mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-19 05:10:34 +08:00
Daniel Sahu
96 lines
4.0 KiB
C++
96 lines
4.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2023 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 ECL 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 gravity_fusion.cpp
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* Fuse observations from the gravity vector to constrain roll
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* and pitch (a la complementary filter).
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*
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* @author Daniel M. Sahu <danielmohansahu@gmail.com>
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*/
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#include "ekf.h"
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#include "python/ekf_derivation/generated/compute_gravity_innov_var_and_k_and_h.h"
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#include <mathlib/mathlib.h>
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void Ekf::controlGravityFusion(const imuSample &imu)
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{
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// fuse gravity observation if our overall acceleration isn't too big
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const float gravity_scale = _accel_vec_filt.norm() / CONSTANTS_ONE_G;
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_control_status.flags.gravity_vector = (_params.imu_ctrl & static_cast<int32_t>(ImuCtrl::GravityVector))
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&& (((gravity_scale >= 0.9f && gravity_scale <= 1.1f)) || _control_status.flags.vehicle_at_rest)
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&& !isHorizontalAidingActive();
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// get raw accelerometer reading at delayed horizon and expected measurement noise (gaussian)
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const Vector3f measurement = imu.delta_vel / imu.delta_vel_dt - getAccelBias();
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const float measurement_var = sq(_params.gravity_noise);
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// calculate kalman gains and innovation variances
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Vector3f innovation; // innovation of the last gravity fusion observation (m/s**2)
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Vector3f innovation_variance;
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Vector24f Kx, Ky, Kz; // Kalman gain vectors
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sym::ComputeGravityInnovVarAndKAndH(
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getStateAtFusionHorizonAsVector(), P, measurement, measurement_var, FLT_EPSILON,
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&innovation, &innovation_variance, &Kx, &Ky, &Kz);
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// fill estimator aid source status
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resetEstimatorAidStatus(_aid_src_gravity);
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_aid_src_gravity.timestamp_sample = imu.time_us;
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measurement.copyTo(_aid_src_gravity.observation);
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for (auto &var : _aid_src_gravity.observation_variance) {
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var = measurement_var;
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}
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innovation.copyTo(_aid_src_gravity.innovation);
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innovation_variance.copyTo(_aid_src_gravity.innovation_variance);
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float innovation_gate = 1.f;
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setEstimatorAidStatusTestRatio(_aid_src_gravity, innovation_gate);
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_aid_src_gravity.fusion_enabled = _control_status.flags.gravity_vector;
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if (_aid_src_gravity.fusion_enabled && !_aid_src_gravity.innovation_rejected) {
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// perform fusion for each axis
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_aid_src_gravity.fused = measurementUpdate(Kx, innovation_variance(0), innovation(0))
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&& measurementUpdate(Ky, innovation_variance(1), innovation(1))
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&& measurementUpdate(Kz, innovation_variance(2), innovation(2));
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if (_aid_src_gravity.fused) {
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_aid_src_gravity.time_last_fuse = imu.time_us;
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}
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}
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}
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