mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-19 04:40:34 +08:00
Daniel Agar
95300d5637
- refactor all EKF backend output predictor pieces into new OutputPredictor class - output states are now calculated immediately with new high rate IMU rather than after EKF update - IMU delayed sample is passed as around as control data to avoid storing an extra copy and make the requirement clear
120 lines
3.9 KiB
C++
120 lines
3.9 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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* 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 fake_height_control.cpp
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* Control functions for ekf fake height fusion
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*/
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#include "ekf.h"
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void Ekf::controlFakeHgtFusion()
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{
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auto &aid_src = _aid_src_fake_hgt;
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// If we aren't doing any aiding, fake position measurements at the last known vertical position to constrain drift
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const bool fake_hgt_data_ready = !isVerticalAidingActive()
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&& isTimedOut(aid_src.time_last_fuse, (uint64_t)2e5); // Fuse fake height at a limited rate
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if (fake_hgt_data_ready) {
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const float obs_var = sq(_params.pos_noaid_noise);
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const float innov_gate = 3.f;
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updateVerticalPositionAidSrcStatus(_time_delayed_us, _last_known_pos(2), obs_var, innov_gate, aid_src);
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const bool continuing_conditions_passing = !isVerticalAidingActive();
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const bool starting_conditions_passing = continuing_conditions_passing
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&& _vertical_velocity_deadreckon_time_exceeded
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&& _vertical_position_deadreckon_time_exceeded;
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if (_control_status.flags.fake_hgt) {
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if (continuing_conditions_passing) {
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// always protect against extreme values that could result in a NaN
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aid_src.fusion_enabled = aid_src.test_ratio < sq(100.0f / innov_gate);
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fuseVerticalPosition(aid_src);
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const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, (uint64_t)4e5);
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if (is_fusion_failing) {
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resetFakeHgtFusion();
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}
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} else {
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stopFakeHgtFusion();
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}
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} else {
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if (starting_conditions_passing) {
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ECL_INFO("start fake height fusion");
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_control_status.flags.fake_hgt = true;
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resetFakeHgtFusion();
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}
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}
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} else if (_control_status.flags.fake_hgt && isVerticalAidingActive()) {
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stopFakeHgtFusion();
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}
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}
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void Ekf::resetFakeHgtFusion()
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{
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ECL_INFO("reset fake height fusion");
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_last_known_pos(2) = _state.pos(2);
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resetVerticalVelocityToZero();
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resetHeightToLastKnown();
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_aid_src_fake_hgt.time_last_fuse = _time_delayed_us;
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}
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void Ekf::resetHeightToLastKnown()
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{
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_information_events.flags.reset_pos_to_last_known = true;
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ECL_INFO("reset height to last known");
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resetVerticalPositionTo(_last_known_pos(2), sq(_params.pos_noaid_noise));
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}
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void Ekf::stopFakeHgtFusion()
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{
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if (_control_status.flags.fake_hgt) {
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ECL_INFO("stop fake height fusion");
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_control_status.flags.fake_hgt = false;
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resetEstimatorAidStatus(_aid_src_fake_hgt);
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}
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}
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