mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-28 08:50:35 +08:00
Daniel Agar
39453405a0
- refactor updateQuaternion() to compute the yaw jacobian directly (respecting the rotation sequence determination) - fuseHeading()/fuseYaw321()/fuseYaw312() helpers are eliminated and now mag heading fusion and EV yaw fusion compute the innovation in place - clear up logic for performing zero innovation heading fusion when quaternion variance exceeds threshold (no more _is_yaw_fusion_inhibited flag manipulation) - when at rest continue fusing last static heading with very low variance even if other heading sources are active
85 lines
3.4 KiB
C++
85 lines
3.4 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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* 1. Redistributions of source code must retain the above copyright
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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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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file zero_innovation_heading_update.cpp
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* Control function for ekf heading update when at rest or no other heading source available
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*/
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#include "ekf.h"
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void Ekf::controlZeroInnovationHeadingUpdate()
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{
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const bool yaw_aiding = _control_status.flags.mag_hdg || _control_status.flags.mag_3D
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|| _control_status.flags.ev_yaw || _control_status.flags.gps_yaw;
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if (!_control_status.flags.tilt_align) {
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// fuse zero heading innovation during the leveling fine alignment step to keep the yaw variance low
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float innovation = 0.f;
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float obs_var = _control_status.flags.vehicle_at_rest ? 0.001f : 0.1f;
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fuseYaw(innovation, obs_var);
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_last_static_yaw = NAN;
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} else if (_control_status.flags.vehicle_at_rest) {
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// When at rest or no source of yaw aiding is active yaw fusion is run selectively to enable yaw gyro
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// bias learning when stationary on ground and to prevent uncontrolled yaw variance growth
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const float euler_yaw = getEulerYaw(_R_to_earth);
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if (PX4_ISFINITE(_last_static_yaw)) {
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// fuse last static yaw at a limited rate (every 200 milliseconds)
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if (!yaw_aiding && isTimedOut(_time_last_heading_fuse, (uint64_t)200'000)) {
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float innovation = wrap_pi(euler_yaw - _last_static_yaw);
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float obs_var = 0.01f;
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fuseYaw(innovation, obs_var);
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}
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} else {
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// record static yaw when transitioning to at rest
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_last_static_yaw = euler_yaw;
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}
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} else {
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// vehicle moving and tilt alignment completed
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// fuse zero innovation at a limited rate (every 200 milliseconds)
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if (!yaw_aiding && isTimedOut(_time_last_heading_fuse, (uint64_t)200'000)) {
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float innovation = 0.f;
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float obs_var = 0.01f;
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fuseYaw(innovation, obs_var);
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}
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_last_static_yaw = NAN;
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}
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}
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