mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-19 21:49:07 +08:00
133 lines
4.3 KiB
C++
133 lines
4.3 KiB
C++
/****************************************************************************
|
|
*
|
|
* Copyright (c) 2022 PX4 Development Team. 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 PX4 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 ev_height_control.cpp
|
|
* Control functions for ekf external vision height fusion
|
|
*/
|
|
|
|
#include "ekf.h"
|
|
|
|
void Ekf::controlEvHeightFusion()
|
|
{
|
|
if (!(_params.height_sensor_ref == HeightSensor::EV)) { // TODO: replace by EV control parameter
|
|
stopEvHgtFusion();
|
|
return;
|
|
}
|
|
|
|
_ev_hgt_b_est.predict(_dt_ekf_avg);
|
|
|
|
const bool ev_intermittent = !isNewestSampleRecent(_time_last_ext_vision_buffer_push, 2 * EV_MAX_INTERVAL);
|
|
|
|
if (_ev_data_ready) {
|
|
const bool position_valid = PX4_ISFINITE(_ev_sample_delayed.pos(2));
|
|
const bool continuing_conditions_passing = !ev_intermittent && position_valid;
|
|
const bool starting_conditions_passing = continuing_conditions_passing;
|
|
|
|
if (_control_status.flags.ev_hgt) {
|
|
if (continuing_conditions_passing) {
|
|
fuseEvHgt();
|
|
|
|
const bool reset = (_ev_sample_delayed.reset_counter != _ev_sample_delayed_prev.reset_counter);
|
|
if (isHeightResetRequired() || reset ) {
|
|
resetHeightToEv();
|
|
|
|
// If the sample has a valid vertical velocity estimate, use it
|
|
if (PX4_ISFINITE(_ev_sample_delayed.vel(2))) {
|
|
resetVerticalVelocityToEv(_ev_sample_delayed);
|
|
} else {
|
|
resetVerticalVelocityToZero();
|
|
}
|
|
}
|
|
|
|
} else {
|
|
stopEvHgtFusion();
|
|
}
|
|
|
|
} else {
|
|
if (starting_conditions_passing) {
|
|
startEvHgtFusion();
|
|
}
|
|
}
|
|
|
|
} else if (_control_status.flags.ev_hgt && ev_intermittent) {
|
|
stopEvHgtFusion();
|
|
}
|
|
}
|
|
|
|
void Ekf::startEvHgtFusion()
|
|
{
|
|
if (!_control_status.flags.ev_hgt) {
|
|
if (_params.height_sensor_ref == HeightSensor::EV) {
|
|
_rng_hgt_b_est.reset();
|
|
_height_sensor_ref = HeightSensor::EV;
|
|
resetHeightToEv();
|
|
|
|
} else {
|
|
_ev_hgt_b_est.setBias(-_state.pos(2) + _ev_sample_delayed.pos(2));
|
|
}
|
|
|
|
_control_status.flags.ev_hgt = true;
|
|
_ev_hgt_b_est.setFusionActive();
|
|
ECL_INFO("starting EV height fusion");
|
|
}
|
|
}
|
|
|
|
void Ekf::resetHeightToEv()
|
|
{
|
|
ECL_INFO("reset height to EV");
|
|
_information_events.flags.reset_hgt_to_ev = true;
|
|
|
|
resetVerticalPositionTo(_ev_sample_delayed.pos(2) - _ev_hgt_b_est.getBias());
|
|
|
|
// the state variance is the same as the observation
|
|
P.uncorrelateCovarianceSetVariance<1>(9, fmaxf(_ev_sample_delayed.posVar(2), sq(0.01f)));
|
|
|
|
_baro_b_est.setBias(_baro_b_est.getBias() + _state_reset_status.posD_change);
|
|
_gps_hgt_b_est.setBias(_gps_hgt_b_est.getBias() + _state_reset_status.posD_change);
|
|
_rng_hgt_b_est.setBias(_rng_hgt_b_est.getBias() + _state_reset_status.posD_change);
|
|
}
|
|
|
|
void Ekf::stopEvHgtFusion()
|
|
{
|
|
if (_control_status.flags.ev_hgt) {
|
|
if (_height_sensor_ref == HeightSensor::EV) {
|
|
_height_sensor_ref = HeightSensor::UNKNOWN;
|
|
}
|
|
|
|
_control_status.flags.ev_hgt = false;
|
|
_ev_hgt_b_est.setFusionInactive();
|
|
ECL_INFO("stopping EV height fusion");
|
|
}
|
|
}
|