PX4-Autopilot/EKF/terrain_estimator.cpp

/****************************************************************************
 *
 *   Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name ECL nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file terrain_estimator.cpp
 * Function for fusing rangefinder measurements to estimate terrain vertical position/
 *
 * @author Paul Riseborough <p_riseborough@live.com.au>
 *
 */

#include "ekf.h"
#include <ecl.h>
#include <mathlib/mathlib.h>

bool Ekf::initHagl()
{
	// get most recent range measurement from buffer
	const rangeSample& latest_measurement = _range_buffer.get_newest();

	if ((_time_last_imu - latest_measurement.time_us) < (uint64_t)2e5 && _R_rng_to_earth_2_2 > _params.range_cos_max_tilt) {
		// if we have a fresh measurement, use it to initialise the terrain estimator
		_terrain_vpos = _state.pos(2) + latest_measurement.rng * _R_rng_to_earth_2_2;
		// initialise state variance to variance of measurement
		_terrain_var = sq(_params.range_noise);
		// success
		return true;

	} else if (!_control_status.flags.in_air) {
		// if on ground we assume a ground clearance
		_terrain_vpos = _state.pos(2) + _params.rng_gnd_clearance;
		// Use the ground clearance value as our uncertainty
		_terrain_var = sq(_params.rng_gnd_clearance);
		// ths is a guess
		return false;

	} else {
		// no information - cannot initialise
		return false;
	}
}

void Ekf::runTerrainEstimator()
{
	// Perform a continuity check on range finder data
	checkRangeDataContinuity();

	// Perform initialisation check
	if (!_terrain_initialised) {
		_terrain_initialised = initHagl();

	} else {

		// predict the state variance growth where the state is the vertical position of the terrain underneath the vehicle

		// process noise due to errors in vehicle height estimate
		_terrain_var += sq(_imu_sample_delayed.delta_vel_dt * _params.terrain_p_noise);

		// process noise due to terrain gradient
		_terrain_var += sq(_imu_sample_delayed.delta_vel_dt * _params.terrain_gradient) * (sq(_state.vel(0)) + sq(_state.vel(
					1)));

		// limit the variance to prevent it becoming badly conditioned
		_terrain_var = math::constrain(_terrain_var, 0.0f, 1e4f);

		// Fuse range finder data if available
		if (_range_data_ready && !_control_status.flags.rng_stuck) {
			fuseHagl();

			// update range sensor angle parameters in case they have changed
			// we do this here to avoid doing those calculations at a high rate
			_sin_tilt_rng = sinf(_params.rng_sens_pitch);
			_cos_tilt_rng = cosf(_params.rng_sens_pitch);

		}

		//constrain _terrain_vpos to be a minimum of _params.rng_gnd_clearance larger than _state.pos(2)
		if (_terrain_vpos - _state.pos(2) < _params.rng_gnd_clearance) {
			_terrain_vpos = _params.rng_gnd_clearance + _state.pos(2);
		}
	}

	// Update terrain validity
	update_terrain_valid();
}

void Ekf::fuseHagl()
{
	// If the vehicle is excessively tilted, do not try to fuse range finder observations
	if (_R_rng_to_earth_2_2 > _params.range_cos_max_tilt) {
		// get a height above ground measurement from the range finder assuming a flat earth
		float meas_hagl = _range_sample_delayed.rng * _R_rng_to_earth_2_2;

		// predict the hagl from the vehicle position and terrain height
		float pred_hagl = _terrain_vpos - _state.pos(2);

		// calculate the innovation
		_hagl_innov = pred_hagl - meas_hagl;

		// calculate the observation variance adding the variance of the vehicles own height uncertainty
		float obs_variance = fmaxf(P[9][9], 0.0f) + sq(_params.range_noise) + sq(_params.range_noise_scaler * _range_sample_delayed.rng);

		// calculate the innovation variance - limiting it to prevent a badly conditioned fusion
		_hagl_innov_var = fmaxf(_terrain_var + obs_variance, obs_variance);

		// perform an innovation consistency check and only fuse data if it passes
		float gate_size = fmaxf(_params.range_innov_gate, 1.0f);
		_terr_test_ratio = sq(_hagl_innov) / (sq(gate_size) * _hagl_innov_var);

		if (!_inhibit_gndobs_use) {
			if (_terr_test_ratio <= 1.0f) {
				// calculate the Kalman gain
				float gain = _terrain_var / _hagl_innov_var;
				// correct the state
				_terrain_vpos -= gain * _hagl_innov;
				// correct the variance
				_terrain_var = fmaxf(_terrain_var * (1.0f - gain), 0.0f);
				// record last successful fusion event
				_time_last_hagl_fuse = _time_last_imu;
				_innov_check_fail_status.flags.reject_hagl = false;

			} else {
				// If we have been rejecting range data for too long, reset to measurement
				if (_time_last_imu - _time_last_hagl_fuse > (uint64_t)10E6) {
					_terrain_vpos = _state.pos(2) + meas_hagl;
					_terrain_var = obs_variance;
				} else {
					_innov_check_fail_status.flags.reject_hagl = true;
				}
			}
		}


	} else {
		_innov_check_fail_status.flags.reject_hagl = true;
		return;
	}
}

// return true if the terrain height estimate is valid
bool Ekf::get_terrain_valid()
{
		return _hagl_valid;
}

// determine terrain validity
void Ekf::update_terrain_valid()
{
	if (_terrain_initialised && _range_data_continuous && !_control_status.flags.rng_stuck &&
		  (_time_last_imu - _time_last_hagl_fuse < (uint64_t)5e6)) {
		_hagl_valid = true;
	} else {
		_hagl_valid = false;
	}
}

// get the estimated vertical position of the terrain relative to the NED origin
void Ekf::get_terrain_vert_pos(float *ret)
{
	memcpy(ret, &_terrain_vpos, sizeof(float));
}

void Ekf::get_hagl_innov(float *hagl_innov)
{
	memcpy(hagl_innov, &_hagl_innov, sizeof(_hagl_innov));
}


void Ekf::get_hagl_innov_var(float *hagl_innov_var)
{
	memcpy(hagl_innov_var, &_hagl_innov_var, sizeof(_hagl_innov_var));
}

// check that the range finder data is continuous
void Ekf::checkRangeDataContinuity()
{
	// update range data continuous flag (2Hz ie 500 ms)
	/* Timing in micro seconds */

	/* Apply a 1.0 sec low pass filter to the time delta from the last range finder updates */
	_dt_last_range_update_filt_us = _dt_last_range_update_filt_us * (1.0f - _dt_update) + _dt_update *
					(_time_last_imu - _time_last_range);

	_dt_last_range_update_filt_us = fminf(_dt_last_range_update_filt_us, 1e6f);

	if (_dt_last_range_update_filt_us < 5e5f) {
		_range_data_continuous = true;

	} else {
		_range_data_continuous = false;
	}
}