/**************************************************************************** * * Copyright (c) 2022 PX4 Development Team. 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 ev_vel_control.cpp * Control functions for ekf external vision velocity fusion */ #include "ekf.h" void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, estimator_aid_source3d_s &aid_src) { static constexpr const char *AID_SRC_NAME = "EV velocity"; const bool yaw_alignment_changed = (!_control_status_prev.flags.ev_yaw && _control_status.flags.ev_yaw) || (_control_status_prev.flags.yaw_align != _control_status.flags.yaw_align); // determine if we should use EV velocity aiding bool continuing_conditions_passing = (_params.ev_ctrl & static_cast(EvCtrl::VEL)) && _control_status.flags.tilt_align && ev_sample.vel.isAllFinite(); // correct velocity for offset relative to IMU const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body; const Vector3f vel_offset_body = _ang_rate_delayed_raw % pos_offset_body; const Vector3f vel_offset_earth = _R_to_earth * vel_offset_body; // rotate measurement into correct earth frame if required Vector3f vel{NAN, NAN, NAN}; Matrix3f vel_cov{}; switch (ev_sample.vel_frame) { case VelocityFrame::LOCAL_FRAME_NED: if (_control_status.flags.yaw_align) { vel = ev_sample.vel - vel_offset_earth; vel_cov = matrix::diag(ev_sample.velocity_var); } else { continuing_conditions_passing = false; } break; case VelocityFrame::LOCAL_FRAME_FRD: if (_control_status.flags.ev_yaw) { // using EV frame vel = ev_sample.vel - vel_offset_earth; vel_cov = matrix::diag(ev_sample.velocity_var); } else { // rotate EV to the EKF reference frame const Dcmf R_ev_to_ekf = Dcmf(_ev_q_error_filt.getState()); vel = R_ev_to_ekf * ev_sample.vel - vel_offset_earth; vel_cov = R_ev_to_ekf * matrix::diag(ev_sample.velocity_var) * R_ev_to_ekf.transpose(); // increase minimum variance to include EV orientation variance // TODO: do this properly const float orientation_var_max = ev_sample.orientation_var.max(); for (int i = 0; i < 2; i++) { vel_cov(i, i) = math::max(vel_cov(i, i), orientation_var_max); } } break; case VelocityFrame::BODY_FRAME_FRD: vel = _R_to_earth * (ev_sample.vel - vel_offset_body); vel_cov = _R_to_earth * matrix::diag(ev_sample.velocity_var) * _R_to_earth.transpose(); break; default: continuing_conditions_passing = false; break; } #if defined(CONFIG_EKF2_GNSS) // increase minimum variance if GPS active (position reference) if (_control_status.flags.gps) { for (int i = 0; i < 2; i++) { vel_cov(i, i) = math::max(vel_cov(i, i), sq(_params.gps_vel_noise)); } } #endif // CONFIG_EKF2_GNSS const Vector3f measurement{vel}; const Vector3f measurement_var{ math::max(vel_cov(0, 0), sq(_params.ev_vel_noise), sq(0.01f)), math::max(vel_cov(1, 1), sq(_params.ev_vel_noise), sq(0.01f)), math::max(vel_cov(2, 2), sq(_params.ev_vel_noise), sq(0.01f)) }; const bool measurement_valid = measurement.isAllFinite() && measurement_var.isAllFinite(); updateVelocityAidSrcStatus(ev_sample.time_us, measurement, // observation measurement_var, // observation variance math::max(_params.ev_vel_innov_gate, 1.f), // innovation gate aid_src); if (!measurement_valid) { continuing_conditions_passing = false; } const bool starting_conditions_passing = common_starting_conditions_passing && continuing_conditions_passing && ((Vector3f(aid_src.test_ratio).max() < 0.1f) || !isHorizontalAidingActive()); if (_control_status.flags.ev_vel) { if (continuing_conditions_passing) { if ((ev_reset && isOnlyActiveSourceOfHorizontalAiding(_control_status.flags.ev_vel)) || yaw_alignment_changed) { if (quality_sufficient) { ECL_INFO("reset to %s", AID_SRC_NAME); _information_events.flags.reset_vel_to_vision = true; resetVelocityTo(measurement, measurement_var); aid_src.time_last_fuse = _time_delayed_us; } else { // EV has reset, but quality isn't sufficient // we have no choice but to stop EV and try to resume once quality is acceptable stopEvVelFusion(); return; } } else if (quality_sufficient) { fuseVelocity(aid_src); } else { aid_src.innovation_rejected = true; } const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.no_aid_timeout_max); // 1 second if (is_fusion_failing) { if ((_nb_ev_vel_reset_available > 0) && quality_sufficient) { // Data seems good, attempt a reset _information_events.flags.reset_vel_to_vision = true; ECL_WARN("%s fusion failing, resetting", AID_SRC_NAME); resetVelocityTo(measurement, measurement_var); aid_src.time_last_fuse = _time_delayed_us; if (_control_status.flags.in_air) { _nb_ev_vel_reset_available--; } } else if (starting_conditions_passing) { // Data seems good, but previous reset did not fix the issue // something else must be wrong, declare the sensor faulty and stop the fusion //_control_status.flags.ev_vel_fault = true; ECL_WARN("stopping %s fusion, starting conditions failing", AID_SRC_NAME); stopEvVelFusion(); } else { // A reset did not fix the issue but all the starting checks are not passing // This could be a temporary issue, stop the fusion without declaring the sensor faulty ECL_WARN("stopping %s, fusion failing", AID_SRC_NAME); stopEvVelFusion(); } } } else { // Stop fusion but do not declare it faulty ECL_WARN("stopping %s fusion, continuing conditions failing", AID_SRC_NAME); stopEvVelFusion(); } } else { if (starting_conditions_passing) { // activate fusion, only reset if necessary if (!isHorizontalAidingActive() || yaw_alignment_changed) { ECL_INFO("starting %s fusion, resetting velocity to (%.3f, %.3f, %.3f)", AID_SRC_NAME, (double)measurement(0), (double)measurement(1), (double)measurement(2)); _information_events.flags.reset_vel_to_vision = true; resetVelocityTo(measurement, measurement_var); } else { ECL_INFO("starting %s fusion", AID_SRC_NAME); } aid_src.time_last_fuse = _time_delayed_us; _nb_ev_vel_reset_available = 5; _information_events.flags.starting_vision_vel_fusion = true; _control_status.flags.ev_vel = true; } } } void Ekf::stopEvVelFusion() { if (_control_status.flags.ev_vel) { resetEstimatorAidStatus(_aid_src_ev_vel); _control_status.flags.ev_vel = false; } }