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289 lines
11 KiB
C++
289 lines
11 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019 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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#include "../PreFlightCheck.hpp"
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#include <HealthFlags.h>
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#include <math.h>
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#include <lib/parameters/param.h>
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#include <systemlib/mavlink_log.h>
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#include <uORB/Subscription.hpp>
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#include <uORB/topics/estimator_selector_status.h>
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#include <uORB/topics/estimator_sensor_bias.h>
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#include <uORB/topics/estimator_status.h>
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using namespace time_literals;
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bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_status, const bool optional,
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const bool report_fail, const bool enforce_gps_required)
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{
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bool success = true; // start with a pass and change to a fail if any test fails
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bool ahrs_present = true;
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int32_t mag_strength_check_enabled = 1;
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param_get(param_find("COM_ARM_MAG_STR"), &mag_strength_check_enabled);
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float hgt_test_ratio_limit = 1.f;
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param_get(param_find("COM_ARM_EKF_HGT"), &hgt_test_ratio_limit);
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float vel_test_ratio_limit = 1.f;
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param_get(param_find("COM_ARM_EKF_VEL"), &vel_test_ratio_limit);
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float pos_test_ratio_limit = 1.f;
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param_get(param_find("COM_ARM_EKF_POS"), &pos_test_ratio_limit);
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float mag_test_ratio_limit = 1.f;
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param_get(param_find("COM_ARM_EKF_YAW"), &mag_test_ratio_limit);
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bool gps_success = true;
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bool gps_present = true;
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// Get estimator status data if available and exit with a fail recorded if not
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uORB::SubscriptionData<estimator_selector_status_s> estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
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uORB::SubscriptionData<estimator_status_s> status_sub{ORB_ID(estimator_status), estimator_selector_status_sub.get().primary_instance};
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const estimator_status_s &status = status_sub.get();
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if (status.timestamp == 0) {
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ahrs_present = false;
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goto out;
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}
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// Check if preflight check performed by estimator has failed
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if (status.pre_flt_fail_innov_heading ||
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status.pre_flt_fail_innov_vel_horiz ||
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status.pre_flt_fail_innov_vel_vert ||
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status.pre_flt_fail_innov_height) {
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if (report_fail) {
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if (status.pre_flt_fail_innov_heading) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: heading estimate not stable");
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} else if (status.pre_flt_fail_innov_vel_horiz) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: horizontal velocity estimate not stable");
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} else if (status.pre_flt_fail_innov_vel_vert) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: vertical velocity estimate not stable");
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} else if (status.pre_flt_fail_innov_height) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: height estimate not stable");
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}
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}
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success = false;
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goto out;
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}
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if ((mag_strength_check_enabled == 1) && status.pre_flt_fail_mag_field_disturbed) {
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if (report_fail) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: strong magnetic interference detected");
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}
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success = false;
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goto out;
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}
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// check vertical position innovation test ratio
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if (status.hgt_test_ratio > hgt_test_ratio_limit) {
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if (report_fail) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Height estimate error");
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}
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success = false;
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goto out;
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}
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// check velocity innovation test ratio
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if (status.vel_test_ratio > vel_test_ratio_limit) {
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if (report_fail) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Velocity estimate error");
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}
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success = false;
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goto out;
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}
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// check horizontal position innovation test ratio
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if (status.pos_test_ratio > pos_test_ratio_limit) {
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if (report_fail) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Position estimate error");
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}
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success = false;
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goto out;
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}
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// check magnetometer innovation test ratio
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if (status.mag_test_ratio > mag_test_ratio_limit) {
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if (report_fail) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Yaw estimate error");
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}
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success = false;
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goto out;
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}
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// If GPS aiding is required, declare fault condition if the required GPS quality checks are failing
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if (enforce_gps_required || report_fail) {
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const bool ekf_gps_fusion = status.control_mode_flags & (1 << estimator_status_s::CS_GPS);
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const bool ekf_gps_check_fail = status.gps_check_fail_flags > 0;
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gps_success = ekf_gps_fusion; // default to success if gps data is fused
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if (ekf_gps_check_fail) {
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if (report_fail) {
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// Only report the first failure to avoid spamming
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const char *message = nullptr;
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if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_GPS_FIX)) {
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message = "Preflight%s: GPS fix too low";
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} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MIN_SAT_COUNT)) {
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message = "Preflight%s: not enough GPS Satellites";
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} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MIN_PDOP)) {
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message = "Preflight%s: GPS PDOP too low";
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} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_HORZ_ERR)) {
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message = "Preflight%s: GPS Horizontal Pos Error too high";
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} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_VERT_ERR)) {
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message = "Preflight%s: GPS Vertical Pos Error too high";
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} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_SPD_ERR)) {
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message = "Preflight%s: GPS Speed Accuracy too low";
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} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_HORZ_DRIFT)) {
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message = "Preflight%s: GPS Horizontal Pos Drift too high";
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} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_VERT_DRIFT)) {
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message = "Preflight%s: GPS Vertical Pos Drift too high";
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} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_HORZ_SPD_ERR)) {
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message = "Preflight%s: GPS Hor Speed Drift too high";
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} else if (status.gps_check_fail_flags & (1 << estimator_status_s::GPS_CHECK_FAIL_MAX_VERT_SPD_ERR)) {
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message = "Preflight%s: GPS Vert Speed Drift too high";
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} else {
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if (!ekf_gps_fusion) {
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// Likely cause unknown
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message = "Preflight%s: Estimator not using GPS";
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gps_present = false;
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} else {
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// if we land here there was a new flag added and the code not updated. Show a generic message.
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message = "Preflight%s: Poor GPS Quality";
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}
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}
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if (message) {
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if (enforce_gps_required) {
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mavlink_log_critical(mavlink_log_pub, message, " Fail");
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} else {
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mavlink_log_warning(mavlink_log_pub, message, "");
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}
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}
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}
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gps_success = false;
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if (enforce_gps_required) {
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success = false;
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goto out;
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}
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}
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}
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out:
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//PX4_INFO("AHRS CHECK: %s", (success && ahrs_present) ? "OK" : "FAIL");
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set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_AHRS, ahrs_present, true, success && ahrs_present, vehicle_status);
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set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_GPS, gps_present, enforce_gps_required, gps_success, vehicle_status);
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return success;
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}
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bool PreFlightCheck::ekf2CheckSensorBias(orb_advert_t *mavlink_log_pub, const bool report_fail)
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{
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// Get estimator states data if available and exit with a fail recorded if not
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uORB::SubscriptionData<estimator_selector_status_s> estimator_selector_status_sub{ORB_ID(estimator_selector_status)};
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uORB::SubscriptionData<estimator_sensor_bias_s> estimator_sensor_bias_sub{ORB_ID(estimator_sensor_bias), estimator_selector_status_sub.get().primary_instance};
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const estimator_sensor_bias_s &bias = estimator_sensor_bias_sub.get();
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if (hrt_elapsed_time(&bias.timestamp) < 30_s) {
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// check accelerometer bias estimates
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if (bias.accel_bias_valid) {
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const float ekf_ab_test_limit = 0.5f * bias.accel_bias_limit;
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for (uint8_t axis_index = 0; axis_index < 3; axis_index++) {
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// allow for higher uncertainty in estimates for axes that are less observable to prevent false positives
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// adjust test threshold by 3-sigma
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const float test_uncertainty = 3.0f * sqrtf(fmaxf(bias.accel_bias_variance[axis_index], 0.0f));
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if (fabsf(bias.accel_bias[axis_index]) > ekf_ab_test_limit + test_uncertainty) {
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if (report_fail) {
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PX4_ERR("accel bias (axis %d): |%.8f| > %.8f + %.8f", axis_index,
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(double)bias.accel_bias[axis_index], (double)ekf_ab_test_limit, (double)test_uncertainty);
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: High Accelerometer Bias");
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}
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return false;
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}
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}
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}
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// check gyro bias estimates
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if (bias.gyro_bias_valid) {
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const float ekf_gb_test_limit = 0.5f * bias.gyro_bias_limit;
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for (uint8_t axis_index = 0; axis_index < 3; axis_index++) {
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// allow for higher uncertainty in estimates for axes that are less observable to prevent false positives
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// adjust test threshold by 3-sigma
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const float test_uncertainty = 3.0f * sqrtf(fmaxf(bias.gyro_bias_variance[axis_index], 0.0f));
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if (fabsf(bias.gyro_bias[axis_index]) > ekf_gb_test_limit + test_uncertainty) {
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if (report_fail) {
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PX4_ERR("gyro bias (axis %d): |%.8f| > %.8f + %.8f", axis_index,
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(double)bias.gyro_bias[axis_index], (double)ekf_gb_test_limit, (double)test_uncertainty);
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: High Gyro Bias");
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}
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return false;
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}
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}
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}
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}
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return true;
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}
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