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Ekf2: create HeightBiasEstimator class

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Contains some logic common to all height bias estimators
This commit is contained in:
bresch 2022-07-26 22:12:03 +02:00 committed by Daniel Agar
parent 57125a4c8f
commit f5f31006a0
2 changed files with 77 additions and 3 deletions
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6
src/modules/ekf2/EKF/bias_estimator.hpp
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@ -65,10 +65,10 @@ public:
};
BiasEstimator() = default;
~BiasEstimator() = default;
virtual ~BiasEstimator() = default;
void predict(float dt);
void fuseBias(float measurement, float measurement_var);
virtual void predict(float dt);
virtual void fuseBias(float measurement, float measurement_var);
void setBias(float bias) { _state = bias; }
void setProcessNoiseStdDev(float process_noise)

74
src/modules/ekf2/EKF/height_bias_estimator.hpp Normal file
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@ -0,0 +1,74 @@
/****************************************************************************
*
* Copyright (c) 2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file height_bias_estimator.hpp
*/
#pragma once
#include "bias_estimator.hpp"
class HeightBiasEstimator: public BiasEstimator
{
public:
HeightBiasEstimator(uint8_t sensor, const uint8_t &sensor_ref):
BiasEstimator(0.f, 0.f),
_sensor(sensor),
_sensor_ref(sensor_ref)
{}
virtual ~HeightBiasEstimator() = default;
void setFusionActive() { _is_sensor_fusion_active = true; }
void setFusionInactive() { _is_sensor_fusion_active = false; }
virtual void predict(float dt) override
{
if ((_sensor_ref != _sensor) && _is_sensor_fusion_active) {
BiasEstimator::predict(dt);
}
}
virtual void fuseBias(float bias, float bias_var) override
{
if ((_sensor_ref != _sensor) && _is_sensor_fusion_active) {
BiasEstimator::fuseBias(bias, bias_var);
}
}
private:
const uint8_t _sensor;
const uint8_t &_sensor_ref;
bool _is_sensor_fusion_active{false}; // TODO: replace by const ref and remove setter when migrating _control_status.flags from union to bool
};