mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-04-14 10:07:39 +08:00
54a32eb2f7
- move EV yaw and EV position to new state machines - EV yaw and EV pos now configured via EKF2_EV_CTRL (migrated from EKF2_AID_MASK) - new EV position offset estimator to enable EV position while GPS position is active (no more EV pos delta fusion) - yaw_align now strictly means north (no more rotate external vision aid mask) - automatic switching between EV yaw, and yaw align north based on GPS quality
133 lines
4.5 KiB
C++
133 lines
4.5 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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* 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 fake_pos_control.cpp
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* Control functions for ekf fake position fusion
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*/
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#include "ekf.h"
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void Ekf::controlFakePosFusion()
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{
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auto &aid_src = _aid_src_fake_pos;
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// If we aren't doing any aiding, fake position measurements at the last known position to constrain drift
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// During intial tilt aligment, fake position is used to perform a "quasi-stationary" leveling of the EKF
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const bool fake_pos_data_ready = !isHorizontalAidingActive()
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&& isTimedOut(aid_src.time_last_fuse, (uint64_t)2e5); // Fuse fake position at a limited rate
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if (fake_pos_data_ready) {
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Vector2f obs_var;
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if (_control_status.flags.in_air && _control_status.flags.tilt_align) {
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obs_var(0) = obs_var(1) = sq(fmaxf(_params.pos_noaid_noise, _params.gps_pos_noise));
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} else if (!_control_status.flags.in_air && _control_status.flags.vehicle_at_rest) {
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// Accelerate tilt fine alignment by fusing more
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// aggressively when the vehicle is at rest
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obs_var(0) = obs_var(1) = sq(0.01f);
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} else {
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obs_var(0) = obs_var(1) = sq(0.5f);
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}
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const float innov_gate = 3.f;
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updateHorizontalPositionAidSrcStatus(_imu_sample_delayed.time_us, Vector2f(_last_known_pos), obs_var, innov_gate, aid_src);
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const bool continuing_conditions_passing = !isHorizontalAidingActive();
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const bool starting_conditions_passing = continuing_conditions_passing
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&& _horizontal_deadreckon_time_exceeded;
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if (_control_status.flags.fake_pos) {
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if (continuing_conditions_passing) {
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// always protect against extreme values that could result in a NaN
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aid_src.fusion_enabled = (aid_src.test_ratio[0] < sq(100.0f / innov_gate))
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&& (aid_src.test_ratio[1] < sq(100.0f / innov_gate));
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fuseHorizontalPosition(aid_src);
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const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, (uint64_t)4e5);
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if (is_fusion_failing) {
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resetFakePosFusion();
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}
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} else {
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stopFakePosFusion();
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}
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} else {
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if (starting_conditions_passing) {
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ECL_INFO("start fake position fusion");
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_control_status.flags.fake_pos = true;
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resetFakePosFusion();
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if (_control_status.flags.tilt_align) {
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// The fake position fusion is not started for initial alignement
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_warning_events.flags.stopping_navigation = true;
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ECL_WARN("stopping navigation");
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}
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}
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}
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} else if (_control_status.flags.fake_pos && isHorizontalAidingActive()) {
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stopFakePosFusion();
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}
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}
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void Ekf::resetFakePosFusion()
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{
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ECL_INFO("reset fake position fusion");
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_last_known_pos.xy() = _state.pos.xy();
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resetHorizontalPositionToLastKnown();
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resetHorizontalVelocityToZero();
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_aid_src_fake_pos.time_last_fuse = _imu_sample_delayed.time_us;
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}
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void Ekf::stopFakePosFusion()
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{
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if (_control_status.flags.fake_pos) {
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ECL_INFO("stop fake position fusion");
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_control_status.flags.fake_pos = false;
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resetEstimatorAidStatus(_aid_src_fake_pos);
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}
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}
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