mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-18 18:20:34 +08:00
Daniel Agar
95300d5637
- refactor all EKF backend output predictor pieces into new OutputPredictor class - output states are now calculated immediately with new high rate IMU rather than after EKF update - IMU delayed sample is passed as around as control data to avoid storing an extra copy and make the requirement clear
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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/**
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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(); // 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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