fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 11:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: add kconfig option to enable/disable drag fusion

Browse Source
This commit is contained in:
Daniel Agar
2023-03-20 10:12:17 -04:00
parent 9a56b0a70d
commit fe0e3acf09
11 changed files with 115 additions and 55 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/estimator_interface.h
+13 -8
View File
@@ -294,8 +294,6 @@ protected:
airspeedSample _airspeed_sample_delayed{};
flowSample _flow_sample_delayed{};
extVisionSample _ev_sample_prev{};
dragSample _drag_down_sampled{}; // down sampled drag specific force data (filter prediction rate -> observation rate)
RangeFinderConsistencyCheck _rng_consistency_check;
float _air_density{CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C}; // air density (kg/m**3)
@@ -320,7 +318,13 @@ protected:
AlphaFilter<float> _gnss_yaw_signed_test_ratio_lpf{0.1f}; // average signed test ratio used to detect a bias in the state
float _hagl_test_ratio{}; // height above terrain measurement innovation consistency check ratio
#if defined(CONFIG_EKF2_DRAG_FUSION)
RingBuffer<dragSample> *_drag_buffer{nullptr};
dragSample _drag_down_sampled{}; // down sampled drag specific force data (filter prediction rate -> observation rate)
Vector2f _drag_test_ratio{}; // drag innovation consistency check ratio
#endif // CONFIG_EKF2_DRAG_FUSION
innovation_fault_status_u _innov_check_fail_status{};
bool _horizontal_deadreckon_time_exceeded{true};
@@ -345,7 +349,6 @@ protected:
RingBuffer<airspeedSample> *_airspeed_buffer{nullptr};
RingBuffer<flowSample> *_flow_buffer{nullptr};
RingBuffer<extVisionSample> *_ext_vision_buffer{nullptr};
RingBuffer<dragSample> *_drag_buffer{nullptr};
RingBuffer<auxVelSample> *_auxvel_buffer{nullptr};
RingBuffer<systemFlagUpdate> *_system_flag_buffer{nullptr};
@@ -380,16 +383,18 @@ protected:
private:
inline void setDragData(const imuSample &imu);
#if defined(CONFIG_EKF2_DRAG_FUSION)
void setDragData(const imuSample &imu);
// Used by the multi-rotor specific drag force fusion
uint8_t _drag_sample_count{0}; // number of drag specific force samples assumulated at the filter prediction rate
float _drag_sample_time_dt{0.0f}; // time integral across all samples used to form _drag_down_sampled (sec)
#endif // CONFIG_EKF2_DRAG_FUSION
void printBufferAllocationFailed(const char *buffer_name);
ImuDownSampler _imu_down_sampler{_params.filter_update_interval_us};
unsigned _min_obs_interval_us{0}; // minimum time interval between observations that will guarantee data is not lost (usec)
// Used by the multi-rotor specific drag force fusion
uint8_t _drag_sample_count{0}; // number of drag specific force samples assumulated at the filter prediction rate
float _drag_sample_time_dt{0.0f}; // time integral across all samples used to form _drag_down_sampled (sec)
};
#endif // !EKF_ESTIMATOR_INTERFACE_H