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bresch
81 lines
3.2 KiB
C++
81 lines
3.2 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2022 PX4. 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 range_finder_consistency_check.cpp
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*/
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#include "range_finder_consistency_check.hpp"
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void RangeFinderConsistencyCheck::update(float dist_bottom, float dist_bottom_var, float vz, float vz_var, uint64_t time_us)
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{
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const float dt = static_cast<float>(time_us - _time_last_update_us) * 1e-6f;
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if ((_time_last_update_us == 0)
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|| (dt < 0.001f) || (dt > 0.5f)) {
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_time_last_update_us = time_us;
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_dist_bottom_prev = dist_bottom;
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return;
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}
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const float vel_bottom = (dist_bottom - _dist_bottom_prev) / dt;
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_innov = -vel_bottom - vz; // vel_bottom is +up while vz is +down
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const float var = 2.f * dist_bottom_var / (dt * dt); // Variance of the time derivative of a random variable: var(dz/dt) = 2*var(z) / dt^2
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_innov_var = var + vz_var;
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const float normalized_innov_sq = (_innov * _innov) / _innov_var;
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_test_ratio = normalized_innov_sq / (_gate * _gate);
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_signed_test_ratio_lpf.setParameters(dt, _signed_test_ratio_tau);
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const float signed_test_ratio = matrix::sign(_innov) * _test_ratio;
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_signed_test_ratio_lpf.update(signed_test_ratio);
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updateConsistency(vz, time_us);
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_time_last_update_us = time_us;
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_dist_bottom_prev = dist_bottom;
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}
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void RangeFinderConsistencyCheck::updateConsistency(float vz, uint64_t time_us)
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{
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if (fabsf(_signed_test_ratio_lpf.getState()) >= 1.f) {
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_is_kinematically_consistent = false;
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_time_last_inconsistent_us = time_us;
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} else {
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if (fabsf(vz) > _min_vz_for_valid_consistency && _test_ratio < 1.f && ((time_us - _time_last_inconsistent_us) > _consistency_hyst_time_us)) {
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_is_kinematically_consistent = true;
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}
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}
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}
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