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ekf2: improve preflight checks and publish status
Separate the vertical and horizontal checks for use by local position validity reporting Add checking of yaw using a decaying envelope filter to the horizontal checks. Publish the check result to estimator_status topic.
This commit is contained in:
Paul Riseborough
Lorenz Meier
parent
92bcc63418
commit
fc80be0917
@ -143,15 +143,21 @@ private:
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float _last_valid_variance[3] = {}; ///< variances for the last valid magnetometer XYZ bias estimates (mGauss**2)
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// Used to filter velocity innovations during pre-flight checks
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bool _vel_innov_preflt_fail = false; ///< true if the norm of the filtered innovation vector is too large before flight
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Vector3f _vel_innov_lpf_ned = {}; ///< Preflight low pass filtered velocity innovations (m/sec)
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bool _preflt_horiz_fail = false; ///< true if preflight horizontal innovation checks are failed
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bool _preflt_vert_fail = false; ///< true if preflight vertical innovation checks are failed
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bool _preflt_fail = false; ///< true if any preflight innovation checks are failed
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Vector2f _vel_ne_innov_lpf = {}; ///< Preflight low pass filtered NE axis velocity innovations (m/sec)
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float _vel_d_innov_lpf = {}; ///< Preflight low pass filtered D axis velocity innovations (m/sec)
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float _hgt_innov_lpf = 0.0f; ///< Preflight low pass filtered height innovation (m)
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float _yaw_innov_magnitude_lpf = 0.0f; ///< Preflight low pass filtered yaw innovation magntitude (rad)
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static constexpr float _innov_lpf_tau_inv = 0.2f; ///< Preflight low pass filter time constant inverse (1/sec)
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static constexpr float _vel_innov_test_lim =
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0.5f; ///< Maximum permissible velocity innovation to pass pre-flight checks (m/sec)
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static constexpr float _hgt_innov_test_lim =
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1.5f; ///< Maximum permissible height innovation to pass pre-flight checks (m)
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static constexpr float _yaw_innov_test_lim =
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0.25f; ///< Maximum permissible yaw innovation to pass pre-flight checks (rad)
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const float _vel_innov_spike_lim = 2.0f * _vel_innov_test_lim; ///< preflight velocity innovation spike limit (m/sec)
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const float _hgt_innov_spike_lim = 2.0f * _hgt_innov_test_lim; ///< preflight position innovation spike limit (m)
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@ -937,10 +943,10 @@ void Ekf2::run()
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lpos.az = vel_deriv[2];
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// TODO: better status reporting
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lpos.xy_valid = _ekf.local_position_is_valid() && !_vel_innov_preflt_fail;
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lpos.z_valid = !_vel_innov_preflt_fail;
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lpos.v_xy_valid = _ekf.local_position_is_valid() && !_vel_innov_preflt_fail;
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lpos.v_z_valid = !_vel_innov_preflt_fail;
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lpos.xy_valid = _ekf.local_position_is_valid() && !_preflt_horiz_fail;
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lpos.z_valid = !_preflt_vert_fail;
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lpos.v_xy_valid = _ekf.local_position_is_valid() && !_preflt_horiz_fail;
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lpos.v_z_valid = !_preflt_vert_fail;
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// Position of local NED origin in GPS / WGS84 frame
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map_projection_reference_s ekf_origin;
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@ -987,7 +993,7 @@ void Ekf2::run()
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// publish vehicle local position data
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_vehicle_local_position_pub.update();
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if (_ekf.global_position_is_valid() && !_vel_innov_preflt_fail) {
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if (_ekf.global_position_is_valid() && !_preflt_fail) {
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// generate and publish global position data
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vehicle_global_position_s &global_pos = _vehicle_global_position_pub.get();
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@ -1092,6 +1098,7 @@ void Ekf2::run()
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_ekf.get_ekf_soln_status(&status.solution_status_flags);
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_ekf.get_imu_vibe_metrics(status.vibe);
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status.time_slip = _last_time_slip_us / 1e6f;
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status.pre_flt_fail = _preflt_fail;
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if (_estimator_status_pub == nullptr) {
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_estimator_status_pub = orb_advertise(ORB_ID(estimator_status), &status);
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@ -1245,23 +1252,47 @@ void Ekf2::run()
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// calculate noise filtered velocity innovations which are used for pre-flight checking
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if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
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// calculate coefficients for LPF applied to innovation sequences
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float alpha = constrain(sensors.accelerometer_integral_dt / 1.e6f * _innov_lpf_tau_inv, 0.0f, 1.0f);
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float beta = 1.0f - alpha;
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_vel_innov_lpf_ned(0) = beta * _vel_innov_lpf_ned(0) + alpha * constrain(innovations.vel_pos_innov[0],
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-_vel_innov_spike_lim, _vel_innov_spike_lim);
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_vel_innov_lpf_ned(1) = beta * _vel_innov_lpf_ned(1) + alpha * constrain(innovations.vel_pos_innov[1],
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-_vel_innov_spike_lim, _vel_innov_spike_lim);
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_vel_innov_lpf_ned(2) = beta * _vel_innov_lpf_ned(2) + alpha * constrain(innovations.vel_pos_innov[2],
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-_vel_innov_spike_lim, _vel_innov_spike_lim);
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// filter the velocity and innvovations
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_vel_ne_innov_lpf(0) = beta * _vel_ne_innov_lpf(0) + alpha * constrain(innovations.vel_pos_innov[0],
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-_vel_innov_spike_lim, _vel_innov_spike_lim);
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_vel_ne_innov_lpf(1) = beta * _vel_ne_innov_lpf(1) + alpha * constrain(innovations.vel_pos_innov[1],
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-_vel_innov_spike_lim, _vel_innov_spike_lim);
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_vel_d_innov_lpf = beta * _vel_d_innov_lpf + alpha * constrain(innovations.vel_pos_innov[2],
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-_vel_innov_spike_lim, _vel_innov_spike_lim);
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// filter the yaw innovations using a decaying envelope filter to prevent innovation sign changes due to angle wrapping allowinging large innvoations to pass checks after filtering.
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_yaw_innov_magnitude_lpf = fmaxf(beta * _yaw_innov_magnitude_lpf,
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fminf(fabsf(innovations.heading_innov), 2.0f * _yaw_innov_test_lim));
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_hgt_innov_lpf = beta * _hgt_innov_lpf + alpha * constrain(innovations.vel_pos_innov[5], -_hgt_innov_spike_lim,
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_hgt_innov_spike_lim);
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_vel_innov_preflt_fail = ((_vel_innov_lpf_ned.norm() > _vel_innov_test_lim)
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|| (fabsf(_hgt_innov_lpf) > _hgt_innov_test_lim));
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// check the yaw and horizontal velocity innovations
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float vel_ne_innov_length = sqrtf(innovations.vel_pos_innov[0] * innovations.vel_pos_innov[0] +
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innovations.vel_pos_innov[1] * innovations.vel_pos_innov[1]);
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_preflt_horiz_fail = (_vel_ne_innov_lpf.norm() > _vel_innov_test_lim)
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|| (vel_ne_innov_length > 2.0f * _vel_innov_test_lim)
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|| (_yaw_innov_magnitude_lpf > _yaw_innov_test_lim);
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// check the vertical velocity and position innovations
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_preflt_vert_fail = (fabsf(_vel_d_innov_lpf) > _vel_innov_test_lim)
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|| (fabsf(innovations.vel_pos_innov[2]) > 2.0f * _vel_innov_test_lim)
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|| (fabsf(_hgt_innov_lpf) > _hgt_innov_test_lim);
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// master pass-fail status
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_preflt_fail = _preflt_horiz_fail || _preflt_vert_fail;
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} else {
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_vel_innov_lpf_ned.zero();
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_vel_ne_innov_lpf.zero();
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_vel_d_innov_lpf = 0.0f;
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_hgt_innov_lpf = 0.0f;
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_vel_innov_preflt_fail = false;
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_preflt_horiz_fail = false;
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_preflt_vert_fail = false;
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_preflt_fail = false;
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}
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if (_estimator_innovations_pub == nullptr) {
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