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2 Commits
| Author | SHA1 | Date | |
|---|---|---|---|
| 5ac792eed6 | |||
| 823520c114 |
@@ -870,7 +870,6 @@ void printTopics() {
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
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sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
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@@ -70,7 +70,6 @@ set(msg_files
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estimator_aid_source_2d.msg
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estimator_aid_source_3d.msg
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estimator_bias.msg
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estimator_event_flags.msg
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estimator_gps_status.msg
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estimator_innovations.msg
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estimator_selector_status.msg
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@@ -18,6 +18,8 @@ bool fusion_enabled # true when measurements are being fused
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bool innovation_rejected # true if the observation has been rejected
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bool fused # true if the sample was successfully fused
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uint8 state_reset
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# TOPICS estimator_aid_source_1d
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# TOPICS estimator_aid_src_baro_hgt estimator_aid_src_ev_hgt estimator_aid_src_gnss_hgt estimator_aid_src_rng_hgt
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# TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip
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@@ -18,6 +18,8 @@ bool fusion_enabled # true when measurements are being fused
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bool innovation_rejected # true if the observation has been rejected
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bool fused # true if the sample was successfully fused
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uint8 state_reset
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# TOPICS estimator_aid_source_2d
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# TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos
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# TOPICS estimator_aid_src_aux_vel
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@@ -18,6 +18,8 @@ bool fusion_enabled # true when measurements are being fused
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bool innovation_rejected # true if the observation has been rejected
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bool fused # true if the sample was successfully fused
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uint8 state_reset
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# TOPICS estimator_aid_source_3d
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# TOPICS estimator_aid_src_ev_vel
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# TOPICS estimator_aid_src_gnss_vel
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@@ -1,37 +0,0 @@
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uint64 timestamp # time since system start (microseconds)
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uint64 timestamp_sample # the timestamp of the raw data (microseconds)
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# information events
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uint32 information_event_changes # number of information event changes
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bool gps_checks_passed # 0 - true when gps quality checks are passing passed
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bool reset_vel_to_gps # 1 - true when the velocity states are reset to the gps measurement
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bool reset_vel_to_flow # 2 - true when the velocity states are reset using the optical flow measurement
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bool reset_vel_to_vision # 3 - true when the velocity states are reset to the vision system measurement
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bool reset_vel_to_zero # 4 - true when the velocity states are reset to zero
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bool reset_pos_to_last_known # 5 - true when the position states are reset to the last known position
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bool reset_pos_to_gps # 6 - true when the position states are reset to the gps measurement
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bool reset_pos_to_vision # 7 - true when the position states are reset to the vision system measurement
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bool starting_gps_fusion # 8 - true when the filter starts using gps measurements to correct the state estimates
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bool starting_vision_pos_fusion # 9 - true when the filter starts using vision system position measurements to correct the state estimates
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bool starting_vision_vel_fusion # 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
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bool starting_vision_yaw_fusion # 11 - true when the filter starts using vision system yaw measurements to correct the state estimates
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bool yaw_aligned_to_imu_gps # 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
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bool reset_hgt_to_baro # 13 - true when the vertical position state is reset to the baro measurement
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bool reset_hgt_to_gps # 14 - true when the vertical position state is reset to the gps measurement
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bool reset_hgt_to_rng # 15 - true when the vertical position state is reset to the rng measurement
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bool reset_hgt_to_ev # 16 - true when the vertical position state is reset to the ev measurement
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# warning events
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uint32 warning_event_changes # number of warning event changes
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bool gps_quality_poor # 0 - true when the gps is failing quality checks
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bool gps_fusion_timout # 1 - true when the gps data has not been used to correct the state estimates for a significant time period
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bool gps_data_stopped # 2 - true when the gps data has stopped for a significant time period
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bool gps_data_stopped_using_alternate # 3 - true when the gps data has stopped for a significant time period but the filter is able to use other sources of data to maintain navigation
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bool height_sensor_timeout # 4 - true when the height sensor has not been used to correct the state estimates for a significant time period
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bool stopping_navigation # 5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
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bool invalid_accel_bias_cov_reset # 6 - true when the filter has detected bad acceerometer bias state esitmstes and has reset the corresponding covariance matrix elements
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bool bad_yaw_using_gps_course # 7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course
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bool stopping_mag_use # 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetomer data
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bool vision_data_stopped # 9 - true when the vision system data has stopped for a significant time period
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bool emergency_yaw_reset_mag_stopped # 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetomer data
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bool emergency_yaw_reset_gps_yaw_stopped # 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data
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@@ -100,7 +100,6 @@ px4_add_module(
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EKF/gps_fusion.cpp
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EKF/gps_yaw_fusion.cpp
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EKF/height_control.cpp
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EKF/height_fusion.cpp
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EKF/imu_down_sampler.cpp
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EKF/mag_control.cpp
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EKF/mag_fusion.cpp
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@@ -130,6 +129,7 @@ px4_add_module(
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)
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if(BUILD_TESTING)
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add_definitions(-DDEBUG_BUILD)
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add_subdirectory(EKF)
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add_subdirectory(test)
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endif()
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@@ -51,7 +51,6 @@ add_library(ecl_EKF
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gps_fusion.cpp
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gps_yaw_fusion.cpp
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height_control.cpp
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height_fusion.cpp
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imu_down_sampler.cpp
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mag_control.cpp
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mag_fusion.cpp
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@@ -40,117 +40,154 @@
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void Ekf::controlBaroHeightFusion()
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{
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if (!_baro_buffer) {
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return;
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}
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static constexpr const char *HGT_SRC_NAME = "baro";
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auto &aid_src = _aid_src_baro_hgt;
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HeightBiasEstimator &bias_est = _baro_b_est;
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bias_est.predict(_dt_ekf_avg);
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baroSample baro_sample;
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const bool baro_data_ready = _baro_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &baro_sample);
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if (baro_data_ready) {
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if (_baro_counter == 0) {
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_baro_lpf.reset(baro_sample.hgt);
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if (_baro_buffer && _baro_buffer->pop_first_older_than(_imu_sample_delayed.time_us, &baro_sample)) {
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} else {
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_baro_lpf.update(baro_sample.hgt);
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const float measurement = baro_sample.hgt;
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const float measurement_var = sq(_params.baro_noise);
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const float innov_gate = fmaxf(_params.baro_innov_gate, 1.f);
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const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var);
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if (measurement_valid) {
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if (_baro_counter == 0) {
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_baro_lpf.reset(baro_sample.hgt);
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} else {
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_baro_lpf.update(baro_sample.hgt);
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}
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if (_baro_counter <= _obs_buffer_length) {
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// Initialize the pressure offset (included in the baro bias)
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bias_est.setBias(_state.pos(2) + _baro_lpf.getState());
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_baro_counter++;
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}
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}
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if (_baro_counter < _obs_buffer_length) {
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// Initialize the pressure offset (included in the baro bias)
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_baro_b_est.setBias(_state.pos(2) + _baro_lpf.getState());
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_baro_counter++;
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// vertical position innovation - baro measurement has opposite sign to earth z axis
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updateVerticalPositionAidSrcStatus(baro_sample.time_us,
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-(measurement - bias_est.getBias()),
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measurement_var + bias_est.getBiasVar(),
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innov_gate,
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aid_src);
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// Compensate for positive static pressure transients (negative vertical position innovations)
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// caused by rotor wash ground interaction by applying a temporary deadzone to baro innovations.
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if (_control_status.flags.gnd_effect && (_params.gnd_effect_deadzone > 0.f)) {
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const float deadzone_start = 0.0f;
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const float deadzone_end = deadzone_start + _params.gnd_effect_deadzone;
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if (aid_src.innovation < -deadzone_start) {
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if (aid_src.innovation <= -deadzone_end) {
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aid_src.innovation += deadzone_end;
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} else {
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aid_src.innovation = -deadzone_start;
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}
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}
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}
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}
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if (!(_params.baro_ctrl == 1)) {
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stopBaroHgtFusion();
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return;
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}
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// update the bias estimator before updating the main filter but after
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// using its current state to compute the vertical position innovation
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if (measurement_valid) {
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bias_est.setMaxStateNoise(sqrtf(measurement_var));
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bias_est.setProcessNoiseSpectralDensity(_params.baro_bias_nsd);
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bias_est.fuseBias(measurement - (-_state.pos(2)), measurement_var + P(9, 9));
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}
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_baro_b_est.predict(_dt_ekf_avg);
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// determine if we should use height aiding
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const bool continuing_conditions_passing = (_params.baro_ctrl == 1)
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&& measurement_valid
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&& !_baro_hgt_faulty;
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// check for intermittent data
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const bool baro_hgt_intermittent = !isNewestSampleRecent(_time_last_baro_buffer_push, 2 * BARO_MAX_INTERVAL);
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if (baro_data_ready) {
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updateBaroHgt(baro_sample, _aid_src_baro_hgt);
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const bool continuing_conditions_passing = !_baro_hgt_faulty && !baro_hgt_intermittent;
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const bool starting_conditions_passing = continuing_conditions_passing && (_baro_counter >= _obs_buffer_length);
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const bool starting_conditions_passing = continuing_conditions_passing
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&& (_baro_counter > _obs_buffer_length)
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&& isNewestSampleRecent(_time_last_baro_buffer_push, 2 * BARO_MAX_INTERVAL);
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if (_control_status.flags.baro_hgt) {
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if (continuing_conditions_passing) {
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fuseBaroHgt(_aid_src_baro_hgt);
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aid_src.fusion_enabled = true;
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const bool is_fusion_failing = isTimedOut(_aid_src_baro_hgt.time_last_fuse, _params.hgt_fusion_timeout_max);
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if (continuing_conditions_passing) {
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fuseVerticalPosition(aid_src);
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const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max);
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if (isHeightResetRequired()) {
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// All height sources are failing
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resetHeightToBaro(baro_sample);
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ECL_DEBUG("%s height fusion reset required, all height sources failing", HGT_SRC_NAME);
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resetVerticalPositionTo(-(_baro_lpf.getState() - bias_est.getBias()), measurement_var);
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bias_est.setBias(_state.pos(2) + _baro_lpf.getState());
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// reset vertical velocity
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resetVerticalVelocityToZero();
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aid_src.state_reset++;
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aid_src.time_last_fuse = _imu_sample_delayed.time_us;
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} else if (is_fusion_failing) {
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// Some other height source is still working
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ECL_DEBUG("stopping %s height fusion, fusion failing", HGT_SRC_NAME);
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stopBaroHgtFusion();
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_baro_hgt_faulty = true;
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}
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} else {
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ECL_DEBUG("stopping %s height fusion, continuing conditions failing", HGT_SRC_NAME);
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stopBaroHgtFusion();
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}
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} else {
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if (starting_conditions_passing) {
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startBaroHgtFusion(baro_sample);
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if (_params.height_sensor_ref == HeightSensor::BARO) {
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ECL_DEBUG("starting %s height fusion, resetting height", HGT_SRC_NAME);
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_height_sensor_ref = HeightSensor::BARO;
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aid_src.state_reset++;
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resetVerticalPositionTo(-(_baro_lpf.getState() - bias_est.getBias()), measurement_var);
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bias_est.setBias(_state.pos(2) + _baro_lpf.getState());
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} else {
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ECL_DEBUG("starting %s height fusion", HGT_SRC_NAME);
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bias_est.setBias(_state.pos(2) + _baro_lpf.getState());
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}
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aid_src.time_last_fuse = _imu_sample_delayed.time_us;
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bias_est.setFusionActive();
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_control_status.flags.baro_hgt = true;
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}
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}
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} else if (_control_status.flags.baro_hgt && baro_hgt_intermittent) {
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// No baro data anymore. Stop until it comes back.
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} else if (_control_status.flags.baro_hgt
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&& !isNewestSampleRecent(_time_last_baro_buffer_push, 2 * BARO_MAX_INTERVAL)) {
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// No data anymore. Stop until it comes back.
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ECL_DEBUG("stopping %s height fusion, no data", HGT_SRC_NAME);
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stopBaroHgtFusion();
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}
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}
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void Ekf::startBaroHgtFusion(const baroSample &baro_sample)
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{
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if (!_control_status.flags.baro_hgt) {
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if (_params.height_sensor_ref == HeightSensor::BARO) {
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_height_sensor_ref = HeightSensor::BARO;
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resetHeightToBaro(baro_sample);
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} else {
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_baro_b_est.setBias(_state.pos(2) + _baro_lpf.getState());
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}
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_control_status.flags.baro_hgt = true;
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_baro_b_est.setFusionActive();
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ECL_INFO("starting baro height fusion");
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}
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}
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void Ekf::resetHeightToBaro(const baroSample &baro_sample)
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{
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ECL_INFO("reset height to baro");
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_information_events.flags.reset_hgt_to_baro = true;
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resetVerticalPositionTo(-(baro_sample.hgt - _baro_b_est.getBias()));
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// the state variance is the same as the observation
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P.uncorrelateCovarianceSetVariance<1>(9, sq(_params.baro_noise));
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_gps_hgt_b_est.setBias(_gps_hgt_b_est.getBias() + _state_reset_status.posD_change);
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_rng_hgt_b_est.setBias(_rng_hgt_b_est.getBias() + _state_reset_status.posD_change);
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_ev_hgt_b_est.setBias(_ev_hgt_b_est.getBias() - _state_reset_status.posD_change);
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}
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void Ekf::stopBaroHgtFusion()
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{
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if (_control_status.flags.baro_hgt) {
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if (_height_sensor_ref == HeightSensor::BARO) {
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_height_sensor_ref = HeightSensor::UNKNOWN;
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}
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_control_status.flags.baro_hgt = false;
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_baro_b_est.setFusionInactive();
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ECL_INFO("stopping baro height fusion");
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resetEstimatorAidStatus(_aid_src_baro_hgt);
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_control_status.flags.baro_hgt = false;
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}
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}
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@@ -69,7 +69,7 @@ void BiasEstimator::constrainStateVar()
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void BiasEstimator::fuseBias(const float measurement, const float measurement_var)
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{
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const float innov_var = _state_var + measurement_var;
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const float innov_var = _state_var + math::max(sq(0.01f), measurement_var);
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const float innov = measurement - _state;
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const float K = _state_var / innov_var;
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const float innov_test_ratio = computeInnovTestRatio(innov, innov_var);
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@@ -87,7 +87,7 @@ public:
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void setBiasStdDev(float state_noise) { _state_var = state_noise * state_noise; }
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void setInnovGate(float gate_size) { _gate_size = gate_size; }
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void setMaxStateNoise(float max_noise) { _state_var_max = max_noise * max_noise; }
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void setMaxStateNoise(float max_noise) { _state_var_max = math::max(sq(0.01f), max_noise * max_noise); }
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float getBias() const { return _state; }
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float getBiasVar() const { return _state_var; }
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@@ -565,48 +565,5 @@ union terrain_fusion_status_u {
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uint8_t value;
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};
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// define structure used to communicate information events
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union information_event_status_u {
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struct {
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bool gps_checks_passed : 1; ///< 0 - true when gps quality checks are passing passed
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bool reset_vel_to_gps : 1; ///< 1 - true when the velocity states are reset to the gps measurement
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bool reset_vel_to_flow : 1; ///< 2 - true when the velocity states are reset using the optical flow measurement
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bool reset_vel_to_vision : 1; ///< 3 - true when the velocity states are reset to the vision system measurement
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bool reset_vel_to_zero : 1; ///< 4 - true when the velocity states are reset to zero
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bool reset_pos_to_last_known : 1; ///< 5 - true when the position states are reset to the last known position
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bool reset_pos_to_gps : 1; ///< 6 - true when the position states are reset to the gps measurement
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bool reset_pos_to_vision : 1; ///< 7 - true when the position states are reset to the vision system measurement
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bool starting_gps_fusion : 1; ///< 8 - true when the filter starts using gps measurements to correct the state estimates
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bool starting_vision_pos_fusion : 1; ///< 9 - true when the filter starts using vision system position measurements to correct the state estimates
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bool starting_vision_vel_fusion : 1; ///< 10 - true when the filter starts using vision system velocity measurements to correct the state estimates
|
||||
bool starting_vision_yaw_fusion : 1; ///< 11 - true when the filter starts using vision system yaw measurements to correct the state estimates
|
||||
bool yaw_aligned_to_imu_gps : 1; ///< 12 - true when the filter resets the yaw to an estimate derived from IMU and GPS data
|
||||
bool reset_hgt_to_baro : 1; ///< 13 - true when the vertical position state is reset to the baro measurement
|
||||
bool reset_hgt_to_gps : 1; ///< 14 - true when the vertical position state is reset to the gps measurement
|
||||
bool reset_hgt_to_rng : 1; ///< 15 - true when the vertical position state is reset to the rng measurement
|
||||
bool reset_hgt_to_ev : 1; ///< 16 - true when the vertical position state is reset to the ev measurement
|
||||
} flags;
|
||||
uint32_t value;
|
||||
};
|
||||
|
||||
// define structure used to communicate information events
|
||||
union warning_event_status_u {
|
||||
struct {
|
||||
bool gps_quality_poor : 1; ///< 0 - true when the gps is failing quality checks
|
||||
bool gps_fusion_timout : 1; ///< 1 - true when the gps data has not been used to correct the state estimates for a significant time period
|
||||
bool gps_data_stopped : 1; ///< 2 - true when the gps data has stopped for a significant time period
|
||||
bool gps_data_stopped_using_alternate : 1; ///< 3 - true when the gps data has stopped for a significant time period but the filter is able to use other sources of data to maintain navigation
|
||||
bool height_sensor_timeout : 1; ///< 4 - true when the height sensor has not been used to correct the state estimates for a significant time period
|
||||
bool stopping_navigation : 1; ///< 5 - true when the filter has insufficient data to estimate velocity and position and is falling back to an attitude, height and height rate mode of operation
|
||||
bool invalid_accel_bias_cov_reset : 1; ///< 6 - true when the filter has detected bad acceerometer bias state estimates and has reset the corresponding covariance matrix elements
|
||||
bool bad_yaw_using_gps_course : 1; ///< 7 - true when the filter has detected an invalid yaw estimate and has reset the yaw angle to the GPS ground course
|
||||
bool stopping_mag_use : 1; ///< 8 - true when the filter has detected bad magnetometer data and is stopping further use of the magnetomer data
|
||||
bool vision_data_stopped : 1; ///< 9 - true when the vision system data has stopped for a significant time period
|
||||
bool emergency_yaw_reset_mag_stopped : 1; ///< 10 - true when the filter has detected bad magnetometer data, has reset the yaw to anothter source of data and has stopped further use of the magnetomer data
|
||||
bool emergency_yaw_reset_gps_yaw_stopped: 1; ///< 11 - true when the filter has detected bad GNSS yaw data, has reset the yaw to anothter source of data and has stopped further use of the GNSS yaw data
|
||||
} flags;
|
||||
uint32_t value;
|
||||
};
|
||||
|
||||
}
|
||||
#endif // !EKF_COMMON_H
|
||||
|
||||
@@ -79,8 +79,8 @@ void Ekf::controlFusionModes()
|
||||
}
|
||||
|
||||
if (height_source) {
|
||||
ECL_INFO("%llu: EKF aligned, (%s hgt, IMU buf: %i, OBS buf: %i)",
|
||||
(unsigned long long)_imu_sample_delayed.time_us, height_source, (int)_imu_buffer_length, (int)_obs_buffer_length);
|
||||
ECL_DEBUG("EKF aligned, (%s hgt, IMU buf: %i, OBS buf: %i)",
|
||||
height_source, (int)_imu_buffer_length, (int)_obs_buffer_length);
|
||||
}
|
||||
}
|
||||
}
|
||||
@@ -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
|
||||
}
|
||||
}
|
||||
|
||||
@@ -409,8 +424,7 @@ void Ekf::controlExternalVisionFusion()
|
||||
|
||||
// Turn off EV fusion mode if no data has been received
|
||||
stopEvFusion();
|
||||
_warning_events.flags.vision_data_stopped = true;
|
||||
ECL_WARN("vision data stopped");
|
||||
ECL_DEBUG("vision data stopped");
|
||||
}
|
||||
}
|
||||
|
||||
@@ -513,7 +527,7 @@ void Ekf::controlOpticalFlowFusion()
|
||||
// If the heading is valid and use is not inhibited , start using optical flow aiding
|
||||
if (_control_status.flags.yaw_align || _params.mag_fusion_type == MagFuseType::NONE) {
|
||||
// set the flag and reset the fusion timeout
|
||||
ECL_INFO("starting optical flow fusion");
|
||||
ECL_DEBUG("starting optical flow fusion");
|
||||
_control_status.flags.opt_flow = true;
|
||||
_time_last_of_fuse = _imu_sample_delayed.time_us;
|
||||
|
||||
@@ -713,7 +727,7 @@ void Ekf::controlAirDataFusion()
|
||||
}
|
||||
|
||||
} else if (_control_status.flags.fuse_aspd && !isRecent(_airspeed_sample_delayed.time_us, (uint64_t)1e6)) {
|
||||
ECL_WARN("Airspeed data stopped");
|
||||
ECL_DEBUG("Airspeed data stopped");
|
||||
stopAirspeedFusion();
|
||||
}
|
||||
}
|
||||
|
||||
@@ -437,8 +437,7 @@ void Ekf::fixCovarianceErrors(bool force_symmetry)
|
||||
|
||||
_time_acc_bias_check = _imu_sample_delayed.time_us;
|
||||
_fault_status.flags.bad_acc_bias = false;
|
||||
_warning_events.flags.invalid_accel_bias_cov_reset = true;
|
||||
ECL_WARN("invalid accel bias - covariance reset");
|
||||
ECL_ERR("invalid accel bias - covariance reset");
|
||||
|
||||
} else if (force_symmetry) {
|
||||
// ensure the covariance values are symmetrical
|
||||
|
||||
@@ -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();
|
||||
@@ -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
|
||||
@@ -941,11 +927,9 @@ private:
|
||||
void controlFakePosFusion();
|
||||
|
||||
void controlFakeHgtFusion();
|
||||
void startFakeHgtFusion();
|
||||
void resetFakeHgtFusion();
|
||||
void resetHeightToLastKnown();
|
||||
void stopFakeHgtFusion();
|
||||
void fuseFakeHgt();
|
||||
|
||||
void controlZeroVelocityUpdate();
|
||||
|
||||
@@ -963,7 +947,7 @@ private:
|
||||
void controlBaroHeightFusion();
|
||||
void controlGnssHeightFusion(const gpsSample &gps_sample);
|
||||
void controlRangeHeightFusion();
|
||||
void controlEvHeightFusion();
|
||||
void controlEvHeightFusion(const extVisionSample &ev_sample);
|
||||
|
||||
bool isConditionalRangeAidSuitable();
|
||||
|
||||
@@ -973,24 +957,13 @@ 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();
|
||||
|
||||
@@ -1077,10 +1050,8 @@ private:
|
||||
|
||||
void stopFlowFusion();
|
||||
|
||||
void startFakePosFusion();
|
||||
void resetFakePosFusion();
|
||||
void stopFakePosFusion();
|
||||
void fuseFakePosition();
|
||||
|
||||
void setVelPosStatus(const int index, const bool healthy);
|
||||
|
||||
@@ -1131,6 +1102,8 @@ private:
|
||||
status.fusion_enabled = false;
|
||||
status.innovation_rejected = true;
|
||||
status.fused = false;
|
||||
|
||||
// preserve status.state_reset
|
||||
}
|
||||
}
|
||||
|
||||
@@ -1155,6 +1128,8 @@ private:
|
||||
status.fusion_enabled = false;
|
||||
status.innovation_rejected = true;
|
||||
status.fused = false;
|
||||
|
||||
// preserve status.state_reset
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -46,16 +46,16 @@
|
||||
|
||||
void Ekf::resetVelocityToGps(const gpsSample &gps_sample)
|
||||
{
|
||||
_information_events.flags.reset_vel_to_gps = true;
|
||||
ECL_INFO("reset velocity to GPS");
|
||||
_aid_src_gnss_vel.state_reset++;
|
||||
ECL_DEBUG("reset velocity to GPS");
|
||||
resetVelocityTo(gps_sample.vel);
|
||||
P.uncorrelateCovarianceSetVariance<3>(4, sq(gps_sample.sacc));
|
||||
}
|
||||
|
||||
void Ekf::resetHorizontalVelocityToOpticalFlow()
|
||||
{
|
||||
_information_events.flags.reset_vel_to_flow = true;
|
||||
ECL_INFO("reset velocity to flow");
|
||||
// _aid_src_optical_flow.state_reset++; // TODO:
|
||||
ECL_DEBUG("reset velocity to flow");
|
||||
// constrain height above ground to be above minimum possible
|
||||
const float heightAboveGndEst = fmaxf((_terrain_vpos - _state.pos(2)), _params.rng_gnd_clearance);
|
||||
|
||||
@@ -85,16 +85,15 @@ void Ekf::resetHorizontalVelocityToOpticalFlow()
|
||||
|
||||
void Ekf::resetVelocityToVision()
|
||||
{
|
||||
_information_events.flags.reset_vel_to_vision = true;
|
||||
ECL_INFO("reset to vision velocity");
|
||||
_aid_src_ev_vel.state_reset++;
|
||||
ECL_DEBUG("reset to vision velocity");
|
||||
resetVelocityTo(getVisionVelocityInEkfFrame());
|
||||
P.uncorrelateCovarianceSetVariance<3>(4, getVisionVelocityVarianceInEkfFrame());
|
||||
}
|
||||
|
||||
void Ekf::resetHorizontalVelocityToZero()
|
||||
{
|
||||
_information_events.flags.reset_vel_to_zero = true;
|
||||
ECL_INFO("reset velocity to zero");
|
||||
ECL_DEBUG("reset velocity to zero");
|
||||
// Used when falling back to non-aiding mode of operation
|
||||
resetHorizontalVelocityTo(Vector2f{0.f, 0.f});
|
||||
P.uncorrelateCovarianceSetVariance<2>(4, 25.0f);
|
||||
@@ -124,11 +123,15 @@ 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;
|
||||
@@ -146,16 +149,16 @@ void Ekf::resetVerticalVelocityTo(float new_vert_vel)
|
||||
|
||||
void Ekf::resetHorizontalPositionToGps(const gpsSample &gps_sample)
|
||||
{
|
||||
_information_events.flags.reset_pos_to_gps = true;
|
||||
ECL_INFO("reset position to GPS");
|
||||
_aid_src_gnss_pos.state_reset++;
|
||||
ECL_DEBUG("reset position to GPS");
|
||||
resetHorizontalPositionTo(gps_sample.pos);
|
||||
P.uncorrelateCovarianceSetVariance<2>(7, sq(gps_sample.hacc));
|
||||
}
|
||||
|
||||
void Ekf::resetHorizontalPositionToVision()
|
||||
{
|
||||
_information_events.flags.reset_pos_to_vision = true;
|
||||
ECL_INFO("reset position to ev position");
|
||||
_aid_src_ev_pos.state_reset++;
|
||||
ECL_DEBUG("reset position to ev position");
|
||||
Vector3f _ev_pos = _ev_sample_delayed.pos;
|
||||
|
||||
if (_params.fusion_mode & SensorFusionMask::ROTATE_EXT_VIS) {
|
||||
@@ -171,8 +174,8 @@ void Ekf::resetHorizontalPositionToVision()
|
||||
|
||||
void Ekf::resetHorizontalPositionToOpticalFlow()
|
||||
{
|
||||
_information_events.flags.reset_pos_to_last_known = true;
|
||||
ECL_INFO("reset position to last known position");
|
||||
//_aid_src_optical_flow.state_reset++; // TODO
|
||||
ECL_DEBUG("reset position to last known position");
|
||||
|
||||
if (!_control_status.flags.in_air) {
|
||||
// we are likely starting OF for the first time so reset the horizontal position
|
||||
@@ -188,8 +191,7 @@ void Ekf::resetHorizontalPositionToOpticalFlow()
|
||||
|
||||
void Ekf::resetHorizontalPositionToLastKnown()
|
||||
{
|
||||
_information_events.flags.reset_pos_to_last_known = true;
|
||||
ECL_INFO("reset position to last known position");
|
||||
ECL_DEBUG("reset position to last known position");
|
||||
// Used when falling back to non-aiding mode of operation
|
||||
resetHorizontalPositionTo(_last_known_pos.xy());
|
||||
P.uncorrelateCovarianceSetVariance<2>(7, sq(_params.pos_noaid_noise));
|
||||
@@ -225,11 +227,16 @@ 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++;
|
||||
@@ -247,34 +254,21 @@ 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
|
||||
@@ -339,14 +333,12 @@ bool Ekf::realignYawGPS(const Vector3f &mag)
|
||||
|
||||
// correct yaw angle using GPS ground course if compass yaw bad or yaw is previously not aligned
|
||||
if (badMagYaw || !_control_status.flags.yaw_align) {
|
||||
_warning_events.flags.bad_yaw_using_gps_course = true;
|
||||
ECL_WARN("bad yaw, using GPS course");
|
||||
ECL_ERR("bad yaw, using GPS course");
|
||||
|
||||
// declare the magnetometer as failed if a bad yaw has occurred more than once
|
||||
if (_control_status.flags.mag_aligned_in_flight && (_num_bad_flight_yaw_events >= 2)
|
||||
&& !_control_status.flags.mag_fault) {
|
||||
_warning_events.flags.stopping_mag_use = true;
|
||||
ECL_WARN("stopping mag use");
|
||||
ECL_DEBUG("stopping mag use");
|
||||
_control_status.flags.mag_fault = true;
|
||||
}
|
||||
|
||||
@@ -687,11 +679,11 @@ 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;
|
||||
@@ -1061,7 +1053,7 @@ void Ekf::updateHorizontalDeadReckoningstatus()
|
||||
|
||||
if (!_horizontal_deadreckon_time_exceeded && deadreckon_time_exceeded) {
|
||||
// deadreckon time now exceeded
|
||||
ECL_WARN("dead reckon time exceeded");
|
||||
ECL_DEBUG("dead reckon time exceeded");
|
||||
}
|
||||
|
||||
_horizontal_deadreckon_time_exceeded = deadreckon_time_exceeded;
|
||||
@@ -1269,7 +1261,7 @@ void Ekf::startMagHdgFusion()
|
||||
{
|
||||
if (!_control_status.flags.mag_hdg) {
|
||||
stopMag3DFusion();
|
||||
ECL_INFO("starting mag heading fusion");
|
||||
ECL_DEBUG("starting mag heading fusion");
|
||||
_control_status.flags.mag_hdg = true;
|
||||
}
|
||||
}
|
||||
@@ -1286,24 +1278,6 @@ 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) {
|
||||
@@ -1481,8 +1455,7 @@ void Ekf::startGpsFusion(const gpsSample &gps_sample)
|
||||
resetVelocityToGps(gps_sample);
|
||||
}
|
||||
|
||||
_information_events.flags.starting_gps_fusion = true;
|
||||
ECL_INFO("starting GPS fusion");
|
||||
ECL_DEBUG("starting GPS fusion");
|
||||
_control_status.flags.gps = true;
|
||||
}
|
||||
}
|
||||
@@ -1508,7 +1481,7 @@ void Ekf::stopGpsFusion()
|
||||
void Ekf::stopGpsPosFusion()
|
||||
{
|
||||
if (_control_status.flags.gps) {
|
||||
ECL_INFO("stopping GPS position fusion");
|
||||
ECL_DEBUG("stopping GPS position fusion");
|
||||
_control_status.flags.gps = false;
|
||||
|
||||
resetEstimatorAidStatus(_aid_src_gnss_pos);
|
||||
@@ -1517,7 +1490,7 @@ void Ekf::stopGpsPosFusion()
|
||||
|
||||
void Ekf::stopGpsVelFusion()
|
||||
{
|
||||
ECL_INFO("stopping GPS velocity fusion");
|
||||
ECL_DEBUG("stopping GPS velocity fusion");
|
||||
|
||||
resetEstimatorAidStatus(_aid_src_gnss_vel);
|
||||
}
|
||||
@@ -1525,7 +1498,7 @@ void Ekf::stopGpsVelFusion()
|
||||
void Ekf::startGpsYawFusion(const gpsSample &gps_sample)
|
||||
{
|
||||
if (!_control_status.flags.gps_yaw && resetYawToGps(gps_sample.yaw)) {
|
||||
ECL_INFO("starting GPS yaw fusion");
|
||||
ECL_DEBUG("starting GPS yaw fusion");
|
||||
_control_status.flags.yaw_align = true;
|
||||
_control_status.flags.mag_dec = false;
|
||||
stopEvYawFusion();
|
||||
@@ -1538,7 +1511,7 @@ void Ekf::startGpsYawFusion(const gpsSample &gps_sample)
|
||||
void Ekf::stopGpsYawFusion()
|
||||
{
|
||||
if (_control_status.flags.gps_yaw) {
|
||||
ECL_INFO("stopping GPS yaw fusion");
|
||||
ECL_DEBUG("stopping GPS yaw fusion");
|
||||
_control_status.flags.gps_yaw = false;
|
||||
resetEstimatorAidStatus(_aid_src_gnss_yaw);
|
||||
}
|
||||
@@ -1548,16 +1521,14 @@ void Ekf::startEvPosFusion()
|
||||
{
|
||||
_control_status.flags.ev_pos = true;
|
||||
resetHorizontalPositionToVision();
|
||||
_information_events.flags.starting_vision_pos_fusion = true;
|
||||
ECL_INFO("starting vision pos fusion");
|
||||
ECL_DEBUG("starting vision pos fusion");
|
||||
}
|
||||
|
||||
void Ekf::startEvVelFusion()
|
||||
{
|
||||
_control_status.flags.ev_vel = true;
|
||||
resetVelocityToVision();
|
||||
_information_events.flags.starting_vision_vel_fusion = true;
|
||||
ECL_INFO("starting vision vel fusion");
|
||||
ECL_DEBUG("starting vision vel fusion");
|
||||
}
|
||||
|
||||
void Ekf::startEvYawFusion()
|
||||
@@ -1569,8 +1540,7 @@ void Ekf::startEvYawFusion()
|
||||
stopMagHdgFusion();
|
||||
stopMag3DFusion();
|
||||
|
||||
_information_events.flags.starting_vision_yaw_fusion = true;
|
||||
ECL_INFO("starting vision yaw fusion");
|
||||
ECL_DEBUG("starting vision yaw fusion");
|
||||
}
|
||||
|
||||
void Ekf::stopEvFusion()
|
||||
@@ -1583,7 +1553,7 @@ void Ekf::stopEvFusion()
|
||||
void Ekf::stopEvPosFusion()
|
||||
{
|
||||
if (_control_status.flags.ev_pos) {
|
||||
ECL_INFO("stopping EV pos fusion");
|
||||
ECL_DEBUG("stopping EV pos fusion");
|
||||
_control_status.flags.ev_pos = false;
|
||||
resetEstimatorAidStatus(_aid_src_ev_pos);
|
||||
}
|
||||
@@ -1592,7 +1562,7 @@ void Ekf::stopEvPosFusion()
|
||||
void Ekf::stopEvVelFusion()
|
||||
{
|
||||
if (_control_status.flags.ev_vel) {
|
||||
ECL_INFO("stopping EV vel fusion");
|
||||
ECL_DEBUG("stopping EV vel fusion");
|
||||
_control_status.flags.ev_vel = false;
|
||||
resetEstimatorAidStatus(_aid_src_ev_vel);
|
||||
}
|
||||
@@ -1601,14 +1571,14 @@ void Ekf::stopEvVelFusion()
|
||||
void Ekf::stopEvYawFusion()
|
||||
{
|
||||
if (_control_status.flags.ev_yaw) {
|
||||
ECL_INFO("stopping EV yaw fusion");
|
||||
ECL_DEBUG("stopping EV yaw fusion");
|
||||
_control_status.flags.ev_yaw = false;
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf::stopAuxVelFusion()
|
||||
{
|
||||
ECL_INFO("stopping aux vel fusion");
|
||||
ECL_DEBUG("stopping aux vel fusion");
|
||||
//_control_status.flags.aux_vel = false;
|
||||
resetEstimatorAidStatus(_aid_src_aux_vel);
|
||||
}
|
||||
@@ -1616,7 +1586,7 @@ void Ekf::stopAuxVelFusion()
|
||||
void Ekf::stopFlowFusion()
|
||||
{
|
||||
if (_control_status.flags.opt_flow) {
|
||||
ECL_INFO("stopping optical flow fusion");
|
||||
ECL_DEBUG("stopping optical flow fusion");
|
||||
_control_status.flags.opt_flow = false;
|
||||
_flow_innov.setZero();
|
||||
_flow_innov_var.setZero();
|
||||
@@ -1683,11 +1653,9 @@ bool Ekf::resetYawToEKFGSF()
|
||||
// stop using the magnetometer in the main EKF otherwise it's fusion could drag the yaw around
|
||||
// and cause another navigation failure
|
||||
_control_status.flags.mag_fault = true;
|
||||
_warning_events.flags.emergency_yaw_reset_mag_stopped = true;
|
||||
|
||||
} else if (_control_status.flags.gps_yaw) {
|
||||
_control_status.flags.gps_yaw_fault = true;
|
||||
_warning_events.flags.emergency_yaw_reset_gps_yaw_stopped = true;
|
||||
|
||||
} else if (_control_status.flags.ev_yaw) {
|
||||
_inhibit_ev_yaw_use = true;
|
||||
|
||||
@@ -44,9 +44,9 @@
|
||||
|
||||
#if defined(MODULE_NAME)
|
||||
#include <px4_platform_common/log.h>
|
||||
# define ECL_INFO PX4_DEBUG
|
||||
# define ECL_WARN PX4_DEBUG
|
||||
# define ECL_ERR PX4_DEBUG
|
||||
# define ECL_INFO PX4_INFO
|
||||
# define ECL_WARN PX4_WARN
|
||||
# define ECL_ERR PX4_ERR
|
||||
# define ECL_DEBUG PX4_DEBUG
|
||||
#else
|
||||
# define ECL_INFO(X, ...) printf(X "\n", ##__VA_ARGS__)
|
||||
@@ -239,14 +239,6 @@ public:
|
||||
const innovation_fault_status_u &innov_check_fail_status() const { return _innov_check_fail_status; }
|
||||
const decltype(innovation_fault_status_u::flags) &innov_check_fail_status_flags() const { return _innov_check_fail_status.flags; }
|
||||
|
||||
const warning_event_status_u &warning_event_status() const { return _warning_events; }
|
||||
const decltype(warning_event_status_u::flags) &warning_event_flags() const { return _warning_events.flags; }
|
||||
void clear_warning_events() { _warning_events.value = 0; }
|
||||
|
||||
const information_event_status_u &information_event_status() const { return _information_events; }
|
||||
const decltype(information_event_status_u::flags) &information_event_flags() const { return _information_events.flags; }
|
||||
void clear_information_events() { _information_events.value = 0; }
|
||||
|
||||
// Getter for the average imu update period in s
|
||||
float get_dt_imu_avg() const { return _dt_imu_avg; }
|
||||
|
||||
@@ -399,11 +391,6 @@ protected:
|
||||
|
||||
virtual float compensateBaroForDynamicPressure(const float baro_alt_uncompensated) const = 0;
|
||||
|
||||
// these are used to record single frame events for external monitoring and should NOT be used for
|
||||
// state logic becasue they will be cleared externally after being read.
|
||||
warning_event_status_u _warning_events{};
|
||||
information_event_status_u _information_events{};
|
||||
|
||||
private:
|
||||
|
||||
inline void setDragData(const imuSample &imu);
|
||||
|
||||
@@ -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_DEBUG("%s height fusion reset required, all height sources failing", HGT_SRC_NAME);
|
||||
|
||||
aid_src.state_reset++;
|
||||
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_DEBUG("%s height reset", HGT_SRC_NAME);
|
||||
|
||||
if (_height_sensor_ref == HeightSensor::EV) {
|
||||
aid_src.state_reset++;
|
||||
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_DEBUG("stopping %s height fusion, fusion failing", HGT_SRC_NAME);
|
||||
stopEvHgtFusion();
|
||||
}
|
||||
|
||||
} else {
|
||||
ECL_DEBUG("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_DEBUG("starting %s height fusion, resetting height", HGT_SRC_NAME);
|
||||
_height_sensor_ref = HeightSensor::EV;
|
||||
|
||||
aid_src.state_reset++;
|
||||
resetVerticalPositionTo(measurement, measurement_var);
|
||||
bias_est.reset();
|
||||
|
||||
} else {
|
||||
ECL_DEBUG("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_DEBUG("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;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -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();
|
||||
@@ -70,76 +79,40 @@ void Ekf::controlFakeHgtFusion()
|
||||
|
||||
} else {
|
||||
if (starting_conditions_passing) {
|
||||
startFakeHgtFusion();
|
||||
ECL_DEBUG("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();
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf::resetFakeHgtFusion()
|
||||
{
|
||||
ECL_INFO("reset fake height fusion");
|
||||
ECL_DEBUG("reset fake height fusion");
|
||||
_last_known_pos(2) = _state.pos(2);
|
||||
|
||||
resetVerticalVelocityToZero();
|
||||
resetHeightToLastKnown();
|
||||
|
||||
_aid_src_fake_hgt.state_reset++;
|
||||
_aid_src_fake_hgt.time_last_fuse = _imu_sample_delayed.time_us;
|
||||
}
|
||||
|
||||
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));
|
||||
ECL_DEBUG("reset height to last known");
|
||||
resetVerticalPositionTo(_last_known_pos(2), sq(_params.pos_noaid_noise));
|
||||
}
|
||||
|
||||
void Ekf::stopFakeHgtFusion()
|
||||
{
|
||||
if (_control_status.flags.fake_hgt) {
|
||||
ECL_INFO("stop fake height fusion");
|
||||
ECL_DEBUG("stop fake height fusion");
|
||||
_control_status.flags.fake_hgt = false;
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
@@ -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();
|
||||
@@ -70,31 +93,26 @@ void Ekf::controlFakePosFusion()
|
||||
|
||||
} else {
|
||||
if (starting_conditions_passing) {
|
||||
startFakePosFusion();
|
||||
ECL_DEBUG("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
|
||||
_warning_events.flags.stopping_navigation = true;
|
||||
ECL_WARN("stopping navigation");
|
||||
ECL_DEBUG("stopping navigation");
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
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();
|
||||
} else if (_control_status.flags.fake_pos && isHorizontalAidingActive()) {
|
||||
stopFakePosFusion();
|
||||
}
|
||||
}
|
||||
|
||||
void Ekf::resetFakePosFusion()
|
||||
{
|
||||
ECL_INFO("reset fake position fusion");
|
||||
ECL_DEBUG("reset fake position fusion");
|
||||
_last_known_pos.xy() = _state.pos.xy();
|
||||
|
||||
resetHorizontalPositionToLastKnown();
|
||||
@@ -106,64 +124,9 @@ void Ekf::resetFakePosFusion()
|
||||
void Ekf::stopFakePosFusion()
|
||||
{
|
||||
if (_control_status.flags.fake_pos) {
|
||||
ECL_INFO("stop fake position fusion");
|
||||
ECL_DEBUG("stop fake position fusion");
|
||||
_control_status.flags.fake_pos = false;
|
||||
|
||||
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;
|
||||
}
|
||||
|
||||
@@ -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_DEBUG("%s height fusion reset required, all height sources failing", HGT_SRC_NAME);
|
||||
|
||||
aid_src.state_reset++;
|
||||
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_DEBUG("stopping %s height fusion, fusion failing", HGT_SRC_NAME);
|
||||
stopGpsHgtFusion();
|
||||
}
|
||||
|
||||
} else {
|
||||
ECL_DEBUG("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_DEBUG("starting %s height fusion, resetting height", HGT_SRC_NAME);
|
||||
_height_sensor_ref = HeightSensor::GNSS;
|
||||
|
||||
aid_src.state_reset++;
|
||||
resetVerticalPositionTo(-measurement, measurement_var);
|
||||
bias_est.reset();
|
||||
|
||||
} else {
|
||||
ECL_DEBUG("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_DEBUG("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;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -103,8 +103,7 @@ bool Ekf::collect_gps(const gpsMessage &gps)
|
||||
_gps_origin_eph = gps.eph;
|
||||
_gps_origin_epv = gps.epv;
|
||||
|
||||
_information_events.flags.gps_checks_passed = true;
|
||||
ECL_INFO("GPS checks passed");
|
||||
ECL_DEBUG("GPS checks passed");
|
||||
|
||||
} else if (!_NED_origin_initialised) {
|
||||
// a rough 2D fix is still sufficient to lookup declination
|
||||
|
||||
@@ -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
|
||||
@@ -117,7 +125,7 @@ void Ekf::controlGpsFusion()
|
||||
// The minimum time interval between resets to the EKF-GSF estimate is limited to allow the EKF-GSF time
|
||||
// to improve its estimate if the previous reset was not successful.
|
||||
if (resetYawToEKFGSF()) {
|
||||
ECL_WARN("GPS emergency yaw reset");
|
||||
ECL_DEBUG("GPS emergency yaw reset");
|
||||
}
|
||||
|
||||
} else {
|
||||
@@ -127,8 +135,7 @@ void Ekf::controlGpsFusion()
|
||||
_mag_yaw_reset_req = true;
|
||||
}
|
||||
|
||||
_warning_events.flags.gps_fusion_timout = true;
|
||||
ECL_WARN("GPS fusion timeout - resetting");
|
||||
ECL_DEBUG("GPS fusion timeout - resetting");
|
||||
}
|
||||
|
||||
resetVelocityToGps(gps_sample);
|
||||
@@ -137,8 +144,7 @@ void Ekf::controlGpsFusion()
|
||||
|
||||
} else {
|
||||
stopGpsFusion();
|
||||
_warning_events.flags.gps_quality_poor = true;
|
||||
ECL_WARN("GPS quality poor - stopping use");
|
||||
ECL_DEBUG("GPS quality poor - stopping use");
|
||||
|
||||
// TODO: move this to EV control logic
|
||||
// Reset position state to external vision if we are going to use absolute values
|
||||
@@ -172,8 +178,7 @@ void Ekf::controlGpsFusion()
|
||||
} else if (gps_checks_passing && !_control_status.flags.yaw_align && (_params.mag_fusion_type == MagFuseType::NONE)) {
|
||||
// If no mag is used, align using the yaw estimator (if available)
|
||||
if (resetYawToEKFGSF()) {
|
||||
_information_events.flags.yaw_aligned_to_imu_gps = true;
|
||||
ECL_INFO("Yaw aligned using IMU and GPS");
|
||||
ECL_DEBUG("Yaw aligned using IMU and GPS");
|
||||
resetVelocityToGps(gps_sample);
|
||||
resetHorizontalPositionToGps(gps_sample);
|
||||
}
|
||||
@@ -181,18 +186,16 @@ void Ekf::controlGpsFusion()
|
||||
}
|
||||
|
||||
} else if (_control_status.flags.gps && !isNewestSampleRecent(_time_last_gps_buffer_push, (uint64_t)10e6)) {
|
||||
ECL_DEBUG("GPS data stopped");
|
||||
stopGpsFusion();
|
||||
_warning_events.flags.gps_data_stopped = true;
|
||||
ECL_WARN("GPS data stopped");
|
||||
|
||||
} else if (_control_status.flags.gps && !isNewestSampleRecent(_time_last_gps_buffer_push, (uint64_t)1e6)
|
||||
&& isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
|
||||
|
||||
// Handle the case where we are fusing another position source along GPS,
|
||||
// stop waiting for GPS after 1 s of lost signal
|
||||
ECL_DEBUG("GPS data stopped, using only EV, OF or air data");
|
||||
stopGpsFusion();
|
||||
_warning_events.flags.gps_data_stopped_using_alternate = true;
|
||||
ECL_WARN("GPS data stopped, using only EV, OF or air data");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@@ -46,7 +46,7 @@ void Ekf::controlHeightFusion()
|
||||
controlBaroHeightFusion();
|
||||
controlGnssHeightFusion(_gps_sample_delayed);
|
||||
controlRangeHeightFusion();
|
||||
controlEvHeightFusion();
|
||||
controlEvHeightFusion(_ev_sample_delayed);
|
||||
|
||||
checkHeightSensorRefFallback();
|
||||
}
|
||||
@@ -104,7 +104,7 @@ void Ekf::checkHeightSensorRefFallback()
|
||||
|| ((fallback_list[i] == HeightSensor::GNSS) && _control_status.flags.gps_hgt)
|
||||
|| ((fallback_list[i] == HeightSensor::RANGE) && _control_status.flags.rng_hgt)
|
||||
|| ((fallback_list[i] == HeightSensor::EV) && _control_status.flags.ev_hgt)) {
|
||||
ECL_INFO("fallback to secondary height reference");
|
||||
ECL_DEBUG("fallback to secondary height reference");
|
||||
_height_sensor_ref = fallback_list[i];
|
||||
break;
|
||||
}
|
||||
@@ -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;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -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);
|
||||
}
|
||||
@@ -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_DEBUG("%s height fusion reset required, all height sources failing", HGT_SRC_NAME);
|
||||
|
||||
aid_src.state_reset++;
|
||||
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_DEBUG("stopping %s height fusion, fusion failing", HGT_SRC_NAME);
|
||||
stopRngHgtFusion();
|
||||
_control_status.flags.rng_fault = true;
|
||||
_range_sensor.setFaulty();
|
||||
}
|
||||
|
||||
} else {
|
||||
ECL_DEBUG("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_DEBUG("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_DEBUG("starting %s height fusion, resetting height", HGT_SRC_NAME);
|
||||
_height_sensor_ref = HeightSensor::RANGE;
|
||||
|
||||
aid_src.state_reset++;
|
||||
resetVerticalPositionTo(-measurement, measurement_var);
|
||||
bias_est.reset();
|
||||
|
||||
} else {
|
||||
ECL_DEBUG("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_DEBUG("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;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -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);
|
||||
|
||||
@@ -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 {
|
||||
|
||||
@@ -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];
|
||||
}
|
||||
|
||||
|
||||
@@ -172,7 +172,6 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
|
||||
_attitude_pub.advertise();
|
||||
_local_position_pub.advertise();
|
||||
|
||||
_estimator_event_flags_pub.advertise();
|
||||
_estimator_innovation_test_ratios_pub.advertise();
|
||||
_estimator_innovation_variances_pub.advertise();
|
||||
_estimator_innovations_pub.advertise();
|
||||
@@ -203,7 +202,6 @@ bool EKF2::multi_init(int imu, int mag)
|
||||
_ekf2_timestamps_pub.advertise();
|
||||
_estimator_baro_bias_pub.advertise();
|
||||
_estimator_ev_hgt_bias_pub.advertise();
|
||||
_estimator_event_flags_pub.advertise();
|
||||
_estimator_gnss_hgt_bias_pub.advertise();
|
||||
_estimator_gps_status_pub.advertise();
|
||||
_estimator_innovation_test_ratios_pub.advertise();
|
||||
@@ -613,7 +611,6 @@ void EKF2::Run()
|
||||
PublishGnssHgtBias(now);
|
||||
PublishRngHgtBias(now);
|
||||
PublishEvHgtBias(now);
|
||||
PublishEventFlags(now);
|
||||
PublishGpsStatus(now);
|
||||
PublishInnovations(now);
|
||||
PublishInnovationTestRatios(now);
|
||||
@@ -839,79 +836,6 @@ estimator_bias_s EKF2::fillEstimatorBiasMsg(const BiasEstimator::status &status,
|
||||
return bias;
|
||||
}
|
||||
|
||||
void EKF2::PublishEventFlags(const hrt_abstime ×tamp)
|
||||
{
|
||||
// information events
|
||||
uint32_t information_events = _ekf.information_event_status().value;
|
||||
bool information_event_updated = false;
|
||||
|
||||
if (information_events != 0) {
|
||||
information_event_updated = true;
|
||||
_filter_information_event_changes++;
|
||||
}
|
||||
|
||||
// warning events
|
||||
uint32_t warning_events = _ekf.warning_event_status().value;
|
||||
bool warning_event_updated = false;
|
||||
|
||||
if (warning_events != 0) {
|
||||
warning_event_updated = true;
|
||||
_filter_warning_event_changes++;
|
||||
}
|
||||
|
||||
if (information_event_updated || warning_event_updated) {
|
||||
estimator_event_flags_s event_flags{};
|
||||
event_flags.timestamp_sample = _ekf.get_imu_sample_delayed().time_us;
|
||||
|
||||
event_flags.information_event_changes = _filter_information_event_changes;
|
||||
event_flags.gps_checks_passed = _ekf.information_event_flags().gps_checks_passed;
|
||||
event_flags.reset_vel_to_gps = _ekf.information_event_flags().reset_vel_to_gps;
|
||||
event_flags.reset_vel_to_flow = _ekf.information_event_flags().reset_vel_to_flow;
|
||||
event_flags.reset_vel_to_vision = _ekf.information_event_flags().reset_vel_to_vision;
|
||||
event_flags.reset_vel_to_zero = _ekf.information_event_flags().reset_vel_to_zero;
|
||||
event_flags.reset_pos_to_last_known = _ekf.information_event_flags().reset_pos_to_last_known;
|
||||
event_flags.reset_pos_to_gps = _ekf.information_event_flags().reset_pos_to_gps;
|
||||
event_flags.reset_pos_to_vision = _ekf.information_event_flags().reset_pos_to_vision;
|
||||
event_flags.starting_gps_fusion = _ekf.information_event_flags().starting_gps_fusion;
|
||||
event_flags.starting_vision_pos_fusion = _ekf.information_event_flags().starting_vision_pos_fusion;
|
||||
event_flags.starting_vision_vel_fusion = _ekf.information_event_flags().starting_vision_vel_fusion;
|
||||
event_flags.starting_vision_yaw_fusion = _ekf.information_event_flags().starting_vision_yaw_fusion;
|
||||
event_flags.yaw_aligned_to_imu_gps = _ekf.information_event_flags().yaw_aligned_to_imu_gps;
|
||||
event_flags.reset_hgt_to_baro = _ekf.information_event_flags().reset_hgt_to_baro;
|
||||
event_flags.reset_hgt_to_gps = _ekf.information_event_flags().reset_hgt_to_gps;
|
||||
event_flags.reset_hgt_to_rng = _ekf.information_event_flags().reset_hgt_to_rng;
|
||||
event_flags.reset_hgt_to_ev = _ekf.information_event_flags().reset_hgt_to_ev;
|
||||
|
||||
event_flags.warning_event_changes = _filter_warning_event_changes;
|
||||
event_flags.gps_quality_poor = _ekf.warning_event_flags().gps_quality_poor;
|
||||
event_flags.gps_fusion_timout = _ekf.warning_event_flags().gps_fusion_timout;
|
||||
event_flags.gps_data_stopped = _ekf.warning_event_flags().gps_data_stopped;
|
||||
event_flags.gps_data_stopped_using_alternate = _ekf.warning_event_flags().gps_data_stopped_using_alternate;
|
||||
event_flags.height_sensor_timeout = _ekf.warning_event_flags().height_sensor_timeout;
|
||||
event_flags.stopping_navigation = _ekf.warning_event_flags().stopping_mag_use;
|
||||
event_flags.invalid_accel_bias_cov_reset = _ekf.warning_event_flags().invalid_accel_bias_cov_reset;
|
||||
event_flags.bad_yaw_using_gps_course = _ekf.warning_event_flags().bad_yaw_using_gps_course;
|
||||
event_flags.stopping_mag_use = _ekf.warning_event_flags().stopping_mag_use;
|
||||
event_flags.vision_data_stopped = _ekf.warning_event_flags().vision_data_stopped;
|
||||
event_flags.emergency_yaw_reset_mag_stopped = _ekf.warning_event_flags().emergency_yaw_reset_mag_stopped;
|
||||
event_flags.emergency_yaw_reset_gps_yaw_stopped = _ekf.warning_event_flags().emergency_yaw_reset_gps_yaw_stopped;
|
||||
|
||||
event_flags.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
|
||||
_estimator_event_flags_pub.update(event_flags);
|
||||
|
||||
_last_event_flags_publish = event_flags.timestamp;
|
||||
|
||||
_ekf.clear_information_events();
|
||||
_ekf.clear_warning_events();
|
||||
|
||||
} else if ((_last_event_flags_publish != 0) && (timestamp >= _last_event_flags_publish + 1_s)) {
|
||||
// continue publishing periodically
|
||||
_estimator_event_flags_pub.get().timestamp = _replay_mode ? timestamp : hrt_absolute_time();
|
||||
_estimator_event_flags_pub.update();
|
||||
_last_event_flags_publish = _estimator_event_flags_pub.get().timestamp;
|
||||
}
|
||||
}
|
||||
|
||||
void EKF2::PublishGlobalPosition(const hrt_abstime ×tamp)
|
||||
{
|
||||
if (_ekf.global_position_is_valid()) {
|
||||
@@ -2136,8 +2060,7 @@ void EKF2::UpdateAccelCalibration(const hrt_abstime ×tamp)
|
||||
&& (_ekf.fault_status().value == 0)
|
||||
&& !_ekf.fault_status_flags().bad_acc_bias
|
||||
&& !_ekf.fault_status_flags().bad_acc_clipping
|
||||
&& !_ekf.fault_status_flags().bad_acc_vertical
|
||||
&& !_ekf.warning_event_flags().invalid_accel_bias_cov_reset;
|
||||
&& !_ekf.fault_status_flags().bad_acc_vertical;
|
||||
|
||||
const bool learning_valid = bias_valid && !_ekf.accel_bias_inhibited();
|
||||
|
||||
|
||||
@@ -69,7 +69,6 @@
|
||||
#include <uORB/topics/distance_sensor.h>
|
||||
#include <uORB/topics/ekf2_timestamps.h>
|
||||
#include <uORB/topics/estimator_bias.h>
|
||||
#include <uORB/topics/estimator_event_flags.h>
|
||||
#include <uORB/topics/estimator_gps_status.h>
|
||||
#include <uORB/topics/estimator_innovations.h>
|
||||
#include <uORB/topics/estimator_sensor_bias.h>
|
||||
@@ -145,7 +144,6 @@ private:
|
||||
void PublishEvHgtBias(const hrt_abstime ×tamp);
|
||||
estimator_bias_s fillEstimatorBiasMsg(const BiasEstimator::status &status, uint64_t timestamp_sample_us,
|
||||
uint64_t timestamp, uint32_t device_id = 0);
|
||||
void PublishEventFlags(const hrt_abstime ×tamp);
|
||||
void PublishGlobalPosition(const hrt_abstime ×tamp);
|
||||
void PublishGpsStatus(const hrt_abstime ×tamp);
|
||||
void PublishInnovations(const hrt_abstime ×tamp);
|
||||
@@ -320,7 +318,6 @@ private:
|
||||
|
||||
bool _callback_registered{false};
|
||||
|
||||
hrt_abstime _last_event_flags_publish{0};
|
||||
hrt_abstime _last_status_flags_publish{0};
|
||||
|
||||
uint64_t _filter_control_status{0};
|
||||
@@ -330,15 +327,12 @@ private:
|
||||
uint32_t _filter_control_status_changes{0};
|
||||
uint32_t _filter_fault_status_changes{0};
|
||||
uint32_t _innov_check_fail_status_changes{0};
|
||||
uint32_t _filter_warning_event_changes{0};
|
||||
uint32_t _filter_information_event_changes{0};
|
||||
|
||||
uORB::PublicationMulti<ekf2_timestamps_s> _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
|
||||
uORB::PublicationMulti<estimator_bias_s> _estimator_baro_bias_pub{ORB_ID(estimator_baro_bias)};
|
||||
uORB::PublicationMulti<estimator_bias_s> _estimator_gnss_hgt_bias_pub{ORB_ID(estimator_gnss_hgt_bias)};
|
||||
uORB::PublicationMulti<estimator_bias_s> _estimator_rng_hgt_bias_pub{ORB_ID(estimator_rng_hgt_bias)};
|
||||
uORB::PublicationMulti<estimator_bias_s> _estimator_ev_hgt_bias_pub{ORB_ID(estimator_ev_hgt_bias)};
|
||||
uORB::PublicationMultiData<estimator_event_flags_s> _estimator_event_flags_pub{ORB_ID(estimator_event_flags)};
|
||||
uORB::PublicationMulti<estimator_gps_status_s> _estimator_gps_status_pub{ORB_ID(estimator_gps_status)};
|
||||
uORB::PublicationMulti<estimator_innovations_s> _estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)};
|
||||
uORB::PublicationMulti<estimator_innovations_s> _estimator_innovation_variances_pub{ORB_ID(estimator_innovation_variances)};
|
||||
|
||||
@@ -1,82 +1,82 @@
|
||||
Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
|
||||
10000,1,-0.0107,-0.0106,-0.000114,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
||||
90000,1,-0.0107,-0.01,-0.0217,-0.00105,0.000836,-0.011,-5.7e-05,2.62e-05,-0.00039,0,0,0,0,0,0,0.192,9.31e-10,0.404,0,0,0,0,0,1.54e-06,0.00251,0.00251,0.00209,0.255,0.255,0.563,0.251,0.251,4,1e-06,1e-06,9.99e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
190000,1,-0.0107,-0.0103,-0.0218,-0.00122,1.78e-05,-0.0254,-0.000141,5.9e-05,-0.00221,0,0,0,0,0,0,0.192,9.31e-10,0.404,0,0,0,0,0,1.13e-06,0.00257,0.00257,0.00116,0.28,0.28,0.564,0.257,0.257,1,1e-06,1e-06,9.93e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
290000,1,-0.0107,-0.0106,-0.0217,0.000474,0.000421,-0.0393,1.67e-05,-4.63e-06,-0.00542,0,0,0,0,0,0,0.192,9.31e-10,0.404,0,0,0,0,0,1.01e-06,0.00268,0.00268,0.000837,25,25,0.564,100,100,0.366,1e-06,1e-06,9.76e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
390000,1,-0.0108,-0.0109,-0.0217,0.00124,0.000158,-0.0539,0.000102,4.68e-05,-0.0101,0,0,0,0,0,0,0.192,9.31e-10,0.404,0,0,0,0,0,9.84e-07,0.00284,0.00284,0.000692,25,25,0.561,101,101,0.218,1e-06,1e-06,9.45e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
490000,1,-0.0108,-0.0113,-0.0218,0.00303,-0.000864,-0.0693,0.00017,-4.71e-05,-0.0163,2.61e-12,-7.74e-12,-8.93e-14,0,0,-1.79e-13,0.192,9.31e-10,0.404,0,0,0,0,0,1.02e-06,0.00305,0.00305,0.000625,24.8,24.8,0.551,0.373,0.373,0.163,1e-06,1e-06,8.99e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
590000,1,-0.0109,-0.0116,-0.0218,0.00444,-0.000548,-0.0825,0.000551,-0.000115,-0.0238,2.61e-12,-7.74e-12,-8.93e-14,0,0,-1.79e-13,0.192,9.31e-10,0.404,0,0,0,0,0,1.09e-06,0.00331,0.00331,0.000596,24.9,24.9,0.535,0.971,0.971,0.143,1e-06,1e-06,8.38e-07,4e-06,4e-06,4e-06,0,0,0,0,0,0,0,0
|
||||
690000,1,-0.011,-0.0118,-0.0217,0.00398,-0.00131,-0.0977,0.000301,-0.0001,-0.0328,-1.72e-09,-1.03e-08,1.16e-10,0,0,-3.08e-10,0.192,9.31e-10,0.404,0,0,0,0,0,1.19e-06,0.00361,0.00361,0.000587,7.83,7.83,0.506,0.337,0.337,0.131,1e-06,1e-06,7.67e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
790000,1,-0.0111,-0.0122,-0.0217,0.00556,-0.00143,-0.112,0.000762,-0.000254,-0.0433,-1.72e-09,-1.03e-08,1.16e-10,0,0,-3.08e-10,0.192,9.31e-10,0.404,0,0,0,0,0,1.31e-06,0.00397,0.00397,0.000586,7.91,7.91,0.476,0.674,0.674,0.13,1e-06,1e-06,6.89e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
890000,1,-0.0112,-0.0124,-0.0217,0.00696,-0.002,-0.127,0.000535,-0.00018,-0.0552,-1.16e-08,-4.53e-08,6.34e-10,0,0,-1.13e-09,0.192,9.31e-10,0.404,0,0,0,0,0,1.45e-06,0.00435,0.00435,0.000586,2.67,2.67,0.482,0.256,0.256,0.165,9.98e-07,9.99e-07,6.1e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
990000,1,-0.0113,-0.0127,-0.0217,0.0106,-0.00391,-0.142,0.00141,-0.000459,-0.0687,-1.16e-08,-4.53e-08,6.34e-10,0,0,-1.13e-09,0.192,9.31e-10,0.404,0,0,0,0,0,1.61e-06,0.00481,0.00481,0.000585,2.78,2.78,0.489,0.418,0.418,0.21,9.98e-07,9.99e-07,5.34e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1090000,1,-0.0113,-0.013,-0.0217,0.0113,-0.00459,-0.157,0.00109,-0.000405,-0.0836,-5.98e-08,-2.07e-07,2.85e-09,0,0,-4.12e-09,0.192,9.31e-10,0.404,0,0,0,0,0,1.78e-06,0.00524,0.00524,0.00058,1.32,1.32,0.496,0.202,0.202,0.265,9.94e-07,9.94e-07,4.63e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1190000,1,-0.0114,-0.0133,-0.0217,0.0151,-0.00658,-0.172,0.00238,-0.000961,-0.1,-5.98e-08,-2.07e-07,2.85e-09,0,0,-4.12e-09,0.192,9.31e-10,0.404,0,0,0,0,0,1.98e-06,0.0058,0.0058,0.000571,1.48,1.48,0.505,0.298,0.298,0.33,9.94e-07,9.94e-07,4e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1290000,1,-0.0114,-0.0135,-0.0216,0.0155,-0.00646,-0.185,0.00185,-0.000775,-0.118,-2.62e-07,-7.61e-07,1.11e-08,0,0,-1.31e-08,0.192,9.31e-10,0.404,0,0,0,0,0,2.13e-06,0.00617,0.00617,0.000559,0.951,0.952,0.514,0.169,0.169,0.406,9.79e-07,9.79e-07,3.45e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1390000,1,-0.0115,-0.0138,-0.0216,0.0211,-0.00882,-0.198,0.00371,-0.00152,-0.137,-2.62e-07,-7.61e-07,1.11e-08,0,0,-1.31e-08,0.192,9.31e-10,0.404,0,0,0,0,0,2.38e-06,0.0068,0.0068,0.000546,1.18,1.18,0.524,0.24,0.24,0.492,9.79e-07,9.79e-07,2.97e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1490000,1,-0.0115,-0.0139,-0.0217,0.0211,-0.00826,-0.212,0.00288,-0.00116,-0.158,-7.84e-07,-2.24e-06,3.14e-08,0,0,-3.37e-08,0.192,9.31e-10,0.404,0,0,0,0,0,2.46e-06,0.00688,0.00688,0.00053,0.92,0.92,0.535,0.15,0.15,0.59,9.4e-07,9.41e-07,2.56e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1590000,1,-0.0116,-0.0142,-0.0217,0.0273,-0.00961,-0.225,0.00528,-0.00204,-0.179,-7.84e-07,-2.24e-06,3.14e-08,0,0,-3.37e-08,0.192,9.31e-10,0.404,0,0,0,0,0,2.74e-06,0.00756,0.00756,0.000514,1.21,1.21,0.546,0.215,0.215,0.699,9.4e-07,9.41e-07,2.21e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1690000,1,-0.0116,-0.014,-0.0217,0.0267,-0.0105,-0.238,0.00393,-0.00151,-0.203,-1.79e-06,-5.25e-06,6.92e-08,0,0,-7.04e-08,0.192,9.31e-10,0.404,0,0,0,0,0,2.63e-06,0.00707,0.00707,0.000497,0.996,0.997,0.558,0.141,0.141,0.819,8.66e-07,8.66e-07,1.92e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1790000,1,-0.0116,-0.0143,-0.0217,0.0342,-0.0139,-0.253,0.00693,-0.00271,-0.227,-1.79e-06,-5.25e-06,6.92e-08,0,0,-7.04e-08,0.192,9.31e-10,0.404,0,0,0,0,0,2.92e-06,0.00775,0.00775,0.00048,1.33,1.33,0.572,0.208,0.208,0.952,8.66e-07,8.66e-07,1.67e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1890000,1,-0.0114,-0.0139,-0.0218,0.0305,-0.0119,-0.267,0.00481,-0.00189,-0.253,-3.45e-06,-1.01e-05,1.28e-07,0,0,-1.23e-07,0.192,9.31e-10,0.404,0,0,0,0,0,2.54e-06,0.00658,0.00658,0.000463,1.05,1.05,0.586,0.138,0.138,1.1,7.56e-07,7.57e-07,1.46e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
|
||||
1990000,1,-0.0114,-0.0141,-0.0218,0.0373,-0.0141,-0.281,0.00822,-0.00321,-0.28,-3.45e-06,-1.01e-05,1.28e-07,0,0,-1.23e-07,0.192,9.31e-10,0.404,0,0,0,0,0,2.78e-06,0.0072,0.0072,0.000447,1.39,1.39,0.6,0.208,0.208,1.26,7.56e-07,7.57e-07,1.28e-07,4e-06,4e-06,3.99e-06,0,0,0,0,0,0,0,0
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19390000,0.706,0.000149,-0.0121,0.708,0.0125,0.000484,0.0123,0.00802,-0.000239,-365,-1.38e-05,-6.06e-05,5.14e-06,-1.19e-05,6.71e-05,-0.0013,0.207,0.00204,0.435,0,0,0,0,0,8.28e-05,0.000114,0.000114,8.04e-05,0.0276,0.0276,0.0115,0.0445,0.0445,0.0431,3.31e-10,3.31e-10,5.63e-10,3.04e-06,3.04e-06,5.7e-08,0,0,0,0,0,0,0,0
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19490000,0.706,0.000172,-0.0121,0.708,0.0116,-0.000224,0.00869,0.0092,-0.000229,-365,-1.38e-05,-6.06e-05,5.42e-06,-1.19e-05,6.71e-05,-0.0013,0.207,0.00204,0.435,0,0,0,0,0,8.25e-05,0.000115,0.000115,8.01e-05,0.0303,0.0303,0.0113,0.0502,0.0502,0.043,3.31e-10,3.32e-10,5.52e-10,3.04e-06,3.04e-06,5.53e-08,0,0,0,0,0,0,0,0
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19590000,0.706,0.000222,-0.012,0.708,0.00964,-0.00126,0.008,0.00743,-0.000258,-365,-1.4e-05,-6.06e-05,5.77e-06,-1.21e-05,7.02e-05,-0.0013,0.207,0.00204,0.435,0,0,0,0,0,8.23e-05,0.000112,0.000112,7.98e-05,0.027,0.027,0.011,0.0444,0.0444,0.0423,3.02e-10,3.02e-10,5.41e-10,3.02e-06,3.02e-06,5.31e-08,0,0,0,0,0,0,0,0
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19790000,0.706,0.00029,-0.012,0.708,0.00768,-0.00428,0.00996,0.00681,-0.000401,-365,-1.41e-05,-6.05e-05,5.61e-06,-1.16e-05,7.29e-05,-0.0013,0.207,0.00204,0.435,0,0,0,0,0,8.19e-05,0.00011,0.000109,7.94e-05,0.0263,0.0263,0.0106,0.0442,0.0442,0.042,2.76e-10,2.76e-10,5.21e-10,3.01e-06,3.01e-06,5e-08,0,0,0,0,0,0,0,0
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20190000,0.707,0.000323,-0.0119,0.707,0.00142,-0.00789,0.0165,0.00421,-0.00104,-365,-1.43e-05,-6.05e-05,7.13e-06,-9.73e-06,7.78e-05,-0.0013,0.207,0.00204,0.435,0,0,0,0,0,8.1e-05,0.000106,0.000106,7.86e-05,0.025,0.025,0.00991,0.0439,0.0439,0.0409,2.32e-10,2.32e-10,4.83e-10,2.99e-06,2.99e-06,5e-08,0,0,0,0,0,0,0,0
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18990000,0.706,9.41e-05,-0.0124,0.708,0.0141,0.00147,0.00273,0.00634,-0.000704,-365,-1.36e-05,-6.05e-05,5.17e-06,-1.69e-05,6.16e-05,-0.00129,0.207,0.00204,0.435,0,0,0,0,0,8.36e-05,0.000118,0.000118,8.12e-05,0.0289,0.0289,0.0123,0.0448,0.0448,0.0438,3.96e-10,3.96e-10,6.08e-10,3.05e-06,3.05e-06,6.55e-08,0,0,0,0,0,0,0,0
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19090000,0.706,7.85e-05,-0.0123,0.708,0.0148,0.00206,0.00573,0.00777,-0.0005,-365,-1.36e-05,-6.05e-05,5.16e-06,-1.69e-05,6.16e-05,-0.00129,0.207,0.00204,0.435,0,0,0,0,0,8.35e-05,0.000119,0.000119,8.1e-05,0.0319,0.0319,0.0123,0.0506,0.0506,0.0442,3.96e-10,3.96e-10,5.97e-10,3.05e-06,3.05e-06,6.37e-08,0,0,0,0,0,0,0,0
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19190000,0.706,8.11e-05,-0.0122,0.708,0.0147,0.00206,0.00576,0.00859,-0.000452,-365,-1.36e-05,-6.06e-05,5.31e-06,-1.73e-05,6.13e-05,-0.00129,0.207,0.00204,0.435,0,0,0,0,0,8.32e-05,0.000115,0.000115,8.08e-05,0.0282,0.0282,0.0119,0.0446,0.0446,0.0435,3.61e-10,3.61e-10,5.85e-10,3.03e-06,3.04e-06,6.1e-08,0,0,0,0,0,0,0,0
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19290000,0.706,0.000104,-0.0121,0.708,0.0151,0.00131,0.00847,0.01,-0.000265,-365,-1.36e-05,-6.06e-05,5.15e-06,-1.74e-05,6.14e-05,-0.0013,0.207,0.00204,0.435,0,0,0,0,0,8.29e-05,0.000116,0.000116,8.05e-05,0.0311,0.0311,0.0117,0.0504,0.0504,0.0434,3.61e-10,3.61e-10,5.73e-10,3.03e-06,3.04e-06,5.92e-08,0,0,0,0,0,0,0,0
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19390000,0.706,0.000116,-0.0121,0.708,0.0126,0.000389,0.0123,0.00805,-0.00028,-365,-1.38e-05,-6.06e-05,5.3e-06,-1.79e-05,6.52e-05,-0.0013,0.207,0.00204,0.435,0,0,0,0,0,8.28e-05,0.000113,0.000112,8.04e-05,0.0276,0.0276,0.0115,0.0445,0.0445,0.0431,3.29e-10,3.29e-10,5.63e-10,3.02e-06,3.02e-06,5.69e-08,0,0,0,0,0,0,0,0
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19490000,0.706,0.000138,-0.0121,0.708,0.0117,-0.000325,0.00867,0.00924,-0.00028,-365,-1.38e-05,-6.06e-05,5.58e-06,-1.79e-05,6.52e-05,-0.0013,0.207,0.00204,0.435,0,0,0,0,0,8.25e-05,0.000114,0.000114,8.01e-05,0.0303,0.0303,0.0113,0.0502,0.0502,0.043,3.29e-10,3.29e-10,5.52e-10,3.02e-06,3.02e-06,5.53e-08,0,0,0,0,0,0,0,0
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19590000,0.706,0.000188,-0.012,0.708,0.00972,-0.00135,0.00797,0.00746,-0.000299,-365,-1.39e-05,-6.06e-05,5.93e-06,-1.81e-05,6.82e-05,-0.0013,0.207,0.00204,0.435,0,0,0,0,0,8.23e-05,0.00011,0.00011,7.98e-05,0.0269,0.0269,0.011,0.0444,0.0444,0.0423,3e-10,3e-10,5.41e-10,3.01e-06,3.01e-06,5.31e-08,0,0,0,0,0,0,0,0
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19690000,0.706,0.000188,-0.012,0.708,0.0101,-0.00354,0.00949,0.00845,-0.000549,-365,-1.4e-05,-6.06e-05,5.74e-06,-1.81e-05,6.82e-05,-0.0013,0.207,0.00204,0.435,0,0,0,0,0,8.2e-05,0.000111,0.000111,7.96e-05,0.0295,0.0295,0.0109,0.05,0.05,0.0422,3e-10,3e-10,5.3e-10,3.01e-06,3.01e-06,5.16e-08,0,0,0,0,0,0,0,0
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19790000,0.707,0.000255,-0.012,0.708,0.00776,-0.00437,0.00994,0.00684,-0.000441,-365,-1.41e-05,-6.05e-05,5.77e-06,-1.76e-05,7.08e-05,-0.0013,0.207,0.00204,0.435,0,0,0,0,0,8.19e-05,0.000108,0.000108,7.94e-05,0.0262,0.0262,0.0106,0.0442,0.0442,0.042,2.74e-10,2.74e-10,5.21e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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19890000,0.707,0.000203,-0.0119,0.707,0.00653,-0.00465,0.0111,0.00756,-0.000907,-365,-1.41e-05,-6.06e-05,6.15e-06,-1.76e-05,7.08e-05,-0.0013,0.207,0.00204,0.435,0,0,0,0,0,8.16e-05,0.000109,0.000109,7.92e-05,0.0287,0.0287,0.0105,0.0497,0.0497,0.0419,2.74e-10,2.75e-10,5.11e-10,3e-06,3e-06,5e-08,0,0,0,0,0,0,0,0
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19990000,0.707,0.000189,-0.0119,0.707,0.00406,-0.00534,0.0139,0.00616,-0.000758,-365,-1.41e-05,-6.05e-05,6.66e-06,-1.69e-05,7.27e-05,-0.0013,0.207,0.00204,0.435,0,0,0,0,0,8.13e-05,0.000106,0.000106,7.89e-05,0.0256,0.0256,0.0102,0.0441,0.0441,0.0412,2.51e-10,2.51e-10,5.01e-10,2.99e-06,2.99e-06,5e-08,0,0,0,0,0,0,0,0
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20090000,0.707,0.000183,-0.0119,0.707,0.00385,-0.0073,0.0142,0.00655,-0.00137,-365,-1.41e-05,-6.05e-05,7.08e-06,-1.69e-05,7.27e-05,-0.0013,0.207,0.00204,0.435,0,0,0,0,0,8.12e-05,0.000107,0.000107,7.88e-05,0.028,0.028,0.0102,0.0495,0.0495,0.0415,2.51e-10,2.52e-10,4.93e-10,2.99e-06,2.99e-06,5e-08,0,0,0,0,0,0,0,0
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20190000,0.707,0.000288,-0.0119,0.707,0.00151,-0.00797,0.0164,0.00424,-0.00108,-365,-1.43e-05,-6.05e-05,7.27e-06,-1.58e-05,7.55e-05,-0.0013,0.207,0.00204,0.435,0,0,0,0,0,8.1e-05,0.000104,0.000104,7.86e-05,0.0249,0.0249,0.00991,0.0439,0.0439,0.0409,2.31e-10,2.31e-10,4.83e-10,2.98e-06,2.98e-06,5e-08,0,0,0,0,0,0,0,0
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||||
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|
@@ -1,351 +1,351 @@
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||||
Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
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32590000,0.983,-0.00973,-0.013,0.184,0.04,-0.0749,-0.122,0.0211,0.0197,0.0898,-1.35e-05,-5.66e-05,2.18e-06,0.000286,-0.00018,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.62e-06,7.86e-05,7.74e-05,4.48e-05,0.0156,0.0157,0.00754,0.0369,0.0369,0.0351,2.72e-11,2.72e-11,9.64e-11,2.67e-06,2.68e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
32690000,0.983,-0.00971,-0.0128,0.184,0.0358,-0.0806,-0.123,0.025,0.0119,0.0747,-1.35e-05,-5.66e-05,2.16e-06,0.000286,-0.00018,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.61e-06,7.88e-05,7.76e-05,4.46e-05,0.0185,0.0186,0.00736,0.0406,0.0406,0.0351,2.73e-11,2.73e-11,9.56e-11,2.67e-06,2.68e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
32790000,0.983,-0.00939,-0.0129,0.184,0.0341,-0.0781,-0.124,0.0346,0.0101,0.0593,-1.36e-05,-5.65e-05,2.24e-06,0.000286,-0.00018,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.61e-06,7.62e-05,7.5e-05,4.45e-05,0.0193,0.0195,0.00713,0.0372,0.0372,0.0351,2.68e-11,2.68e-11,9.48e-11,2.67e-06,2.68e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
32890000,0.983,-0.00935,-0.013,0.184,0.0337,-0.084,-0.126,0.038,0.00194,0.0437,-1.36e-05,-5.65e-05,2.27e-06,0.000286,-0.00018,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.6e-06,7.63e-05,7.52e-05,4.44e-05,0.0231,0.0233,0.00696,0.041,0.041,0.035,2.69e-11,2.69e-11,9.39e-11,2.67e-06,2.68e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
32990000,0.983,-0.00908,-0.0129,0.184,0.0308,-0.08,-0.125,0.0456,-0.00121,0.0308,-1.37e-05,-5.65e-05,2.35e-06,0.000286,-0.00018,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.6e-06,7.21e-05,7.11e-05,4.42e-05,0.0238,0.0241,0.00672,0.0376,0.0376,0.0347,2.65e-11,2.65e-11,9.31e-11,2.67e-06,2.68e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33090000,0.983,-0.00904,-0.0129,0.184,0.0267,-0.0838,-0.122,0.0485,-0.00937,0.0237,-1.37e-05,-5.65e-05,2.33e-06,0.000286,-0.00018,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.59e-06,7.22e-05,7.12e-05,4.41e-05,0.0283,0.0287,0.00661,0.0417,0.0417,0.0349,2.66e-11,2.66e-11,9.24e-11,2.67e-06,2.68e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33190000,0.983,-0.00873,-0.0128,0.184,0.0224,-0.0793,-0.12,0.0544,-0.0112,0.0174,-1.38e-05,-5.64e-05,2.28e-06,0.000286,-0.000184,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.58e-06,6.65e-05,6.56e-05,4.39e-05,0.0288,0.0291,0.0064,0.0382,0.0382,0.0345,2.62e-11,2.62e-11,9.15e-11,2.67e-06,2.68e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33290000,0.983,-0.00878,-0.0128,0.184,0.0191,-0.0806,-0.119,0.0564,-0.0192,0.00989,-1.38e-05,-5.64e-05,2.37e-06,0.000286,-0.000184,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.58e-06,6.66e-05,6.57e-05,4.38e-05,0.0347,0.0351,0.00629,0.0428,0.0428,0.0344,2.63e-11,2.63e-11,9.07e-11,2.67e-06,2.68e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33390000,0.983,-0.00832,-0.0129,0.184,0.0142,-0.0665,-0.118,0.0594,-0.0142,-0.0011,-1.39e-05,-5.64e-05,2.38e-06,0.000281,-0.000206,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.57e-06,5.99e-05,5.92e-05,4.37e-05,0.0346,0.0351,0.00616,0.039,0.0391,0.0343,2.6e-11,2.6e-11,9e-11,2.66e-06,2.67e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33490000,0.983,-0.0083,-0.0128,0.184,0.00968,-0.0674,-0.118,0.0606,-0.0208,-0.0151,-1.39e-05,-5.64e-05,2.38e-06,0.000281,-0.000206,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.57e-06,6e-05,5.93e-05,4.35e-05,0.0416,0.0421,0.00608,0.0441,0.0442,0.0342,2.61e-11,2.61e-11,8.92e-11,2.66e-06,2.67e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33590000,0.983,-0.00793,-0.0129,0.184,0.00573,-0.0581,-0.116,0.0629,-0.017,-0.0262,-1.39e-05,-5.64e-05,2.43e-06,0.000274,-0.000231,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.56e-06,5.3e-05,5.24e-05,4.34e-05,0.0401,0.0405,0.00596,0.0401,0.0401,0.0338,2.59e-11,2.58e-11,8.84e-11,2.62e-06,2.63e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33690000,0.983,-0.00793,-0.0128,0.184,0.00104,-0.0584,-0.118,0.0633,-0.0228,-0.0378,-1.39e-05,-5.64e-05,2.44e-06,0.000274,-0.000231,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.56e-06,5.31e-05,5.25e-05,4.33e-05,0.0476,0.0481,0.00594,0.0456,0.0457,0.0339,2.6e-11,2.59e-11,8.78e-11,2.62e-06,2.63e-06,5.01e-08,0,0,0,0,0,0,0,0
|
||||
33790000,0.983,-0.00768,-0.0129,0.184,-0.00222,-0.0476,-0.113,0.067,-0.0181,-0.0481,-1.4e-05,-5.63e-05,2.38e-06,0.000262,-0.000257,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.55e-06,4.65e-05,4.6e-05,4.32e-05,0.0443,0.0447,0.00585,0.0412,0.0412,0.0335,2.58e-11,2.58e-11,8.7e-11,2.55e-06,2.56e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33890000,0.983,-0.0077,-0.0129,0.184,-0.00643,-0.0454,-0.113,0.0665,-0.0228,-0.0599,-1.4e-05,-5.63e-05,2.43e-06,0.000262,-0.000257,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.55e-06,4.66e-05,4.61e-05,4.3e-05,0.0518,0.0523,0.00584,0.0473,0.0474,0.0334,2.59e-11,2.59e-11,8.63e-11,2.55e-06,2.56e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
33990000,0.983,-0.0074,-0.013,0.184,-0.00614,-0.031,-0.111,0.0696,-0.0152,-0.0694,-1.4e-05,-5.63e-05,2.36e-06,0.000239,-0.000287,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.54e-06,4.1e-05,4.06e-05,4.28e-05,0.0467,0.047,0.00578,0.0423,0.0424,0.033,2.58e-11,2.58e-11,8.55e-11,2.46e-06,2.47e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34090000,0.983,-0.00735,-0.0131,0.184,-0.0105,-0.0311,-0.112,0.0688,-0.0184,-0.0806,-1.4e-05,-5.63e-05,2.33e-06,0.000239,-0.000287,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.54e-06,4.1e-05,4.07e-05,4.28e-05,0.054,0.0543,0.00583,0.0488,0.0489,0.0331,2.59e-11,2.59e-11,8.49e-11,2.46e-06,2.47e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34190000,0.983,-0.00726,-0.0131,0.184,-0.0113,-0.0204,-0.11,0.0723,-0.0128,-0.0907,-1.4e-05,-5.63e-05,2.35e-06,0.000222,-0.000307,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.53e-06,3.65e-05,3.62e-05,4.26e-05,0.0475,0.0478,0.00579,0.0434,0.0434,0.0327,2.58e-11,2.58e-11,8.42e-11,2.36e-06,2.37e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34290000,0.983,-0.00712,-0.0132,0.184,-0.0118,-0.0196,-0.111,0.0711,-0.0149,-0.102,-1.4e-05,-5.63e-05,2.35e-06,0.000222,-0.000307,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.53e-06,3.66e-05,3.63e-05,4.25e-05,0.0543,0.0546,0.00583,0.0501,0.0502,0.0326,2.59e-11,2.59e-11,8.35e-11,2.36e-06,2.37e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34390000,0.983,-0.00702,-0.0132,0.184,-0.013,-0.01,-0.106,0.0726,-0.0101,-0.111,-1.4e-05,-5.63e-05,2.34e-06,0.000207,-0.00032,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.52e-06,3.32e-05,3.29e-05,4.24e-05,0.047,0.0472,0.00585,0.0443,0.0443,0.0325,2.6e-11,2.59e-11,8.29e-11,2.26e-06,2.27e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34490000,0.983,-0.0071,-0.0131,0.184,-0.0159,-0.00902,-0.106,0.0712,-0.0111,-0.121,-1.4e-05,-5.63e-05,2.36e-06,0.000207,-0.00032,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.52e-06,3.33e-05,3.3e-05,4.22e-05,0.0531,0.0534,0.00591,0.0512,0.0513,0.0324,2.61e-11,2.6e-11,8.22e-11,2.26e-06,2.27e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34590000,0.983,-0.00704,-0.0129,0.184,-0.0149,-0.00454,0.688,0.073,-0.00875,-0.0983,-1.4e-05,-5.62e-05,2.33e-06,0.000194,-0.000322,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.51e-06,3.08e-05,3.05e-05,4.21e-05,0.0438,0.044,0.00592,0.0449,0.045,0.0321,2.61e-11,2.61e-11,8.15e-11,2.15e-06,2.16e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34690000,0.983,-0.00703,-0.0127,0.184,-0.0181,-0.00214,1.68,0.0713,-0.00908,0.0201,-1.4e-05,-5.62e-05,2.31e-06,0.000194,-0.000322,-0.00107,0.205,0.00202,0.433,0,0,0,0,0,1.51e-06,3.08e-05,3.06e-05,4.2e-05,0.0473,0.0474,0.00603,0.0516,0.0517,0.0322,2.62e-11,2.62e-11,8.09e-11,2.15e-06,2.16e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34790000,0.983,-0.00702,-0.0125,0.184,-0.0198,0.00263,2.65,0.0725,-0.00677,0.199,-1.4e-05,-5.62e-05,2.28e-06,0.000207,-0.000337,-0.00105,0.205,0.00202,0.433,0,0,0,0,0,1.5e-06,2.94e-05,2.92e-05,4.19e-05,0.0398,0.0399,0.00605,0.0453,0.0453,0.0319,2.62e-11,2.62e-11,8.03e-11,2.04e-06,2.05e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
34890000,0.983,-0.007,-0.0122,0.184,-0.0236,0.00532,3.63,0.0702,-0.00623,0.49,-1.4e-05,-5.62e-05,2.26e-06,0.000211,-0.000339,-0.00104,0.205,0.00202,0.433,0,0,0,0,0,1.5e-06,2.95e-05,2.93e-05,4.17e-05,0.0434,0.0435,0.00615,0.0517,0.0517,0.0318,2.63e-11,2.63e-11,7.96e-11,2.04e-06,2.05e-06,5e-08,0,0,0,0,0,0,0,0
|
||||
|
||||
|
@@ -148,7 +148,6 @@ void LoggedTopics::add_default_topics()
|
||||
add_topic("estimator_gnss_hgt_bias", 500);
|
||||
add_topic("estimator_rng_hgt_bias", 500);
|
||||
add_topic("estimator_ev_hgt_bias", 500);
|
||||
add_topic("estimator_event_flags", 0);
|
||||
add_topic("estimator_gps_status", 1000);
|
||||
add_topic("estimator_innovation_test_ratios", 500);
|
||||
add_topic("estimator_innovation_variances", 500);
|
||||
@@ -165,7 +164,6 @@ void LoggedTopics::add_default_topics()
|
||||
add_optional_topic_multi("estimator_gnss_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
|
||||
add_optional_topic_multi("estimator_rng_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
|
||||
add_optional_topic_multi("estimator_ev_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES);
|
||||
add_optional_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES);
|
||||
add_optional_topic_multi("estimator_gps_status", 1000, MAX_ESTIMATOR_INSTANCES);
|
||||
add_optional_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES);
|
||||
add_optional_topic_multi("estimator_innovation_variances", 500, MAX_ESTIMATOR_INSTANCES);
|
||||
@@ -248,7 +246,6 @@ void LoggedTopics::add_default_topics()
|
||||
add_topic("estimator_gnss_hgt_bias");
|
||||
add_topic("estimator_rng_hgt_bias");
|
||||
add_topic("estimator_ev_hgt_bias");
|
||||
add_topic("estimator_event_flags");
|
||||
add_topic("estimator_gps_status");
|
||||
add_topic("estimator_innovation_test_ratios");
|
||||
add_topic("estimator_innovation_variances");
|
||||
|
||||
Reference in New Issue
Block a user