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bresch
248 lines
10 KiB
C++
248 lines
10 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2021-2022 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 gps_control.cpp
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* Control functions for ekf GNSS fusion
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*/
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#include "ekf.h"
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#include <mathlib/mathlib.h>
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void Ekf::controlGpsFusion()
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{
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if (!((_params.gnss_ctrl & GnssCtrl::HPOS) || (_params.gnss_ctrl & GnssCtrl::VEL))) {
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stopGpsFusion();
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return;
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}
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// Check for new GPS data that has fallen behind the fusion time horizon
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if (_gps_data_ready) {
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const gpsSample &gps_sample{_gps_sample_delayed};
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const bool gps_checks_passing = isTimedOut(_last_gps_fail_us, (uint64_t)5e6);
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const bool gps_checks_failing = isTimedOut(_last_gps_pass_us, (uint64_t)5e6);
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controlGpsYawFusion(gps_sample, gps_checks_passing, gps_checks_failing);
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// GNSS velocity
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const float vel_var = sq(math::max(gps_sample.sacc, _params.gps_vel_noise));
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const Vector3f vel_obs_var(vel_var, vel_var, vel_var * sq(1.5f));
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updateVelocityAidSrcStatus(gps_sample.time_us,
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gps_sample.vel, // observation
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vel_obs_var, // observation variance
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math::max(_params.gps_vel_innov_gate, 1.f), // innovation gate
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_aid_src_gnss_vel);
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_aid_src_gnss_vel.fusion_enabled = (_params.gnss_ctrl & GnssCtrl::VEL);
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// GNSS position
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// relax the upper observation noise limit which prevents bad GPS perturbing the position estimate
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float pos_noise = math::max(gps_sample.hacc, _params.gps_pos_noise);
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if (!isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
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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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if (pos_noise > _params.pos_noaid_noise) {
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pos_noise = _params.pos_noaid_noise;
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}
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}
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const float pos_var = sq(pos_noise);
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const Vector2f pos_obs_var(pos_var, pos_var);
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updateHorizontalPositionAidSrcStatus(gps_sample.time_us,
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gps_sample.pos, // observation
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pos_obs_var, // observation variance
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math::max(_params.gps_pos_innov_gate, 1.f), // innovation gate
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_aid_src_gnss_pos);
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_aid_src_gnss_pos.fusion_enabled = (_params.gnss_ctrl & GnssCtrl::HPOS);
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// update GSF yaw estimator velocity (basic sanity check on GNSS velocity data)
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if (gps_checks_passing && !gps_checks_failing) {
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_yawEstimator.setVelocity(gps_sample.vel.xy(), gps_sample.sacc);
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}
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// Determine if we should use GPS aiding for velocity and horizontal position
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// To start using GPS we need angular alignment completed, the local NED origin set and GPS data that has not failed checks recently
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const bool mandatory_conditions_passing = ((_params.gnss_ctrl & GnssCtrl::HPOS) || (_params.gnss_ctrl & GnssCtrl::VEL))
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&& _control_status.flags.tilt_align
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&& _control_status.flags.yaw_align
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&& _NED_origin_initialised;
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const bool continuing_conditions_passing = mandatory_conditions_passing && !gps_checks_failing;
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const bool starting_conditions_passing = continuing_conditions_passing && gps_checks_passing;
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if (_control_status.flags.gps) {
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if (mandatory_conditions_passing) {
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if (continuing_conditions_passing
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|| !isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
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fuseVelocity(_aid_src_gnss_vel);
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fuseHorizontalPosition(_aid_src_gnss_pos);
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bool do_vel_pos_reset = shouldResetGpsFusion();
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if (isYawFailure()
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&& _control_status.flags.in_air
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&& isTimedOut(_time_last_hor_vel_fuse, _params.EKFGSF_reset_delay)
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&& (_time_last_hor_vel_fuse > _time_last_on_ground_us)) {
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/* A rapid reset to the yaw emergency estimate is performed if horizontal velocity innovation checks continuously
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* fails while the difference between the yaw emergency estimator and the yas estimate is large.
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* This enables recovery from a bad yaw estimate. A reset is not performed if the fault condition was
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* present before flight to prevent triggering due to GPS glitches or other sensor errors.
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*/
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if (resetYawToEKFGSF()) {
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ECL_WARN("GPS emergency yaw reset");
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do_vel_pos_reset = true;
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}
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}
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if (do_vel_pos_reset) {
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ECL_WARN("GPS fusion timeout, resetting velocity and position");
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_information_events.flags.reset_vel_to_gps = true;
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_information_events.flags.reset_pos_to_gps = true;
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resetVelocityTo(gps_sample.vel, vel_obs_var);
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resetHorizontalPositionTo(gps_sample.pos, pos_obs_var);
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}
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} else {
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stopGpsFusion();
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_warning_events.flags.gps_quality_poor = true;
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ECL_WARN("GPS quality poor - stopping use");
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// TODO: move this to EV control logic
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// Reset position state to external vision if we are going to use absolute values
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if (_control_status.flags.ev_pos && !(_params.fusion_mode & SensorFusionMask::ROTATE_EXT_VIS)) {
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resetHorizontalPositionToVision();
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}
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}
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} else { // mandatory conditions are not passing
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stopGpsFusion();
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}
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} else {
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if (starting_conditions_passing) {
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// Do not use external vision for yaw if using GPS because yaw needs to be
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// defined relative to an NED reference frame
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if (_control_status.flags.ev_yaw
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|| _mag_inhibit_yaw_reset_req
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|| _mag_yaw_reset_req) {
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_mag_yaw_reset_req = true;
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// Stop the vision for yaw fusion and do not allow it to start again
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stopEvYawFusion();
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_inhibit_ev_yaw_use = true;
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} else {
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ECL_INFO("starting GPS fusion");
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_information_events.flags.starting_gps_fusion = true;
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// reset position
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_information_events.flags.reset_pos_to_gps = true;
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resetHorizontalPositionTo(gps_sample.pos, pos_obs_var);
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// when already using another velocity source velocity reset is not necessary
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if (!isHorizontalAidingActive()) {
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_information_events.flags.reset_vel_to_gps = true;
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resetVelocityTo(gps_sample.vel, vel_obs_var);
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}
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_control_status.flags.gps = true;
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}
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} else if (gps_checks_passing && !_control_status.flags.yaw_align && (_params.mag_fusion_type == MagFuseType::NONE)) {
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// If no mag is used, align using the yaw estimator (if available)
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if (resetYawToEKFGSF()) {
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_information_events.flags.yaw_aligned_to_imu_gps = true;
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ECL_INFO("Yaw aligned using IMU and GPS");
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ECL_INFO("reset velocity and position to GPS");
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_information_events.flags.reset_vel_to_gps = true;
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_information_events.flags.reset_pos_to_gps = true;
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resetVelocityTo(gps_sample.vel, vel_obs_var);
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resetHorizontalPositionTo(gps_sample.pos, pos_obs_var);
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}
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}
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}
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} else if (_control_status.flags.gps && !isNewestSampleRecent(_time_last_gps_buffer_push, (uint64_t)10e6)) {
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stopGpsFusion();
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_warning_events.flags.gps_data_stopped = true;
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ECL_WARN("GPS data stopped");
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} else if (_control_status.flags.gps && !isNewestSampleRecent(_time_last_gps_buffer_push, (uint64_t)1e6)
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&& isOtherSourceOfHorizontalAidingThan(_control_status.flags.gps)) {
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// Handle the case where we are fusing another position source along GPS,
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// stop waiting for GPS after 1 s of lost signal
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stopGpsFusion();
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_warning_events.flags.gps_data_stopped_using_alternate = true;
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ECL_WARN("GPS data stopped, using only EV, OF or air data");
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}
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}
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bool Ekf::shouldResetGpsFusion() const
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{
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/* We are relying on aiding to constrain drift so after a specified time
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* with no aiding we need to do something
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*/
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const bool has_horizontal_aiding_timed_out = isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max)
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&& isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max)
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&& isTimedOut(_aid_src_optical_flow.time_last_fuse, _params.reset_timeout_max);
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const bool is_reset_required = has_horizontal_aiding_timed_out
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|| isTimedOut(_time_last_hor_pos_fuse, 2 * _params.reset_timeout_max);
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const bool is_inflight_nav_failure = _control_status.flags.in_air
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&& isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max)
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&& isTimedOut(_time_last_hor_pos_fuse, _params.reset_timeout_max)
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&& (_time_last_hor_vel_fuse > _time_last_on_ground_us)
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&& (_time_last_hor_pos_fuse > _time_last_on_ground_us);
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return (is_reset_required || is_inflight_nav_failure);
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}
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bool Ekf::isYawFailure() const
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{
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if (!isYawEmergencyEstimateAvailable()) {
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return false;
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}
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const float euler_yaw = getEulerYaw(_R_to_earth);
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const float yaw_error = wrap_pi(euler_yaw - _yawEstimator.getYaw());
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return fabsf(yaw_error) > math::radians(25.f);
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}
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