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Mathieu Bresciani
0623b2b02d
* EKF: centralize range finder tilt check * Ekf-control: do not double check for terrain estimate validity isRangeAidSuitable can only return true if the terrain estimate is valid so there is no need for an additional check * range_finder_checks: restructure the checks to avoid early returns There is now only one clear path that can lead to the validity being true. Furthermore, if the _rng_hgt_valid is true, we can trust it and we don't need for additional checks such as tilt. The case where we need to provide fake measurements because the drone is on the ground and the range finder data is bad is already handled in "controlHeightFusion" so there is no need to hack the range finder checks with that. * Add Sensor and SensorRangeFinder classes The purpose is to encapsulate the checks for each sensor in a dedicated class with the same interface * SensorRangeFinder: encapsulate in estimator::sensor namespace * EKF: rename _sensor_rng to _range_sensor * Range checks: include limits in valid range * RangeChecks: update comment in the continuity checks * RangeChecks: move more low-level checks in functions Also move setTilt out of the terrain estimator, this is anyway protected internally to not compute cos/sin if the parameter did not change. * Sensor: remove unused virtual functions Those are not required yet but can still be added later * SensorRangeFinder: re-organise member variables Also rename getRangeToEarth to getCosTilt * SensorRangeFinder: split setSensorTilt and setCosMaxTilt functions * SensorRangeFinder: Add a few unit tests - good data - tilt exceeded - max range exceeded * SensorRangeFinder: set hysteresis in us instead of ms * SensorRangeFinder: Add more tests * SensorRangeFinder: update continuity, hysteresis and stuck tests * SensorRangeFinder: rename variables * SensorRangeFinder: get rid of "delayed" specification From the SensorRangeFinder class point of view, it's not relevant to know if the data is delayed or not * SensorRangeFinder: move time_last_valid out of stuck check * SensorRangeFinder: rename file names to sensor_range_finder * SensorRangeFinder: address Kamil's comments * SensorRangeFinder: Add more tilt tests * SensorRangeFinder: store current tilt offset This is to avoid recomputing cos/sin functions at each loop
63 lines
2.4 KiB
CMake
63 lines
2.4 KiB
CMake
############################################################################
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# Copyright (c) 2015-2018 ECL Development Team. All rights reserved.
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# 2. Redistributions in binary form must reproduce the above copyright
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# 3. Neither the name ECL nor the names of its contributors may be
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# without specific prior written permission.
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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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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# 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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add_library(ecl_EKF
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airspeed_fusion.cpp
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control.cpp
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mag_control.cpp
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covariance.cpp
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drag_fusion.cpp
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ekf.cpp
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ekf_helper.cpp
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estimator_interface.cpp
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gps_checks.cpp
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mag_fusion.cpp
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optflow_fusion.cpp
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sideslip_fusion.cpp
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terrain_estimator.cpp
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vel_pos_fusion.cpp
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gps_yaw_fusion.cpp
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imu_down_sampler.cpp
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EKFGSF_yaw.cpp
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sensor_range_finder.cpp
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)
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add_dependencies(ecl_EKF prebuild_targets)
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target_compile_definitions(ecl_EKF PRIVATE -DMODULE_NAME="ecl/EKF")
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target_include_directories(ecl_EKF PUBLIC ${ECL_SOURCE_DIR})
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target_link_libraries(ecl_EKF PRIVATE ecl_geo ecl_geo_lookup mathlib)
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set_target_properties(ecl_EKF PROPERTIES PUBLIC_HEADER "ekf.h")
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target_compile_options(ecl_EKF PRIVATE -fno-associative-math)
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