e9 100644 --- a/src/modules/ekf2/test/test_EKF_mag.cpp +++ b/src/modules/ekf2/test/test_EKF_mag.cpp @@ -64,7 +64,7 @@ public: _ekf->set_vehicle_at_rest(true); } - const uint32_t _init_duration_s{4}; + const uint32_t _init_duration_s{6}; }; TEST_F(EkfMagTest, fusionStartWithReset) diff --git a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c index 21a0d4e6db..13609dbbb1 100644 --- a/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c +++ b/src/modules/fw_autotune_attitude_control/fw_autotune_attitude_control_params.c @@ -105,9 +105,9 @@ PARAM_DEFINE_INT32(FW_AT_APPLY, 2); PARAM_DEFINE_INT32(FW_AT_AXES, 3); /** - * Enable auto tuning enable on aux input + * Enable/disable auto tuning using an RC AUX input * - * Defines which aux input to enable auto tuning + * Defines which RC_MAP_AUXn parameter maps the RC channel used to enable/disable auto tuning. * * @value 0 Disable * @value 1 Aux1 diff --git a/src/modules/mc_pos_control/mc_pos_control_params.c b/src/modules/mc_pos_control/mc_pos_control_params.c index 3006995d92..50b541a6ed 100644 --- a/src/modules/mc_pos_control/mc_pos_control_params.c +++ b/src/modules/mc_pos_control/mc_pos_control_params.c @@ -460,17 +460,21 @@ PARAM_DEFINE_FLOAT(MPC_LAND_SPEED, 0.7f); PARAM_DEFINE_FLOAT(MPC_LAND_CRWL, 0.3f); /** - * Enable user assisted descent speed for autonomous land routine. + * Enable user assisted descent for autonomous land routine * * When enabled, descent speed will be: * stick full up - 0 * stick centered - MPC_LAND_SPEED * stick full down - 2 * MPC_LAND_SPEED * + * Additionally, the vehicle can be yawed and moved laterally using the other sticks. + * Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE). + * * @min 0 * @max 1 * @value 0 Fixed descent speed of MPC_LAND_SPEED * @value 1 User assisted descent speed + * @group Multicopter Position Control */ PARAM_DEFINE_INT32(MPC_LAND_RC_HELP, 0);