mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-27 22:20:34 +08:00
Daniel Agar
69 lines
2.9 KiB
C++
69 lines
2.9 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 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 zero_innovation_heading_update.cpp
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* Control function for ekf heading update when at rest or no other heading source available
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*/
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#include "ekf.h"
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void Ekf::controlZeroInnovationHeadingUpdate()
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{
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const bool yaw_aiding = _control_status.flags.mag_hdg || _control_status.flags.mag_3D
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|| _control_status.flags.ev_yaw || _control_status.flags.gps_yaw;
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// fuse zero innovation at a limited rate if the yaw variance is too large
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if(!yaw_aiding
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&& isTimedOut(_time_last_heading_fuse, (uint64_t)200'000)) {
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// Use an observation variance larger than usual but small enough
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// to constrain the yaw variance just below the threshold
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const float obs_var = _control_status.flags.tilt_align ? 0.25f : 0.001f;
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estimator_aid_source1d_s aid_src_status{};
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aid_src_status.observation = getEulerYaw(_state.quat_nominal);
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aid_src_status.observation_variance = obs_var;
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aid_src_status.innovation = 0.f;
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VectorState H_YAW;
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computeYawInnovVarAndH(obs_var, aid_src_status.innovation_variance, H_YAW);
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if (!_control_status.flags.tilt_align || (aid_src_status.innovation_variance - obs_var) > sq(_params.mag_heading_noise)) {
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// The yaw variance is too large, fuse fake measurement
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fuseYaw(aid_src_status, H_YAW);
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}
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}
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}
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