mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-23 04:23:35 +08:00
Daniel Agarandbresch
d75bb62a65
- split mag_3d into new standalone mag fusion and mag fusion allowed to update all states (full mag_3d) - new dedicated control logic for mag/mag_3d fusion and standalone mag heading fusion - if WMM available use for mag_I and mag_B init - mag states reset if external yaw reset (yaw estimator, GPS yaw, etc) - mag reset if declination changed (eliminate _mag_yaw_reset_req) - mag fusion (but not mag_hdg or mag_3d) can be active during gps_yaw or ev_yaw (if yaw aligned north) Co-authored-by: bresch <brescianimathieu@gmail.com>
71 lines
2.9 KiB
C++
71 lines
2.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file zero_velocity_update.cpp
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* Control function for ekf zero velocity update
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*/
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#include "ekf.h"
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void Ekf::controlZeroVelocityUpdate()
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{
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// Fuse zero velocity at a limited rate (every 200 milliseconds)
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const bool zero_velocity_update_data_ready = isTimedOut(_time_last_zero_velocity_fuse, (uint64_t)2e5);
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if (zero_velocity_update_data_ready) {
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const bool continuing_conditions_passing = _control_status.flags.vehicle_at_rest
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&& _control_status_prev.flags.vehicle_at_rest
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&& (!isVerticalVelocityAidingActive() || !_control_status.flags.tilt_align); // otherwise the filter is "too rigid" to follow a position drift
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if (continuing_conditions_passing) {
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Vector3f vel_obs{0, 0, 0};
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Vector3f innovation = _state.vel - vel_obs;
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// Set a low variance initially for faster leveling and higher
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// later to let the states follow the measurements
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const float obs_var = _control_status.flags.tilt_align ? sq(0.2f) : sq(0.001f);
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Vector3f innov_var{
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P(4, 4) + obs_var,
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P(5, 5) + obs_var,
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P(6, 6) + obs_var};
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fuseVelPosHeight(innovation(0), innov_var(0), 0);
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fuseVelPosHeight(innovation(1), innov_var(1), 1);
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fuseVelPosHeight(innovation(2), innov_var(2), 2);
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_time_last_zero_velocity_fuse = _time_delayed_us;
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}
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}
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}
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