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ekf2: height aid source consistency (#20405)

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- working towards keeping all height source (baro/ev/gnss/rng) handling as consistent as possible, possibly refactoring these out into separate classes later
This commit is contained in:
Daniel Agar
2022-10-19 15:35:07 -04:00
committed by GitHub
parent 870229ef49
commit f9509b442c
21 changed files with 890 additions and 1083 deletions
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src/modules/ekf2/EKF/fake_height_control.cpp
+24 -50
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@@ -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;
}