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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Roman Bapst
1b9f1b78e5
* added support for resetting wind states to external observation Signed-off-by: RomanBapst <bapstroman@gmail.com> * moved wind related functions into separate file Signed-off-by: RomanBapst <bapstroman@gmail.com> * added VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE Signed-off-by: RomanBapst <bapstroman@gmail.com> * correctly compute variances Signed-off-by: RomanBapst <bapstroman@gmail.com> * ekf2: implement wind reset Signed-off-by: RomanBapst <bapstroman@gmail.com> * only allow VEHICLE_CMD_EXTERNAL_WIND_ESTIMATE during wind dead-reckoning and increase horizontal velocity variance to allow velocity states to move towards solution that is aligned with the newly set wind Signed-off-by: RomanBapst <bapstroman@gmail.com> * only reset wind on ground * still use wind reset using airspeed when it wasn't initialized * exclude func for rover, change reset interface * handle wind reset in drag-fusion * replace state reset with variance reset in sideslip/drag fusion * remove resetWind function --------- Signed-off-by: RomanBapst <bapstroman@gmail.com> Co-authored-by: Marco Hauswirth <marco.hauswirth@auterion.com>
93 lines
3.4 KiB
C++
93 lines
3.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2024 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 wind.cpp
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* Helper functions for wind states
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*/
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#include "ekf.h"
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#include <ekf_derivation/generated/compute_wind_init_and_cov_from_wind_speed_and_direction.h>
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void Ekf::resetWindToExternalObservation(float wind_speed, float wind_direction, float wind_speed_accuracy,
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float wind_direction_accuracy)
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{
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if (!_control_status.flags.in_air) {
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const float wind_speed_constrained = math::max(wind_speed, 0.0f);
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const float wind_direction_var = sq(wind_direction_accuracy);
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const float wind_speed_var = sq(wind_speed_accuracy);
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Vector2f wind;
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Vector2f wind_var;
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sym::ComputeWindInitAndCovFromWindSpeedAndDirection(wind_speed_constrained, wind_direction, wind_speed_var,
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wind_direction_var, &wind, &wind_var);
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ECL_INFO("reset wind states to external observation");
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_information_events.flags.reset_wind_to_ext_obs = true;
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_external_wind_init = true;
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resetWindTo(wind, wind_var);
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}
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}
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void Ekf::resetWindTo(const Vector2f &wind, const Vector2f &wind_var)
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{
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_state.wind_vel = wind;
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if (PX4_ISFINITE(wind_var(0))) {
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P.uncorrelateCovarianceSetVariance<1>(State::wind_vel.idx,
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math::min(sq(_params.initial_wind_uncertainty), wind_var(0)));
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}
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if (PX4_ISFINITE(wind_var(1))) {
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P.uncorrelateCovarianceSetVariance<1>(State::wind_vel.idx + 1,
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math::min(sq(_params.initial_wind_uncertainty), wind_var(1)));
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}
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}
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void Ekf::resetWindCov()
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{
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// start with a small initial uncertainty to improve the initial estimate
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P.uncorrelateCovarianceSetVariance<State::wind_vel.dof>(State::wind_vel.idx, sq(_params.initial_wind_uncertainty));
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}
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void Ekf::resetWindToZero()
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{
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ECL_INFO("reset wind to zero");
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_state.wind_vel.setZero();
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resetWindCov();
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}
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