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c212975abe
The failsafe from rng height to baro height should occur after a reset to baro triggered by the controlHeightSensorTimeouts function and not in the fusion selector. Until now, the EKF was fusing baro measurements between rng updates if the range finder ODR was slower than the EKF update rate. This is not the case anymore as the height reset occurs after 5 seconds. The unit test has been extended to show this behavior.
143 lines
4.6 KiB
C++
143 lines
4.6 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020 Estimation and Control Library (ECL). 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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* 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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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file sensor_range_finder.cpp
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*
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* @author Mathieu Bresciani <brescianimathieu@gmail.com>
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*
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*/
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#include "sensor_range_finder.hpp"
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namespace estimator
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{
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namespace sensor
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{
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void SensorRangeFinder::runChecks(const uint64_t current_time_us, const Dcmf &R_to_earth)
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{
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updateSensorToEarthRotation(R_to_earth);
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updateValidity(current_time_us);
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}
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void SensorRangeFinder::updateSensorToEarthRotation(const Dcmf &R_to_earth)
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{
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// calculate 2,2 element of rotation matrix from sensor frame to earth frame
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// this is required for use of range finder and flow data
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_cos_tilt_rng_to_earth = R_to_earth(2, 0) * _sin_pitch_offset + R_to_earth(2, 2) * _cos_pitch_offset;
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}
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void SensorRangeFinder::updateValidity(uint64_t current_time_us)
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{
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updateDtDataLpf(current_time_us);
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if (isSampleOutOfDate(current_time_us) || !isDataContinuous()) {
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_is_sample_valid = false;
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_is_regularly_sending_data = false;
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return;
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}
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_is_regularly_sending_data = true;
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// Don't run the checks unless we have retrieved new data from the buffer
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if (_is_sample_ready) {
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_is_sample_valid = false;
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if (_sample.quality == 0) {
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_time_bad_quality_us = current_time_us;
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} else if (current_time_us - _time_bad_quality_us > _quality_hyst_us) {
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// We did not receive bad quality data for some time
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if (isTiltOk() && isDataInRange()) {
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updateStuckCheck();
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if (!_is_stuck) {
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_is_sample_valid = true;
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_time_last_valid_us = _sample.time_us;
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}
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}
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}
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}
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}
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void SensorRangeFinder::updateDtDataLpf(uint64_t current_time_us)
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{
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// Calculate a first order IIR low-pass filtered time of arrival between samples using a 2 second time constant.
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float alpha = 0.5f * _dt_update;
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_dt_data_lpf = _dt_data_lpf * (1.0f - alpha) + alpha * (current_time_us - _sample.time_us);
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// Apply spike protection to the filter state.
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_dt_data_lpf = fminf(_dt_data_lpf, 4e6f);
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}
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inline bool SensorRangeFinder::isSampleOutOfDate(uint64_t current_time_us) const
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{
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return (current_time_us - _sample.time_us) > 2 * RNG_MAX_INTERVAL;
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}
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inline bool SensorRangeFinder::isDataInRange() const
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{
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return (_sample.rng >= _rng_valid_min_val) && (_sample.rng <= _rng_valid_max_val);
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}
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void SensorRangeFinder::updateStuckCheck()
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{
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// Check for "stuck" range finder measurements when range was not valid for certain period
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// This handles a failure mode observed with some lidar sensors
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if (((_sample.time_us - _time_last_valid_us) > (uint64_t)10e6)) {
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// require a variance of rangefinder values to check for "stuck" measurements
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if (_stuck_max_val - _stuck_min_val > _stuck_threshold) {
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_stuck_min_val = 0.0f;
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_stuck_max_val = 0.0f;
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_is_stuck = false;
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} else {
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if (_sample.rng > _stuck_max_val) {
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_stuck_max_val = _sample.rng;
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}
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if (_stuck_min_val < 0.1f || _sample.rng < _stuck_min_val) {
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_stuck_min_val = _sample.rng;
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}
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_is_stuck = true;
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}
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}
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}
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} // namespace sensor
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} // namespace estimator
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