diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt index a976d00831..9da2f0c3ba 100644 --- a/src/modules/ekf2/CMakeLists.txt +++ b/src/modules/ekf2/CMakeLists.txt @@ -100,7 +100,6 @@ px4_add_module( EKF/gps_fusion.cpp EKF/gps_yaw_fusion.cpp EKF/height_control.cpp - EKF/height_fusion.cpp EKF/imu_down_sampler.cpp EKF/mag_control.cpp EKF/mag_fusion.cpp diff --git a/src/modules/ekf2/EKF/CMakeLists.txt b/src/modules/ekf2/EKF/CMakeLists.txt index 06b4b017bc..5c1814c6da 100644 --- a/src/modules/ekf2/EKF/CMakeLists.txt +++ b/src/modules/ekf2/EKF/CMakeLists.txt @@ -51,7 +51,6 @@ add_library(ecl_EKF gps_fusion.cpp gps_yaw_fusion.cpp height_control.cpp - height_fusion.cpp imu_down_sampler.cpp mag_control.cpp mag_fusion.cpp diff --git a/src/modules/ekf2/EKF/baro_height_control.cpp b/src/modules/ekf2/EKF/baro_height_control.cpp index e014da5458..e34cb19744 100644 --- a/src/modules/ekf2/EKF/baro_height_control.cpp +++ b/src/modules/ekf2/EKF/baro_height_control.cpp @@ -40,117 +40,154 @@ void Ekf::controlBaroHeightFusion() { - if (!_baro_buffer) { - return; - } + static constexpr const char *HGT_SRC_NAME = "baro"; + + auto &aid_src = _aid_src_baro_hgt; + HeightBiasEstimator &bias_est = _baro_b_est; + + bias_est.predict(_dt_ekf_avg); baroSample baro_sample; - const bool baro_data_ready = _baro_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &baro_sample); - if (baro_data_ready) { - if (_baro_counter == 0) { - _baro_lpf.reset(baro_sample.hgt); + if (_baro_buffer && _baro_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &baro_sample)) { - } else { - _baro_lpf.update(baro_sample.hgt); + const float measurement = baro_sample.hgt; + const float measurement_var = sq(_params.baro_noise); + + const float innov_gate = fmaxf(_params.baro_innov_gate, 1.f); + + const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var); + + if (measurement_valid) { + if (_baro_counter == 0) { + _baro_lpf.reset(baro_sample.hgt); + + } else { + _baro_lpf.update(baro_sample.hgt); + } + + if (_baro_counter <= _obs_buffer_length) { + // Initialize the pressure offset (included in the baro bias) + bias_est.setBias(_state.pos(2) + _baro_lpf.getState()); + _baro_counter++; + } } - if (_baro_counter < _obs_buffer_length) { - // Initialize the pressure offset (included in the baro bias) - _baro_b_est.setBias(_state.pos(2) + _baro_lpf.getState()); - _baro_counter++; + // vertical position innovation - baro measurement has opposite sign to earth z axis + updateVerticalPositionAidSrcStatus(baro_sample.time_us, + -(measurement - bias_est.getBias()), + measurement_var + bias_est.getBiasVar(), + innov_gate, + aid_src); + + // Compensate for positive static pressure transients (negative vertical position innovations) + // caused by rotor wash ground interaction by applying a temporary deadzone to baro innovations. + if (_control_status.flags.gnd_effect && (_params.gnd_effect_deadzone > 0.f)) { + + const float deadzone_start = 0.0f; + const float deadzone_end = deadzone_start + _params.gnd_effect_deadzone; + + if (aid_src.innovation < -deadzone_start) { + if (aid_src.innovation <= -deadzone_end) { + aid_src.innovation += deadzone_end; + + } else { + aid_src.innovation = -deadzone_start; + } + } } - } - if (!(_params.baro_ctrl == 1)) { - stopBaroHgtFusion(); - return; - } + // update the bias estimator before updating the main filter but after + // using its current state to compute the vertical position innovation + if (measurement_valid) { + bias_est.setMaxStateNoise(sqrtf(measurement_var)); + bias_est.setProcessNoiseSpectralDensity(_params.baro_bias_nsd); + bias_est.fuseBias(measurement - (-_state.pos(2)), measurement_var + P(9, 9)); + } - _baro_b_est.predict(_dt_ekf_avg); + // determine if we should use height aiding + const bool continuing_conditions_passing = (_params.baro_ctrl == 1) + && measurement_valid + && !_baro_hgt_faulty; - // check for intermittent data - const bool baro_hgt_intermittent = !isNewestSampleRecent(_time_last_baro_buffer_push, 2 * BARO_MAX_INTERVAL); - - if (baro_data_ready) { - updateBaroHgt(baro_sample, _aid_src_baro_hgt); - - const bool continuing_conditions_passing = !_baro_hgt_faulty && !baro_hgt_intermittent; - const bool starting_conditions_passing = continuing_conditions_passing && (_baro_counter >= _obs_buffer_length); + const bool starting_conditions_passing = continuing_conditions_passing + && (_baro_counter > _obs_buffer_length) + && isNewestSampleRecent(_time_last_baro_buffer_push, 2 * BARO_MAX_INTERVAL); if (_control_status.flags.baro_hgt) { - if (continuing_conditions_passing) { - fuseBaroHgt(_aid_src_baro_hgt); + aid_src.fusion_enabled = true; - const bool is_fusion_failing = isTimedOut(_aid_src_baro_hgt.time_last_fuse, _params.hgt_fusion_timeout_max); + if (continuing_conditions_passing) { + + fuseVerticalPosition(aid_src); + + const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max); if (isHeightResetRequired()) { // All height sources are failing - resetHeightToBaro(baro_sample); + ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME); + + _information_events.flags.reset_hgt_to_baro = true; + resetVerticalPositionTo(-(_baro_lpf.getState() - bias_est.getBias()), measurement_var); + bias_est.setBias(_state.pos(2) + _baro_lpf.getState()); + + // reset vertical velocity resetVerticalVelocityToZero(); + aid_src.time_last_fuse = _imu_sample_delayed.time_us; + } else if (is_fusion_failing) { // Some other height source is still working + ECL_WARN("stopping %s height fusion, fusion failing", HGT_SRC_NAME); stopBaroHgtFusion(); _baro_hgt_faulty = true; } } else { + ECL_WARN("stopping %s height fusion, continuing conditions failing", HGT_SRC_NAME); stopBaroHgtFusion(); } + } else { if (starting_conditions_passing) { - startBaroHgtFusion(baro_sample); + if (_params.height_sensor_ref == HeightSensor::BARO) { + ECL_INFO("starting %s height fusion, resetting height", HGT_SRC_NAME); + _height_sensor_ref = HeightSensor::BARO; + + _information_events.flags.reset_hgt_to_baro = true; + resetVerticalPositionTo(-(_baro_lpf.getState() - bias_est.getBias()), measurement_var); + bias_est.setBias(_state.pos(2) + _baro_lpf.getState()); + + } else { + ECL_INFO("starting %s height fusion", HGT_SRC_NAME); + bias_est.setBias(_state.pos(2) + _baro_lpf.getState()); + } + + aid_src.time_last_fuse = _imu_sample_delayed.time_us; + bias_est.setFusionActive(); + _control_status.flags.baro_hgt = true; } } - } else if (_control_status.flags.baro_hgt && baro_hgt_intermittent) { - // No baro data anymore. Stop until it comes back. + } else if (_control_status.flags.baro_hgt + && !isNewestSampleRecent(_time_last_baro_buffer_push, 2 * BARO_MAX_INTERVAL)) { + // No data anymore. Stop until it comes back. + ECL_WARN("stopping %s height fusion, no data", HGT_SRC_NAME); stopBaroHgtFusion(); } } -void Ekf::startBaroHgtFusion(const baroSample &baro_sample) -{ - if (!_control_status.flags.baro_hgt) { - if (_params.height_sensor_ref == HeightSensor::BARO) { - _height_sensor_ref = HeightSensor::BARO; - resetHeightToBaro(baro_sample); - - } else { - _baro_b_est.setBias(_state.pos(2) + _baro_lpf.getState()); - } - - _control_status.flags.baro_hgt = true; - _baro_b_est.setFusionActive(); - ECL_INFO("starting baro height fusion"); - } -} - -void Ekf::resetHeightToBaro(const baroSample &baro_sample) -{ - ECL_INFO("reset height to baro"); - _information_events.flags.reset_hgt_to_baro = true; - - resetVerticalPositionTo(-(baro_sample.hgt - _baro_b_est.getBias())); - - // the state variance is the same as the observation - P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.baro_noise)); - - _gps_hgt_b_est.setBias(_gps_hgt_b_est.getBias() + _state_reset_status.posD_change); - _rng_hgt_b_est.setBias(_rng_hgt_b_est.getBias() + _state_reset_status.posD_change); - _ev_hgt_b_est.setBias(_ev_hgt_b_est.getBias() - _state_reset_status.posD_change); -} - void Ekf::stopBaroHgtFusion() { if (_control_status.flags.baro_hgt) { + if (_height_sensor_ref == HeightSensor::BARO) { _height_sensor_ref = HeightSensor::UNKNOWN; } - _control_status.flags.baro_hgt = false; _baro_b_est.setFusionInactive(); - ECL_INFO("stopping baro height fusion"); + resetEstimatorAidStatus(_aid_src_baro_hgt); + + _control_status.flags.baro_hgt = false; } } diff --git a/src/modules/ekf2/EKF/bias_estimator.cpp b/src/modules/ekf2/EKF/bias_estimator.cpp index a691121b28..f9c6cc1ad5 100644 --- a/src/modules/ekf2/EKF/bias_estimator.cpp +++ b/src/modules/ekf2/EKF/bias_estimator.cpp @@ -69,7 +69,7 @@ void BiasEstimator::constrainStateVar() void BiasEstimator::fuseBias(const float measurement, const float measurement_var) { - const float innov_var = _state_var + measurement_var; + const float innov_var = _state_var + math::max(sq(0.01f), measurement_var); const float innov = measurement - _state; const float K = _state_var / innov_var; const float innov_test_ratio = computeInnovTestRatio(innov, innov_var); diff --git a/src/modules/ekf2/EKF/bias_estimator.hpp b/src/modules/ekf2/EKF/bias_estimator.hpp index b534a67a11..bfc3409f57 100644 --- a/src/modules/ekf2/EKF/bias_estimator.hpp +++ b/src/modules/ekf2/EKF/bias_estimator.hpp @@ -87,7 +87,7 @@ public: void setBiasStdDev(float state_noise) { _state_var = state_noise * state_noise; } void setInnovGate(float gate_size) { _gate_size = gate_size; } - void setMaxStateNoise(float max_noise) { _state_var_max = max_noise * max_noise; } + void setMaxStateNoise(float max_noise) { _state_var_max = math::max(sq(0.01f), max_noise * max_noise); } float getBias() const { return _state; } float getBiasVar() const { return _state_var; } diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp index 2038bfaefc..fc259a51b1 100644 --- a/src/modules/ekf2/EKF/control.cpp +++ b/src/modules/ekf2/EKF/control.cpp @@ -129,8 +129,23 @@ void Ekf::controlFusionModes() // Run the kinematic consistency check when not moving horizontally if (_control_status.flags.in_air && !_control_status.flags.fixed_wing && (sq(_state.vel(0)) + sq(_state.vel(1)) < fmaxf(P(4, 4) + P(5, 5), 0.1f))) { + + const float dist_dependant_var = sq(_params.range_noise_scaler * _range_sensor.getDistBottom()); + const float var = sq(_params.range_noise) + dist_dependant_var; + _rng_consistency_check.setGate(_params.range_kin_consistency_gate); - _rng_consistency_check.update(_range_sensor.getDistBottom(), getRngHeightVariance(), _state.vel(2), P(6, 6), _imu_sample_delayed.time_us); + _rng_consistency_check.update(_range_sensor.getDistBottom(), math::max(var, 0.001f), _state.vel(2), P(6, 6), _imu_sample_delayed.time_us); + } + + } else { + // If we are supposed to be using range finder data as the primary height sensor, have bad range measurements + // and are on the ground, then synthesise a measurement at the expected on ground value + if (!_control_status.flags.in_air + && _range_sensor.isRegularlySendingData() + && _range_sensor.isDataReady()) { + + _range_sensor.setRange(_params.rng_gnd_clearance); + _range_sensor.setValidity(true); // bypass the checks } } diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index ebaefdecb8..14ab85e479 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -693,19 +693,12 @@ private: // fuse body frame drag specific forces for multi-rotor wind estimation void fuseDrag(const dragSample &drag_sample); - void fuseBaroHgt(estimator_aid_source_1d_s &baro_hgt); - void fuseRngHgt(estimator_aid_source_1d_s &range_hgt); - void fuseEvHgt(); - - void updateBaroHgt(const baroSample &baro_sample, estimator_aid_source_1d_s &baro_hgt); - void updateRngHgt(estimator_aid_source_1d_s &rng_hgt); - // fuse single velocity and position measurement bool fuseVelPosHeight(const float innov, const float innov_var, const int obs_index); void resetVelocityTo(const Vector3f &vel); void resetHorizontalVelocityTo(const Vector2f &new_horz_vel); - void resetVerticalVelocityTo(float new_vert_vel); + void resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var = NAN); void resetVelocityToGps(const gpsSample &gps_sample); void resetHorizontalVelocityToOpticalFlow(const flowSample &flow_sample); @@ -720,15 +713,8 @@ private: bool isHeightResetRequired() const; - void resetVerticalPositionTo(float new_vert_pos); + void resetVerticalPositionTo(float new_vert_pos, float new_vert_pos_var = NAN); - void resetHeightToBaro(const baroSample &baro_sample); - void resetHeightToGps(const gpsSample &gps_sample); - void resetHeightToRng(); - void resetHeightToEv(); - - void resetVerticalVelocityToGps(const gpsSample &gps_sample); - void resetVerticalVelocityToEv(const extVisionSample &ev_sample); void resetVerticalVelocityToZero(); // fuse optical flow line of sight rate measurements @@ -942,11 +928,9 @@ private: void controlFakePosFusion(); void controlFakeHgtFusion(); - void startFakeHgtFusion(); void resetFakeHgtFusion(); void resetHeightToLastKnown(); void stopFakeHgtFusion(); - void fuseFakeHgt(); void controlZeroVelocityUpdate(); @@ -964,7 +948,7 @@ private: void controlBaroHeightFusion(); void controlGnssHeightFusion(const gpsSample &gps_sample); void controlRangeHeightFusion(); - void controlEvHeightFusion(); + void controlEvHeightFusion(const extVisionSample &ev_sample); bool isConditionalRangeAidSuitable(); @@ -974,24 +958,13 @@ private: void startMagHdgFusion(); void startMag3DFusion(); - void startBaroHgtFusion(const baroSample &baro_sample); void stopBaroHgtFusion(); - - void startGpsHgtFusion(const gpsSample &gps_sample); void stopGpsHgtFusion(); - - void startRngHgtFusion(); void stopRngHgtFusion(); - void startRngAidHgtFusion(); - void startEvHgtFusion(); void stopEvHgtFusion(); void updateGroundEffect(); - // return an estimation of the sensor altitude variance - float getGpsHeightVariance(const gpsSample &gps_sample); - float getRngHeightVariance() const; - // calculate the measurement variance for the optical flow sensor float calcOptFlowMeasVar(const flowSample &flow_sample); @@ -1078,10 +1051,8 @@ private: void stopFlowFusion(); - void startFakePosFusion(); void resetFakePosFusion(); void stopFakePosFusion(); - void fuseFakePosition(); void setVelPosStatus(const int index, const bool healthy); diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index deb3c205ab..0b5b0fbde6 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -124,11 +124,15 @@ void Ekf::resetHorizontalVelocityTo(const Vector2f &new_horz_vel) _time_last_hor_vel_fuse = _imu_sample_delayed.time_us; } -void Ekf::resetVerticalVelocityTo(float new_vert_vel) +void Ekf::resetVerticalVelocityTo(float new_vert_vel, float new_vert_vel_var) { const float delta_vert_vel = new_vert_vel - _state.vel(2); _state.vel(2) = new_vert_vel; + if (PX4_ISFINITE(new_vert_vel_var)) { + P.uncorrelateCovarianceSetVariance<1>(6, math::max(sq(0.01f), new_vert_vel_var)); + } + for (uint8_t index = 0; index < _output_buffer.get_length(); index++) { _output_buffer[index].vel(2) += delta_vert_vel; _output_vert_buffer[index].vert_vel += delta_vert_vel; @@ -226,11 +230,16 @@ bool Ekf::isHeightResetRequired() const } -void Ekf::resetVerticalPositionTo(const float new_vert_pos) +void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_var) { const float old_vert_pos = _state.pos(2); _state.pos(2) = new_vert_pos; + if (PX4_ISFINITE(new_vert_pos_var)) { + // the state variance is the same as the observation + P.uncorrelateCovarianceSetVariance<1>(9, math::max(sq(0.01f), new_vert_pos_var)); + } + // store the reset amount and time to be published _state_reset_status.posD_change = new_vert_pos - old_vert_pos; _state_reset_status.posD_counter++; @@ -248,34 +257,21 @@ void Ekf::resetVerticalPositionTo(const float new_vert_pos) // add the reset amount to the output observer vertical position state _output_vert_new.vert_vel_integ = _state.pos(2); + _baro_b_est.setBias(_baro_b_est.getBias() + _state_reset_status.posD_change); + _ev_hgt_b_est.setBias(_ev_hgt_b_est.getBias() - _state_reset_status.posD_change); + _gps_hgt_b_est.setBias(_gps_hgt_b_est.getBias() + _state_reset_status.posD_change); + _rng_hgt_b_est.setBias(_rng_hgt_b_est.getBias() + _state_reset_status.posD_change); + // Reset the timout timer _time_last_hgt_fuse = _imu_sample_delayed.time_us; } -void Ekf::resetVerticalVelocityToGps(const gpsSample &gps_sample) -{ - resetVerticalVelocityTo(gps_sample.vel(2)); - - // the state variance is the same as the observation - P.uncorrelateCovarianceSetVariance<1>(6, sq(1.5f * gps_sample.sacc)); -} - -void Ekf::resetVerticalVelocityToEv(const extVisionSample &ev_sample) -{ - resetVerticalVelocityTo(ev_sample.vel(2)); - - // the state variance is the same as the observation - P.uncorrelateCovarianceSetVariance<1>(6, ev_sample.velVar(2)); -} - void Ekf::resetVerticalVelocityToZero() { // we don't know what the vertical velocity is, so set it to zero - resetVerticalVelocityTo(0.0f); - // Set the variance to a value large enough to allow the state to converge quickly // that does not destabilise the filter - P.uncorrelateCovarianceSetVariance<1>(6, 10.0f); + resetVerticalVelocityTo(0.0f, 10.f); } // align output filter states to match EKF states at the fusion time horizon @@ -700,11 +696,11 @@ bool Ekf::setEkfGlobalOrigin(const double latitude, const double longitude, cons // determine current z float current_alt = -_state.pos(2) + gps_alt_ref_prev; + const float gps_hgt_bias = _gps_hgt_b_est.getBias(); resetVerticalPositionTo(_gps_alt_ref - current_alt); - _baro_b_est.setBias(_baro_b_est.getBias() + _state_reset_status.posD_change); - _rng_hgt_b_est.setBias(_rng_hgt_b_est.getBias() + _state_reset_status.posD_change); - _ev_hgt_b_est.setBias(_ev_hgt_b_est.getBias() - _state_reset_status.posD_change); + // preserve GPS height bias + _gps_hgt_b_est.setBias(gps_hgt_bias); } return true; @@ -1299,24 +1295,6 @@ void Ekf::startMag3DFusion() } } -float Ekf::getGpsHeightVariance(const gpsSample &gps_sample) -{ - // observation variance - receiver defined and parameter limited - // use 1.5 as a typical ratio of vacc/hacc - const float lower_limit = fmaxf(1.5f * _params.gps_pos_noise, 0.01f); - const float upper_limit = fmaxf(1.5f * _params.pos_noaid_noise, lower_limit); - const float gps_alt_var = sq(math::constrain(gps_sample.vacc, lower_limit, upper_limit)); - return gps_alt_var; -} - -float Ekf::getRngHeightVariance() const -{ - const float dist_dependant_var = sq(_params.range_noise_scaler * _range_sensor.getDistBottom()); - const float var = sq(_params.range_noise) + dist_dependant_var; - const float var_sat = fmaxf(var, 0.001f); - return var_sat; -} - void Ekf::updateGroundEffect() { if (_control_status.flags.in_air && !_control_status.flags.fixed_wing) { diff --git a/src/modules/ekf2/EKF/ev_height_control.cpp b/src/modules/ekf2/EKF/ev_height_control.cpp index 08d6f2f804..d360e99abd 100644 --- a/src/modules/ekf2/EKF/ev_height_control.cpp +++ b/src/modules/ekf2/EKF/ev_height_control.cpp @@ -38,95 +38,137 @@ #include "ekf.h" -void Ekf::controlEvHeightFusion() +void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample) { - if (!(_params.height_sensor_ref == HeightSensor::EV)) { // TODO: replace by EV control parameter - stopEvHgtFusion(); - return; - } + static constexpr const char *HGT_SRC_NAME = "EV"; - _ev_hgt_b_est.predict(_dt_ekf_avg); + auto &aid_src = _aid_src_ev_hgt; + HeightBiasEstimator &bias_est = _ev_hgt_b_est; - const bool ev_intermittent = !isNewestSampleRecent(_time_last_ext_vision_buffer_push, 2 * EV_MAX_INTERVAL); + bias_est.predict(_dt_ekf_avg); if (_ev_data_ready) { - const bool position_valid = PX4_ISFINITE(_ev_sample_delayed.pos(2)); - const bool continuing_conditions_passing = !ev_intermittent && position_valid; - const bool starting_conditions_passing = continuing_conditions_passing; + + const float measurement = ev_sample.pos(2); + const float measurement_var = ev_sample.posVar(2); + + const float innov_gate = math::max(_params.ev_pos_innov_gate, 1.f); + + const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var); + + updateVerticalPositionAidSrcStatus(ev_sample.time_us, + measurement - bias_est.getBias(), + measurement_var + bias_est.getBiasVar(), + innov_gate, + aid_src); + + // update the bias estimator before updating the main filter but after + // using its current state to compute the vertical position innovation + if (measurement_valid) { + bias_est.setMaxStateNoise(sqrtf(measurement_var)); + bias_est.setProcessNoiseSpectralDensity(_params.ev_hgt_bias_nsd); + bias_est.fuseBias(measurement - _state.pos(2), measurement_var + P(9, 9)); + } + + const bool continuing_conditions_passing = ((_params.fusion_mode & SensorFusionMask::USE_EXT_VIS_POS) || (_params.height_sensor_ref == HeightSensor::EV)) // TODO: (_params.ev_ctrl & EvCtrl::VPOS) + && measurement_valid; + + const bool starting_conditions_passing = continuing_conditions_passing + && isNewestSampleRecent(_time_last_ext_vision_buffer_push, 2 * EV_MAX_INTERVAL); if (_control_status.flags.ev_hgt) { + aid_src.fusion_enabled = true; + if (continuing_conditions_passing) { - fuseEvHgt(); - const bool reset = (_ev_sample_delayed.reset_counter != _ev_sample_delayed_prev.reset_counter); - if (isHeightResetRequired() || reset ) { - resetHeightToEv(); + fuseVerticalPosition(aid_src); + + const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max); + + if (isHeightResetRequired()) { + // All height sources are failing + ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME); + + _information_events.flags.reset_hgt_to_ev = true; + resetVerticalPositionTo(measurement - bias_est.getBias(), measurement_var); + bias_est.setBias(-_state.pos(2) + measurement); + + // reset vertical velocity + if (PX4_ISFINITE(ev_sample.vel(2)) && (_params.fusion_mode & SensorFusionMask::USE_EXT_VIS_POS)) { + resetVerticalVelocityTo(ev_sample.vel(2), ev_sample.velVar(2)); - // If the sample has a valid vertical velocity estimate, use it - if (PX4_ISFINITE(_ev_sample_delayed.vel(2))) { - resetVerticalVelocityToEv(_ev_sample_delayed); } else { resetVerticalVelocityToZero(); } + + aid_src.time_last_fuse = _imu_sample_delayed.time_us; + + } else if ((_ev_sample_delayed.reset_counter != _ev_sample_delayed_prev.reset_counter) && !aid_src.fused) { + // fusion failed and EV sample indicates reset + ECL_INFO("%s height reset", HGT_SRC_NAME); + + if (_height_sensor_ref == HeightSensor::EV) { + _information_events.flags.reset_hgt_to_ev = true; + resetVerticalPositionTo(measurement, measurement_var); + bias_est.reset(); + + } else { + bias_est.setBias(-_state.pos(2) + measurement); + } + + aid_src.time_last_fuse = _imu_sample_delayed.time_us; + + } else if (is_fusion_failing) { + // Some other height source is still working + ECL_WARN("stopping %s height fusion, fusion failing", HGT_SRC_NAME); + stopEvHgtFusion(); } } else { + ECL_WARN("stopping %s height fusion, continuing conditions failing", HGT_SRC_NAME); stopEvHgtFusion(); } } else { if (starting_conditions_passing) { - startEvHgtFusion(); + if (_params.height_sensor_ref == HeightSensor::EV) { + ECL_INFO("starting %s height fusion, resetting height", HGT_SRC_NAME); + _height_sensor_ref = HeightSensor::EV; + + _information_events.flags.reset_hgt_to_ev = true; + resetVerticalPositionTo(measurement, measurement_var); + bias_est.reset(); + + } else { + ECL_INFO("starting %s height fusion", HGT_SRC_NAME); + bias_est.setBias(-_state.pos(2) + measurement); + } + + aid_src.time_last_fuse = _imu_sample_delayed.time_us; + bias_est.setFusionActive(); + _control_status.flags.ev_hgt = true; } } - } else if (_control_status.flags.ev_hgt && ev_intermittent) { + } else if (_control_status.flags.ev_hgt + && !isNewestSampleRecent(_time_last_ext_vision_buffer_push, 2 * EV_MAX_INTERVAL)) { + // No data anymore. Stop until it comes back. + ECL_WARN("stopping %s height fusion, no data", HGT_SRC_NAME); stopEvHgtFusion(); } } -void Ekf::startEvHgtFusion() -{ - if (!_control_status.flags.ev_hgt) { - if (_params.height_sensor_ref == HeightSensor::EV) { - _ev_hgt_b_est.reset(); - _height_sensor_ref = HeightSensor::EV; - resetHeightToEv(); - - } else { - _ev_hgt_b_est.setBias(-_state.pos(2) + _ev_sample_delayed.pos(2)); - } - - _control_status.flags.ev_hgt = true; - _ev_hgt_b_est.setFusionActive(); - ECL_INFO("starting EV height fusion"); - } -} - -void Ekf::resetHeightToEv() -{ - ECL_INFO("reset height to EV"); - _information_events.flags.reset_hgt_to_ev = true; - - resetVerticalPositionTo(_ev_sample_delayed.pos(2) - _ev_hgt_b_est.getBias()); - - // the state variance is the same as the observation - P.uncorrelateCovarianceSetVariance<1>(9, fmaxf(_ev_sample_delayed.posVar(2), sq(0.01f))); - - _baro_b_est.setBias(_baro_b_est.getBias() + _state_reset_status.posD_change); - _gps_hgt_b_est.setBias(_gps_hgt_b_est.getBias() + _state_reset_status.posD_change); - _rng_hgt_b_est.setBias(_rng_hgt_b_est.getBias() + _state_reset_status.posD_change); -} - void Ekf::stopEvHgtFusion() { if (_control_status.flags.ev_hgt) { + if (_height_sensor_ref == HeightSensor::EV) { _height_sensor_ref = HeightSensor::UNKNOWN; } - _control_status.flags.ev_hgt = false; _ev_hgt_b_est.setFusionInactive(); - ECL_INFO("stopping EV height fusion"); + resetEstimatorAidStatus(_aid_src_ev_hgt); + + _control_status.flags.ev_hgt = false; } } diff --git a/src/modules/ekf2/EKF/fake_height_control.cpp b/src/modules/ekf2/EKF/fake_height_control.cpp index 0f522fc13f..9763e6425c 100644 --- a/src/modules/ekf2/EKF/fake_height_control.cpp +++ b/src/modules/ekf2/EKF/fake_height_control.cpp @@ -40,25 +40,34 @@ void Ekf::controlFakeHgtFusion() { - auto &fake_hgt = _aid_src_fake_hgt; - - // clear - resetEstimatorAidStatus(fake_hgt); + auto &aid_src = _aid_src_fake_hgt; // If we aren't doing any aiding, fake position measurements at the last known vertical position to constrain drift - const bool fake_hgt_data_ready = isTimedOut(fake_hgt.time_last_fuse, (uint64_t)2e5); // Fuse fake height at a limited rate + const bool fake_hgt_data_ready = !isVerticalAidingActive() + && isTimedOut(aid_src.time_last_fuse, (uint64_t)2e5); // Fuse fake height at a limited rate if (fake_hgt_data_ready) { + + const float obs_var = sq(_params.pos_noaid_noise); + const float innov_gate = 3.f; + + updateVerticalPositionAidSrcStatus(_imu_sample_delayed.time_us, _last_known_pos(2), obs_var, innov_gate, aid_src); + + const bool continuing_conditions_passing = !isVerticalAidingActive(); const bool starting_conditions_passing = continuing_conditions_passing - && _vertical_velocity_deadreckon_time_exceeded - && _vertical_position_deadreckon_time_exceeded; + && _vertical_velocity_deadreckon_time_exceeded + && _vertical_position_deadreckon_time_exceeded; if (_control_status.flags.fake_hgt) { if (continuing_conditions_passing) { - fuseFakeHgt(); - const bool is_fusion_failing = isTimedOut(fake_hgt.time_last_fuse, (uint64_t)4e5); + // always protect against extreme values that could result in a NaN + aid_src.fusion_enabled = aid_src.test_ratio < sq(100.0f / innov_gate); + + fuseVerticalPosition(aid_src); + + const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, (uint64_t)4e5); if (is_fusion_failing) { resetFakeHgtFusion(); @@ -70,18 +79,14 @@ void Ekf::controlFakeHgtFusion() } else { if (starting_conditions_passing) { - startFakeHgtFusion(); + ECL_INFO("start fake height fusion"); + _control_status.flags.fake_hgt = true; + resetFakeHgtFusion(); } } - } -} -void Ekf::startFakeHgtFusion() -{ - if (!_control_status.flags.fake_hgt) { - ECL_INFO("start fake height fusion"); - _control_status.flags.fake_hgt = true; - resetFakeHgtFusion(); + } else if (_control_status.flags.fake_hgt && isVerticalAidingActive()) { + stopFakeHgtFusion(); } } @@ -100,8 +105,7 @@ void Ekf::resetHeightToLastKnown() { _information_events.flags.reset_pos_to_last_known = true; ECL_INFO("reset height to last known"); - resetVerticalPositionTo(_last_known_pos(2)); - P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.pos_noaid_noise)); + resetVerticalPositionTo(_last_known_pos(2), sq(_params.pos_noaid_noise)); } void Ekf::stopFakeHgtFusion() @@ -113,33 +117,3 @@ void Ekf::stopFakeHgtFusion() resetEstimatorAidStatus(_aid_src_fake_hgt); } } - -void Ekf::fuseFakeHgt() -{ - const float obs_var = sq(_params.pos_noaid_noise); - - const float innov_gate = 3.f; - - auto &fake_hgt = _aid_src_fake_hgt; - - fake_hgt.observation = _last_known_pos(2); - fake_hgt.observation_variance = obs_var; - - fake_hgt.innovation = _state.pos(2) - _last_known_pos(2); - fake_hgt.innovation_variance = P(9, 9) + obs_var; - - setEstimatorAidStatusTestRatio(fake_hgt, innov_gate); - - // always protect against extreme values that could result in a NaN - fake_hgt.fusion_enabled = fake_hgt.test_ratio < sq(100.0f / innov_gate); - - // fuse - if (fake_hgt.fusion_enabled && !fake_hgt.innovation_rejected) { - if (fuseVelPosHeight(fake_hgt.innovation, fake_hgt.innovation_variance, 5)) { - fake_hgt.fused = true; - fake_hgt.time_last_fuse = _imu_sample_delayed.time_us; - } - } - - fake_hgt.timestamp_sample = _imu_sample_delayed.time_us; -} diff --git a/src/modules/ekf2/EKF/fake_pos_control.cpp b/src/modules/ekf2/EKF/fake_pos_control.cpp index 7d508bdd2b..ed44b0d197 100644 --- a/src/modules/ekf2/EKF/fake_pos_control.cpp +++ b/src/modules/ekf2/EKF/fake_pos_control.cpp @@ -40,25 +40,48 @@ void Ekf::controlFakePosFusion() { - auto &fake_pos = _aid_src_fake_pos; - - // clear - resetEstimatorAidStatus(fake_pos); + auto &aid_src = _aid_src_fake_pos; // If we aren't doing any aiding, fake position measurements at the last known position to constrain drift // During intial tilt aligment, fake position is used to perform a "quasi-stationary" leveling of the EKF - const bool fake_pos_data_ready = isTimedOut(fake_pos.time_last_fuse, (uint64_t)2e5); // Fuse fake position at a limited rate + const bool fake_pos_data_ready = !isHorizontalAidingActive() + && isTimedOut(aid_src.time_last_fuse, (uint64_t)2e5); // Fuse fake position at a limited rate if (fake_pos_data_ready) { + + Vector2f obs_var; + + if (_control_status.flags.in_air && _control_status.flags.tilt_align) { + obs_var(0) = obs_var(1) = sq(fmaxf(_params.pos_noaid_noise, _params.gps_pos_noise)); + + } else if (!_control_status.flags.in_air && _control_status.flags.vehicle_at_rest) { + // Accelerate tilt fine alignment by fusing more + // aggressively when the vehicle is at rest + obs_var(0) = obs_var(1) = sq(0.01f); + + } else { + obs_var(0) = obs_var(1) = sq(0.5f); + } + + const float innov_gate = 3.f; + + updateHorizontalPositionAidSrcStatus(_imu_sample_delayed.time_us, Vector2f(_last_known_pos), obs_var, innov_gate, aid_src); + + const bool continuing_conditions_passing = !isHorizontalAidingActive(); const bool starting_conditions_passing = continuing_conditions_passing - && _horizontal_deadreckon_time_exceeded; + && _horizontal_deadreckon_time_exceeded; if (_control_status.flags.fake_pos) { if (continuing_conditions_passing) { - fuseFakePosition(); - const bool is_fusion_failing = isTimedOut(fake_pos.time_last_fuse, (uint64_t)4e5); + // always protect against extreme values that could result in a NaN + aid_src.fusion_enabled = (aid_src.test_ratio[0] < sq(100.0f / innov_gate)) + && (aid_src.test_ratio[1] < sq(100.0f / innov_gate)); + + fuseHorizontalPosition(aid_src); + + const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, (uint64_t)4e5); if (is_fusion_failing) { resetFakePosFusion(); @@ -70,7 +93,10 @@ void Ekf::controlFakePosFusion() } else { if (starting_conditions_passing) { - startFakePosFusion(); + ECL_INFO("start fake position fusion"); + _control_status.flags.fake_pos = true; + _fuse_hpos_as_odom = false; // TODO: needed? + resetFakePosFusion(); if (_control_status.flags.tilt_align) { // The fake position fusion is not started for initial alignement @@ -85,16 +111,6 @@ void Ekf::controlFakePosFusion() } } -void Ekf::startFakePosFusion() -{ - if (!_control_status.flags.fake_pos) { - ECL_INFO("start fake position fusion"); - _control_status.flags.fake_pos = true; - _fuse_hpos_as_odom = false; // TODO: needed? - resetFakePosFusion(); - } -} - void Ekf::resetFakePosFusion() { ECL_INFO("reset fake position fusion"); @@ -115,58 +131,3 @@ void Ekf::stopFakePosFusion() resetEstimatorAidStatus(_aid_src_fake_pos); } } - -void Ekf::fuseFakePosition() -{ - Vector2f obs_var; - - if (_control_status.flags.in_air && _control_status.flags.tilt_align) { - obs_var(0) = obs_var(1) = sq(fmaxf(_params.pos_noaid_noise, _params.gps_pos_noise)); - - } else if (!_control_status.flags.in_air && _control_status.flags.vehicle_at_rest) { - // Accelerate tilt fine alignment by fusing more - // aggressively when the vehicle is at rest - obs_var(0) = obs_var(1) = sq(0.01f); - - } else { - obs_var(0) = obs_var(1) = sq(0.5f); - } - - const float innov_gate = 3.f; - - auto &fake_pos = _aid_src_fake_pos; - - for (int i = 0; i < 2; i++) { - fake_pos.observation[i] = _last_known_pos(i); - fake_pos.observation_variance[i] = obs_var(i); - - fake_pos.innovation[i] = _state.pos(i) - _last_known_pos(i); - fake_pos.innovation_variance[i] = P(7 + i, 7 + i) + obs_var(i); - } - - setEstimatorAidStatusTestRatio(fake_pos, innov_gate); - - fake_pos.fusion_enabled = true; - - // always protect against extreme values that could result in a NaN - if (!fake_pos.innovation_rejected) { - if ((fake_pos.test_ratio[0] > sq(100.0f / innov_gate)) || (fake_pos.test_ratio[1] > sq(100.0f / innov_gate))) { - fake_pos.innovation_rejected = true; - } - } - - // fuse - if (fake_pos.fusion_enabled && !fake_pos.innovation_rejected) { - if (fuseVelPosHeight(fake_pos.innovation[0], fake_pos.innovation_variance[0], 3) - && fuseVelPosHeight(fake_pos.innovation[1], fake_pos.innovation_variance[1], 4) - ) { - fake_pos.fused = true; - fake_pos.time_last_fuse = _imu_sample_delayed.time_us; - - } else { - fake_pos.fused = false; - } - } - - fake_pos.timestamp_sample = _imu_sample_delayed.time_us; -} diff --git a/src/modules/ekf2/EKF/gnss_height_control.cpp b/src/modules/ekf2/EKF/gnss_height_control.cpp index 8633cb370a..ce13617e42 100644 --- a/src/modules/ekf2/EKF/gnss_height_control.cpp +++ b/src/modules/ekf2/EKF/gnss_height_control.cpp @@ -40,10 +40,7 @@ void Ekf::controlGnssHeightFusion(const gpsSample &gps_sample) { - if (!(_params.gnss_ctrl & GnssCtrl::VPOS)) { - stopGpsHgtFusion(); - return; - } + static constexpr const char *HGT_SRC_NAME = "GNSS"; auto &aid_src = _aid_src_gnss_hgt; HeightBiasEstimator &bias_est = _gps_hgt_b_est; @@ -52,13 +49,23 @@ void Ekf::controlGnssHeightFusion(const gpsSample &gps_sample) if (_gps_data_ready) { - const bool gps_checks_passing = isTimedOut(_last_gps_fail_us, (uint64_t)5e6); - const bool gps_checks_failing = isTimedOut(_last_gps_pass_us, (uint64_t)5e6); + // relax the upper observation noise limit which prevents bad GPS perturbing the position estimate + float noise = math::max(gps_sample.vacc, 1.5f * _params.gps_pos_noise); // use 1.5 as a typical ratio of vacc/hacc - const float innov_gate = fmaxf(_params.gps_pos_innov_gate, 1.f); + if (!isOnlyActiveSourceOfVerticalPositionAiding(_control_status.flags.gps_hgt)) { + // if we are not using another source of aiding, then we are reliant on the GPS + // observations to constrain attitude errors and must limit the observation noise value. + if (noise > _params.pos_noaid_noise) { + noise = _params.pos_noaid_noise; + } + } const float measurement = gps_sample.hgt - getEkfGlobalOriginAltitude(); - const float measurement_var = getGpsHeightVariance(gps_sample); + const float measurement_var = sq(noise); + + const float innov_gate = math::max(_params.gps_pos_innov_gate, 1.f); + + const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var); // GNSS position, vertical position GNSS measurement has opposite sign to earth z axis updateVerticalPositionAidSrcStatus(gps_sample.time_us, @@ -67,28 +74,28 @@ void Ekf::controlGnssHeightFusion(const gpsSample &gps_sample) innov_gate, aid_src); + const bool gps_checks_passing = isTimedOut(_last_gps_fail_us, (uint64_t)5e6); + const bool gps_checks_failing = isTimedOut(_last_gps_pass_us, (uint64_t)5e6); + // update the bias estimator before updating the main filter but after // using its current state to compute the vertical position innovation - if (gps_checks_passing && !gps_checks_failing - && PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var) - ) { - const float noise = sqrtf(measurement_var); - bias_est.setMaxStateNoise(noise); + if (measurement_valid && gps_checks_passing && !gps_checks_failing) { + bias_est.setMaxStateNoise(sqrtf(measurement_var)); bias_est.setProcessNoiseSpectralDensity(_params.gps_hgt_bias_nsd); bias_est.fuseBias(measurement - (-_state.pos(2)), measurement_var + P(9, 9)); } - // determine if we should use GNSS height aiding + // determine if we should use height aiding const bool continuing_conditions_passing = (_params.gnss_ctrl & GnssCtrl::VPOS) - && PX4_ISFINITE(gps_sample.hgt) + && measurement_valid && _NED_origin_initialised && _gps_checks_passed; const bool starting_conditions_passing = continuing_conditions_passing + && isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GPS_MAX_INTERVAL) && _gps_checks_passed && gps_checks_passing - && !gps_checks_failing - && isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GPS_MAX_INTERVAL); + && !gps_checks_failing; if (_control_status.flags.gps_hgt) { aid_src.fusion_enabled = true; @@ -101,68 +108,63 @@ void Ekf::controlGnssHeightFusion(const gpsSample &gps_sample) if (isHeightResetRequired()) { // All height sources are failing - resetHeightToGps(gps_sample); - resetVerticalVelocityToGps(gps_sample); + ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME); + + _information_events.flags.reset_hgt_to_gps = true; + resetVerticalPositionTo(-(measurement - bias_est.getBias()), measurement_var); + bias_est.setBias(_state.pos(2) + measurement); + + // reset vertical velocity + if (PX4_ISFINITE(gps_sample.vel(2)) && (_params.gnss_ctrl & GnssCtrl::VEL)) { + // use 1.5 as a typical ratio of vacc/hacc + resetVerticalVelocityTo(gps_sample.vel(2), sq(1.5f * gps_sample.sacc)); + + } else { + resetVerticalVelocityToZero(); + } + + aid_src.time_last_fuse = _imu_sample_delayed.time_us; } else if (is_fusion_failing) { // Some other height source is still working + ECL_WARN("stopping %s height fusion, fusion failing", HGT_SRC_NAME); stopGpsHgtFusion(); } } else { + ECL_WARN("stopping %s height fusion, continuing conditions failing", HGT_SRC_NAME); stopGpsHgtFusion(); } } else { if (starting_conditions_passing) { - startGpsHgtFusion(gps_sample); + if (_params.height_sensor_ref == HeightSensor::GNSS) { + ECL_INFO("starting %s height fusion, resetting height", HGT_SRC_NAME); + _height_sensor_ref = HeightSensor::GNSS; + + _information_events.flags.reset_hgt_to_gps = true; + resetVerticalPositionTo(-measurement, measurement_var); + bias_est.reset(); + + } else { + ECL_INFO("starting %s height fusion", HGT_SRC_NAME); + bias_est.setBias(_state.pos(2) + measurement); + } + + aid_src.time_last_fuse = _imu_sample_delayed.time_us; + bias_est.setFusionActive(); + _control_status.flags.gps_hgt = true; } } - } else if (_control_status.flags.gps_hgt && _gps_intermittent) { + } else if (_control_status.flags.gps_hgt + && !isNewestSampleRecent(_time_last_gps_buffer_push, 2 * GPS_MAX_INTERVAL)) { + // No data anymore. Stop until it comes back. + ECL_WARN("stopping %s height fusion, no data", HGT_SRC_NAME); stopGpsHgtFusion(); } } -void Ekf::startGpsHgtFusion(const gpsSample &gps_sample) -{ - if (!_control_status.flags.gps_hgt) { - - if (_params.height_sensor_ref == HeightSensor::GNSS) { - _gps_hgt_b_est.reset(); - _height_sensor_ref = HeightSensor::GNSS; - resetHeightToGps(gps_sample); - - } else { - _gps_hgt_b_est.setBias(_state.pos(2) + (gps_sample.hgt - getEkfGlobalOriginAltitude())); - - // Reset the timeout value here because the fusion isn't done at the same place and would immediately trigger a timeout - _aid_src_gnss_hgt.time_last_fuse = _imu_sample_delayed.time_us; - } - - _control_status.flags.gps_hgt = true; - _gps_hgt_b_est.setFusionActive(); - ECL_INFO("starting GPS height fusion"); - } -} - -void Ekf::resetHeightToGps(const gpsSample &gps_sample) -{ - ECL_INFO("reset height to GPS"); - _information_events.flags.reset_hgt_to_gps = true; - - resetVerticalPositionTo(-(gps_sample.hgt - getEkfGlobalOriginAltitude() - _gps_hgt_b_est.getBias())); - - // the state variance is the same as the observation - P.uncorrelateCovarianceSetVariance<1>(9, getGpsHeightVariance(gps_sample)); - - _baro_b_est.setBias(_baro_b_est.getBias() + _state_reset_status.posD_change); - _rng_hgt_b_est.setBias(_rng_hgt_b_est.getBias() + _state_reset_status.posD_change); - _ev_hgt_b_est.setBias(_ev_hgt_b_est.getBias() - _state_reset_status.posD_change); - - _aid_src_gnss_hgt.time_last_fuse = _imu_sample_delayed.time_us; -} - void Ekf::stopGpsHgtFusion() { if (_control_status.flags.gps_hgt) { @@ -171,8 +173,9 @@ void Ekf::stopGpsHgtFusion() _height_sensor_ref = HeightSensor::UNKNOWN; } - _control_status.flags.gps_hgt = false; _gps_hgt_b_est.setFusionInactive(); - ECL_INFO("stopping GPS height fusion"); + resetEstimatorAidStatus(_aid_src_gnss_hgt); + + _control_status.flags.gps_hgt = false; } } diff --git a/src/modules/ekf2/EKF/gps_control.cpp b/src/modules/ekf2/EKF/gps_control.cpp index 59f58fa2de..a0ad6b0bc5 100644 --- a/src/modules/ekf2/EKF/gps_control.cpp +++ b/src/modules/ekf2/EKF/gps_control.cpp @@ -59,29 +59,37 @@ void Ekf::controlGpsFusion() controlGpsYawFusion(gps_sample, gps_checks_passing, gps_checks_failing); // GNSS velocity - const Vector3f velocity{gps_sample.vel}; - const float vel_var = sq(gps_sample.sacc); - const Vector3f vel_obs_var{vel_var, vel_var, vel_var * sq(1.5f)}; - updateVelocityAidSrcStatus(gps_sample.time_us, velocity, vel_obs_var, fmaxf(_params.gps_vel_innov_gate, 1.f), _aid_src_gnss_vel); + const float vel_obs_var = sq(math::max(gps_sample.sacc, _params.gps_vel_noise)); + updateVelocityAidSrcStatus(gps_sample.time_us, + gps_sample.vel, // observation + Vector3f(vel_obs_var, vel_obs_var, vel_obs_var * sq(1.5f)), // observation variance + math::max(_params.gps_vel_innov_gate, 1.f), // innovation gate + _aid_src_gnss_vel); _aid_src_gnss_vel.fusion_enabled = (_params.gnss_ctrl & GnssCtrl::VEL); // GNSS position - const float pos_var_lower_limit = fmaxf(_params.gps_pos_noise, 0.01f); - float pos_var = sq(fmaxf(gps_sample.hacc, pos_var_lower_limit)); + // relax the upper observation noise limit which prevents bad GPS perturbing the position estimate + float pos_noise = math::max(gps_sample.hacc, _params.gps_pos_noise); if (!isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) { // if we are not using another source of aiding, then we are reliant on the GPS // observations to constrain attitude errors and must limit the observation noise value. - float upper_limit = fmaxf(_params.pos_noaid_noise, pos_var_lower_limit); - pos_var = fminf(pos_var, upper_limit); + if (pos_noise > _params.pos_noaid_noise) { + pos_noise = _params.pos_noaid_noise; + } } - updateHorizontalPositionAidSrcStatus(gps_sample.time_us, gps_sample.pos, Vector2f(pos_var, pos_var), fmaxf(_params.gps_pos_innov_gate, 1.f), _aid_src_gnss_pos); + const float pos_obs_var = sq(pos_noise); + updateHorizontalPositionAidSrcStatus(gps_sample.time_us, + gps_sample.pos, // observation + Vector2f(pos_obs_var, pos_obs_var), // observation variance + math::max(_params.gps_pos_innov_gate, 1.f), // innovation gate + _aid_src_gnss_pos); _aid_src_gnss_pos.fusion_enabled = (_params.gnss_ctrl & GnssCtrl::HPOS); // update GSF yaw estimator velocity (basic sanity check on GNSS velocity data) if (gps_checks_passing && !gps_checks_failing) { - _yawEstimator.setVelocity(velocity.xy(), gps_sample.sacc); + _yawEstimator.setVelocity(gps_sample.vel.xy(), gps_sample.sacc); } // Determine if we should use GPS aiding for velocity and horizontal position diff --git a/src/modules/ekf2/EKF/height_control.cpp b/src/modules/ekf2/EKF/height_control.cpp index 48248524c4..1ad9d372e6 100644 --- a/src/modules/ekf2/EKF/height_control.cpp +++ b/src/modules/ekf2/EKF/height_control.cpp @@ -46,7 +46,7 @@ void Ekf::controlHeightFusion() controlBaroHeightFusion(); controlGnssHeightFusion(_gps_sample_delayed); controlRangeHeightFusion(); - controlEvHeightFusion(); + controlEvHeightFusion(_ev_sample_delayed); checkHeightSensorRefFallback(); } @@ -211,14 +211,14 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const // Check all the sources agains each other for (unsigned i = 0; i < 6; i++) { if (checks[i].failed_lim) { - // There is a chance that the interial nav is falling if one source is failing the test + // There is a chance that the inertial nav is falling if one source is failing the test likelihood_medium = true; } for (unsigned j = 0; j < 6; j++) { if ((checks[i].ref_type != checks[j].ref_type) && checks[i].failed_lim && checks[j].failed_min) { - // There is a high chance that the interial nav is falling if two sources are failing the test + // There is a high chance that the inertial nav is failing if two sources are failing the test likelihood_high = true; } } diff --git a/src/modules/ekf2/EKF/height_fusion.cpp b/src/modules/ekf2/EKF/height_fusion.cpp deleted file mode 100644 index 95de4b87f6..0000000000 --- a/src/modules/ekf2/EKF/height_fusion.cpp +++ /dev/null @@ -1,186 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2021 PX4. 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_fusion.cpp - * Function for fusing height (range, baro, GNSS alt, ...) measurements - */ - -#include "ekf.h" - -void Ekf::updateBaroHgt(const baroSample &baro_sample, estimator_aid_source_1d_s &baro_hgt) -{ - // reset flags - resetEstimatorAidStatus(baro_hgt); - - // innovation gate size - const float innov_gate = fmaxf(_params.baro_innov_gate, 1.f); - - // measurement variance - user parameter defined - const float measurement_var = sq(fmaxf(_params.baro_noise, 0.01f)); - const float measurement = baro_sample.hgt; - - // vertical position innovation - baro measurement has opposite sign to earth z axis - baro_hgt.observation = -(measurement - _baro_b_est.getBias()); - baro_hgt.observation_variance = measurement_var + _baro_b_est.getBiasVar(); - - baro_hgt.innovation = _state.pos(2) - baro_hgt.observation; - baro_hgt.innovation_variance = P(9, 9) + baro_hgt.observation_variance; - - // Compensate for positive static pressure transients (negative vertical position innovations) - // caused by rotor wash ground interaction by applying a temporary deadzone to baro innovations. - if (_control_status.flags.gnd_effect && (_params.gnd_effect_deadzone > 0.f)) { - - const float deadzone_start = 0.0f; - const float deadzone_end = deadzone_start + _params.gnd_effect_deadzone; - - if (baro_hgt.innovation < -deadzone_start) { - if (baro_hgt.innovation <= -deadzone_end) { - baro_hgt.innovation += deadzone_end; - - } else { - baro_hgt.innovation = -deadzone_start; - } - } - } - - setEstimatorAidStatusTestRatio(baro_hgt, innov_gate); - - // special case if there is bad vertical acceleration data, then don't reject measurement, - // but limit innovation to prevent spikes that could destabilise the filter - if (_fault_status.flags.bad_acc_vertical && baro_hgt.innovation_rejected) { - const float innov_limit = innov_gate * sqrtf(baro_hgt.innovation_variance); - baro_hgt.innovation = math::constrain(baro_hgt.innovation, -innov_limit, innov_limit); - baro_hgt.innovation_rejected = false; - } - - baro_hgt.fusion_enabled = _control_status.flags.baro_hgt; - - baro_hgt.timestamp_sample = baro_sample.time_us; - - // update the bias estimator before updating the main filter but after - // using its current state to compute the vertical position innovation - _baro_b_est.setMaxStateNoise(_params.baro_noise); - _baro_b_est.setProcessNoiseSpectralDensity(_params.baro_bias_nsd); - _baro_b_est.fuseBias(measurement - (-_state.pos(2)) , measurement_var + P(9, 9)); -} - -void Ekf::fuseBaroHgt(estimator_aid_source_1d_s &baro_hgt) -{ - if (baro_hgt.fusion_enabled - && !baro_hgt.innovation_rejected - && fuseVelPosHeight(baro_hgt.innovation, baro_hgt.innovation_variance, 5)) { - - baro_hgt.fused = true; - baro_hgt.time_last_fuse = _imu_sample_delayed.time_us; - } -} - -void Ekf::updateRngHgt(estimator_aid_source_1d_s &rng_hgt) -{ - // reset flags - resetEstimatorAidStatus(rng_hgt); - - // measurement variance - user parameter defined - const float measurement_var = fmaxf(sq(_params.range_noise) + sq(_params.range_noise_scaler * _range_sensor.getDistBottom()), 0.01f); - const float measurement = math::max(_range_sensor.getDistBottom(), _params.rng_gnd_clearance); - - // innovation gate size - const float innov_gate = fmaxf(_params.range_innov_gate, 1.f); - - // vertical position innovation, use range finder with tilt correction - rng_hgt.observation = -(measurement - _rng_hgt_b_est.getBias()); - rng_hgt.observation_variance = measurement_var + _rng_hgt_b_est.getBiasVar(); - - rng_hgt.innovation = _state.pos(2) - rng_hgt.observation; - rng_hgt.innovation_variance = P(9, 9) + rng_hgt.observation_variance; - - setEstimatorAidStatusTestRatio(rng_hgt, innov_gate); - - // special case if there is bad vertical acceleration data, then don't reject measurement, - // but limit innovation to prevent spikes that could destabilise the filter - if (_fault_status.flags.bad_acc_vertical && rng_hgt.innovation_rejected) { - const float innov_limit = innov_gate * sqrtf(rng_hgt.innovation_variance); - rng_hgt.innovation = math::constrain(rng_hgt.innovation, -innov_limit, innov_limit); - rng_hgt.innovation_rejected = false; - } - - rng_hgt.fusion_enabled = _control_status.flags.rng_hgt; - - rng_hgt.timestamp_sample = _range_sensor.getSampleAddress()->time_us; - - // update the bias estimator before updating the main filter but after - // using its current state to compute the vertical position innovation - const float rng_noise = sqrtf(measurement_var); - _rng_hgt_b_est.setMaxStateNoise(rng_noise); - _rng_hgt_b_est.setProcessNoiseSpectralDensity(_params.rng_hgt_bias_nsd); - - _rng_hgt_b_est.fuseBias(measurement - (-_state.pos(2)) , measurement_var + P(9, 9)); -} - -void Ekf::fuseRngHgt(estimator_aid_source_1d_s &rng_hgt) -{ - if (rng_hgt.fusion_enabled - && !rng_hgt.innovation_rejected - && fuseVelPosHeight(rng_hgt.innovation, rng_hgt.innovation_variance, 5)) { - - rng_hgt.fused = true; - rng_hgt.time_last_fuse = _imu_sample_delayed.time_us; - } -} - -void Ekf::fuseEvHgt() -{ - const float measurement = _ev_sample_delayed.pos(2); - const float measurement_var = fmaxf(_ev_sample_delayed.posVar(2), sq(0.01f)); - - const float bias = _ev_hgt_b_est.getBias(); - const float bias_var = _ev_hgt_b_est.getBiasVar(); - - _ev_hgt_b_est.setMaxStateNoise(sqrtf(measurement_var)); - _ev_hgt_b_est.setProcessNoiseSpectralDensity(_params.ev_hgt_bias_nsd); - _ev_hgt_b_est.fuseBias(measurement - _state.pos(2), measurement_var + P(9, 9)); - - // calculate the innovation assuming the external vision observation is in local NED frame - const float obs = measurement - bias; - const float obs_var = measurement_var + bias_var; - - // innovation gate size - float innov_gate = fmaxf(_params.ev_pos_innov_gate, 1.f); - - updateVerticalPositionAidSrcStatus(_ev_sample_delayed.time_us, obs, obs_var, innov_gate, _aid_src_ev_hgt); - - _aid_src_ev_hgt.fusion_enabled = _control_status.flags.ev_hgt; - - fuseVerticalPosition(_aid_src_ev_hgt); -} diff --git a/src/modules/ekf2/EKF/range_height_control.cpp b/src/modules/ekf2/EKF/range_height_control.cpp index cec9ab6dbc..4108098a8d 100644 --- a/src/modules/ekf2/EKF/range_height_control.cpp +++ b/src/modules/ekf2/EKF/range_height_control.cpp @@ -32,7 +32,7 @@ ****************************************************************************/ /** - * @file gps_control.cpp + * @file range_height_control.cpp * Control functions for ekf range finder height fusion */ @@ -40,160 +40,166 @@ void Ekf::controlRangeHeightFusion() { - if (!((_params.rng_ctrl == RngCtrl::CONDITIONAL) || (_params.rng_ctrl == RngCtrl::ENABLED))) { - stopRngHgtFusion(); - return; - } + static constexpr const char *HGT_SRC_NAME = "RNG"; - _rng_hgt_b_est.predict(_dt_ekf_avg); + auto &aid_src = _aid_src_rng_hgt; + HeightBiasEstimator &bias_est = _rng_hgt_b_est; - const bool rng_intermittent = !isNewestSampleRecent(_time_last_range_buffer_push, 2 * RNG_MAX_INTERVAL); + bias_est.predict(_dt_ekf_avg); - // If we are supposed to be using range finder data as the primary height sensor, have bad range measurements - // and are on the ground, then synthesise a measurement at the expected on ground value - if (!_control_status.flags.in_air - && !_range_sensor.isDataHealthy() - && _range_sensor.isRegularlySendingData() - && _range_sensor.isDataReady()) { + if (_rng_data_ready && _range_sensor.getSampleAddress()) { - _range_sensor.setRange(_params.rng_gnd_clearance); - _range_sensor.setValidity(true); // bypass the checks - } + const float measurement = math::max(_range_sensor.getDistBottom(), _params.rng_gnd_clearance); + const float measurement_var = sq(_params.range_noise) + sq(_params.range_noise_scaler * _range_sensor.getDistBottom()); - if (_rng_data_ready) { - updateRngHgt(_aid_src_rng_hgt); + const float innov_gate = math::max(_params.range_innov_gate, 1.f); + const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var); + + // vertical position innovation - baro measurement has opposite sign to earth z axis + updateVerticalPositionAidSrcStatus(_range_sensor.getSampleAddress()->time_us, + -(measurement - bias_est.getBias()), + measurement_var + bias_est.getBiasVar(), + innov_gate, + aid_src); + + // update the bias estimator before updating the main filter but after + // using its current state to compute the vertical position innovation + if (measurement_valid && _range_sensor.isDataHealthy()) { + bias_est.setMaxStateNoise(sqrtf(measurement_var)); + bias_est.setProcessNoiseSpectralDensity(_params.rng_hgt_bias_nsd); + bias_est.fuseBias(measurement - (-_state.pos(2)), measurement_var + P(9, 9)); + } + + // determine if we should use height aiding const bool do_conditional_range_aid = (_params.rng_ctrl == RngCtrl::CONDITIONAL) && isConditionalRangeAidSuitable(); + const bool continuing_conditions_passing = ((_params.rng_ctrl == RngCtrl::ENABLED) || do_conditional_range_aid) + && measurement_valid + && _range_sensor.isDataHealthy(); - const bool continuing_conditions_passing = _range_sensor.isDataHealthy() && !rng_intermittent - && ((_params.rng_ctrl == RngCtrl::ENABLED) || do_conditional_range_aid); const bool starting_conditions_passing = continuing_conditions_passing - && _range_sensor.isRegularlySendingData(); + && isNewestSampleRecent(_time_last_range_buffer_push, 2 * RNG_MAX_INTERVAL) + && _range_sensor.isRegularlySendingData(); if (_control_status.flags.rng_hgt) { - if (continuing_conditions_passing) { - fuseRngHgt(_aid_src_rng_hgt); + aid_src.fusion_enabled = true; - const bool is_fusion_failing = isTimedOut(_aid_src_rng_hgt.time_last_fuse, _params.hgt_fusion_timeout_max); + if (continuing_conditions_passing) { + + fuseVerticalPosition(aid_src); + + const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max); if (isHeightResetRequired()) { // All height sources are failing - resetHeightToRng(); + ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME); + + _information_events.flags.reset_hgt_to_rng = true; + resetVerticalPositionTo(-(measurement - bias_est.getBias())); + bias_est.setBias(_state.pos(2) + measurement); + + // reset vertical velocity resetVerticalVelocityToZero(); + aid_src.time_last_fuse = _imu_sample_delayed.time_us; + } else if (is_fusion_failing) { // Some other height source is still working + ECL_WARN("stopping %s height fusion, fusion failing", HGT_SRC_NAME); stopRngHgtFusion(); _control_status.flags.rng_fault = true; _range_sensor.setFaulty(); } } else { + ECL_WARN("stopping %s height fusion, continuing conditions failing", HGT_SRC_NAME); stopRngHgtFusion(); } } else { if (starting_conditions_passing) { - startRngHgtFusion(); + if ((_params.height_sensor_ref == HeightSensor::RANGE) && (_params.rng_ctrl == RngCtrl::CONDITIONAL)) { + // Range finder is used while hovering to stabilize the height estimate. Don't reset but use it as height reference. + ECL_INFO("starting conditional %s height fusion", HGT_SRC_NAME); + _height_sensor_ref = HeightSensor::RANGE; + bias_est.setBias(_state.pos(2) + measurement); + + } else if ((_params.height_sensor_ref == HeightSensor::RANGE) && (_params.rng_ctrl != RngCtrl::CONDITIONAL)) { + // Range finder is the primary height source, the ground is now the datum used + // to compute the local vertical position + ECL_INFO("starting %s height fusion, resetting height", HGT_SRC_NAME); + _height_sensor_ref = HeightSensor::RANGE; + + _information_events.flags.reset_hgt_to_rng = true; + resetVerticalPositionTo(-measurement, measurement_var); + bias_est.reset(); + + } else { + ECL_INFO("starting %s height fusion", HGT_SRC_NAME); + bias_est.setBias(_state.pos(2) + measurement); + } + + aid_src.time_last_fuse = _imu_sample_delayed.time_us; + bias_est.setFusionActive(); + _control_status.flags.rng_hgt = true; } } - } else if (_control_status.flags.rng_hgt && rng_intermittent) { + } else if (_control_status.flags.rng_hgt + && !isNewestSampleRecent(_time_last_range_buffer_push, 2 * RNG_MAX_INTERVAL)) { + // No data anymore. Stop until it comes back. + ECL_WARN("stopping %s height fusion, no data", HGT_SRC_NAME); stopRngHgtFusion(); } } bool Ekf::isConditionalRangeAidSuitable() { - bool is_range_aid_suitable = false; - if (_control_status.flags.in_air && _range_sensor.isHealthy() && isTerrainEstimateValid()) { // check if we can use range finder measurements to estimate height, use hysteresis to avoid rapid switching // Note that the 0.7 coefficients and the innovation check are arbitrary values but work well in practice - const float range_hagl = _terrain_vpos - _state.pos(2); - const float range_hagl_max = _control_status.flags.rng_hgt ? _params.max_hagl_for_range_aid : (_params.max_hagl_for_range_aid * 0.7f); - const bool is_in_range = range_hagl < range_hagl_max; + float range_hagl_max = _params.max_hagl_for_range_aid; + float max_vel_xy = _params.max_vel_for_range_aid; const float hagl_test_ratio = (_hagl_innov * _hagl_innov / (sq(_params.range_aid_innov_gate) * _hagl_innov_var)); - const bool is_hagl_stable = _control_status.flags.rng_hgt ? (hagl_test_ratio < 1.f) : (hagl_test_ratio < 0.01f); + + bool is_hagl_stable = (hagl_test_ratio < 1.f); + + if (!_control_status.flags.rng_hgt) { + range_hagl_max = 0.7f * _params.max_hagl_for_range_aid; + max_vel_xy = 0.7f * _params.max_vel_for_range_aid; + is_hagl_stable = (hagl_test_ratio < 0.01f); + } + + const float range_hagl = _terrain_vpos - _state.pos(2); + + const bool is_in_range = (range_hagl < range_hagl_max); + + bool is_below_max_speed = true; if (isHorizontalAidingActive()) { - const float max_vel = _control_status.flags.rng_hgt ? _params.max_vel_for_range_aid : (_params.max_vel_for_range_aid * 0.7f); - const bool is_below_max_speed = !_state.vel.xy().longerThan(max_vel); - - is_range_aid_suitable = is_in_range && is_hagl_stable && is_below_max_speed; - - } else { - is_range_aid_suitable = is_in_range && is_hagl_stable; + is_below_max_speed = !_state.vel.xy().longerThan(max_vel_xy); } + return is_in_range && is_hagl_stable && is_below_max_speed; } - return is_range_aid_suitable; -} - -void Ekf::startRngHgtFusion() -{ - if (!_control_status.flags.rng_hgt) { - if ((_params.height_sensor_ref == HeightSensor::RANGE) && (_params.rng_ctrl == RngCtrl::CONDITIONAL)) { - // Range finder is used while hovering to stabilize the height estimate. Don't reset but use it as height reference. - _rng_hgt_b_est.setBias(_state.pos(2) + _range_sensor.getDistBottom()); - _height_sensor_ref = HeightSensor::RANGE; - - } else if ((_params.height_sensor_ref == HeightSensor::RANGE) && (_params.rng_ctrl != RngCtrl::CONDITIONAL)) { - // Range finder is the primary height source, the ground is now the datum used - // to compute the local vertical position - _rng_hgt_b_est.reset(); - _height_sensor_ref = HeightSensor::RANGE; - resetHeightToRng(); - - } else { - _rng_hgt_b_est.setBias(_state.pos(2) + _range_sensor.getDistBottom()); - } - - _control_status.flags.rng_hgt = true; - _rng_hgt_b_est.setFusionActive(); - ECL_INFO("starting RNG height fusion"); - } -} - -void Ekf::resetHeightToRng() -{ - ECL_INFO("reset height to RNG"); - _information_events.flags.reset_hgt_to_rng = true; - - float dist_bottom; - - if (_control_status.flags.in_air) { - dist_bottom = _range_sensor.getDistBottom(); - - } else { - // use the parameter rng_gnd_clearance if on ground to avoid a noisy offset initialization (e.g. sonar) - dist_bottom = _params.rng_gnd_clearance; - } - - // update the state and associated variance - resetVerticalPositionTo(-(dist_bottom - _rng_hgt_b_est.getBias())); - - // the state variance is the same as the observation - P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.range_noise)); - - _baro_b_est.setBias(_baro_b_est.getBias() + _state_reset_status.posD_change); - _gps_hgt_b_est.setBias(_gps_hgt_b_est.getBias() + _state_reset_status.posD_change); - _ev_hgt_b_est.setBias(_ev_hgt_b_est.getBias() - _state_reset_status.posD_change); + return false; } void Ekf::stopRngHgtFusion() { if (_control_status.flags.rng_hgt) { + if (_height_sensor_ref == HeightSensor::RANGE) { _height_sensor_ref = HeightSensor::UNKNOWN; } - _control_status.flags.rng_hgt = false; _rng_hgt_b_est.setFusionInactive(); - ECL_INFO("stopping range height fusion"); + resetEstimatorAidStatus(_aid_src_rng_hgt); + + _control_status.flags.rng_hgt = false; } } diff --git a/src/modules/ekf2/EKF/sensor_range_finder.hpp b/src/modules/ekf2/EKF/sensor_range_finder.hpp index 6fae8cb328..94ed284613 100644 --- a/src/modules/ekf2/EKF/sensor_range_finder.hpp +++ b/src/modules/ekf2/EKF/sensor_range_finder.hpp @@ -106,7 +106,7 @@ public: float getValidMinVal() const { return _rng_valid_min_val; } float getValidMaxVal() const { return _rng_valid_max_val; } - void setFaulty() { _is_faulty = true; } + void setFaulty(bool faulty = true) { _is_faulty = faulty; } private: void updateSensorToEarthRotation(const matrix::Dcmf &R_to_earth); diff --git a/src/modules/ekf2/EKF/terrain_estimator.cpp b/src/modules/ekf2/EKF/terrain_estimator.cpp index 7ee99736e9..ba5fd77e48 100644 --- a/src/modules/ekf2/EKF/terrain_estimator.cpp +++ b/src/modules/ekf2/EKF/terrain_estimator.cpp @@ -118,7 +118,7 @@ void Ekf::controlHaglRngFusion() // The sensor can probably not detect the ground properly // declare the sensor faulty and stop the fusion _control_status.flags.rng_fault = true; - _range_sensor.setFaulty(); + _range_sensor.setFaulty(true); stopHaglRngFusion(); } else { diff --git a/src/modules/ekf2/EKF/vel_pos_fusion.cpp b/src/modules/ekf2/EKF/vel_pos_fusion.cpp index fcf1ea3b34..e3959326f9 100644 --- a/src/modules/ekf2/EKF/vel_pos_fusion.cpp +++ b/src/modules/ekf2/EKF/vel_pos_fusion.cpp @@ -52,7 +52,7 @@ void Ekf::updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector2f &ob aid_src.observation[i] = obs(i); aid_src.innovation[i] = _state.vel(i) - aid_src.observation[i]; - aid_src.observation_variance[i] = obs_var(i); + aid_src.observation_variance[i] = math::max(sq(0.01f), obs_var(i)); aid_src.innovation_variance[i] = P(4 + i, 4 + i) + aid_src.observation_variance[i]; } @@ -70,7 +70,7 @@ void Ekf::updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector3f &ob aid_src.observation[i] = obs(i); aid_src.innovation[i] = _state.vel(i) - aid_src.observation[i]; - aid_src.observation_variance[i] = obs_var(i); + aid_src.observation_variance[i] = math::max(sq(0.01f), obs_var(i)); aid_src.innovation_variance[i] = P(4 + i, 4 + i) + aid_src.observation_variance[i]; } @@ -95,7 +95,7 @@ void Ekf::updateVerticalPositionAidSrcStatus(const uint64_t &time_us, const floa aid_src.observation = obs; aid_src.innovation = _state.pos(2) - aid_src.observation; - aid_src.observation_variance = obs_var; + aid_src.observation_variance = math::max(sq(0.01f), obs_var); aid_src.innovation_variance = P(9, 9) + aid_src.observation_variance; setEstimatorAidStatusTestRatio(aid_src, innov_gate); @@ -120,7 +120,7 @@ void Ekf::updateHorizontalPositionAidSrcStatus(const uint64_t &time_us, const Ve aid_src.observation[i] = obs(i); aid_src.innovation[i] = _state.pos(i) - aid_src.observation[i]; - aid_src.observation_variance[i] = obs_var(i); + aid_src.observation_variance[i] = math::max(sq(0.01f), obs_var(i)); aid_src.innovation_variance[i] = P(7 + i, 7 + i) + aid_src.observation_variance[i]; } diff --git 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