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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 02:33:33 +08:00
Daniel Agar
b7e0f17c6a
- try to use avoid resetVelocity() call where possible - reset timeouts centrally
78 lines
3.4 KiB
C++
78 lines
3.4 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021 PX4. 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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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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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 gps_fusion.cpp
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* Function for fusing gps measurements
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*/
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/* #include <mathlib/mathlib.h> */
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#include "ekf.h"
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void Ekf::fuseGpsVelPos()
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{
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Vector3f gps_pos_obs_var;
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const float lower_limit = fmaxf(_params.gps_pos_noise, 0.01f);
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if (isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
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// if we are using other sources of aiding, then relax the upper observation
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// noise limit which prevents bad GPS perturbing the position estimate
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gps_pos_obs_var(0) = gps_pos_obs_var(1) = sq(fmaxf(_gps_sample_delayed.hacc, lower_limit));
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} else {
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// if we are not using another source of aiding, then we are reliant on the GPS
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// observations to constrain attitude errors and must limit the observation noise value.
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float upper_limit = fmaxf(_params.pos_noaid_noise, lower_limit);
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gps_pos_obs_var(0) = gps_pos_obs_var(1) = sq(math::constrain(_gps_sample_delayed.hacc, lower_limit, upper_limit));
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}
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const float vel_var = sq(_gps_sample_delayed.sacc);
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const Vector3f gps_vel_obs_var{vel_var, vel_var, vel_var * sq(1.5f)};
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// calculate innovations
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_gps_vel_innov = _state.vel - _gps_sample_delayed.vel;
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_gps_pos_innov.xy() = Vector2f(_state.pos) - _gps_sample_delayed.pos;
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// set innovation gate size
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const float pos_innov_gate = fmaxf(_params.gps_pos_innov_gate, 1.f);
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const float vel_innov_gate = fmaxf(_params.gps_vel_innov_gate, 1.f);
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// fuse GPS measurement
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fuseHorizontalVelocity(_gps_vel_innov, vel_innov_gate, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
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fuseVerticalVelocity(_gps_vel_innov, vel_innov_gate, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
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fuseHorizontalPosition(_gps_pos_innov, pos_innov_gate, gps_pos_obs_var, _gps_pos_innov_var, _gps_pos_test_ratio);
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}
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