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ekf2: consolidate GNSS yaw in gnss_yaw_control.cpp and fix naming (GP…
…S->GNSS) Co-authored-by: Mathieu Bresciani <[email protected]>
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -32,45 +32,130 @@ | |
| ****************************************************************************/ | ||
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| /** | ||
| * @file gps_yaw_fusion.cpp | ||
| * Definition of functions required to use yaw obtained from GPS dual antenna measurements. | ||
| * Equations generated using EKF/python/ekf_derivation/main.py | ||
| * | ||
| * @author Paul Riseborough <[email protected]> | ||
| * @file gnss_yaw_control.cpp | ||
| * Definition of functions required to use yaw obtained from GNSS dual antenna measurements. | ||
| * Equations generated using src/modules/ekf2/EKF/python/ekf_derivation/derivation.py | ||
| * | ||
| */ | ||
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| #include "ekf.h" | ||
| #include <ekf_derivation/generated/compute_gnss_yaw_pred_innov_var_and_h.h> | ||
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| #include <mathlib/mathlib.h> | ||
| #include <cstdlib> | ||
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| void Ekf::updateGpsYaw(const gnssSample &gps_sample) | ||
| #include <ekf_derivation/generated/compute_gnss_yaw_pred_innov_var_and_h.h> | ||
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| void Ekf::controlGnssYawFusion(const gnssSample &gnss_sample) | ||
| { | ||
| if (!(_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::YAW)) | ||
| || _control_status.flags.gnss_yaw_fault) { | ||
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| stopGnssYawFusion(); | ||
| return; | ||
| } | ||
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| const bool is_new_data_available = PX4_ISFINITE(gnss_sample.yaw); | ||
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| if (is_new_data_available) { | ||
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| updateGnssYaw(gnss_sample); | ||
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| const bool continuing_conditions_passing = _control_status.flags.tilt_align; | ||
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| const bool is_gnss_yaw_data_intermittent = !isNewestSampleRecent(_time_last_gnss_yaw_buffer_push, | ||
| 2 * GNSS_YAW_MAX_INTERVAL); | ||
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| const bool starting_conditions_passing = continuing_conditions_passing | ||
| && _gps_checks_passed | ||
| && !is_gnss_yaw_data_intermittent | ||
| && !_gps_intermittent; | ||
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| if (_control_status.flags.gnss_yaw) { | ||
| if (continuing_conditions_passing) { | ||
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| fuseGnssYaw(gnss_sample.yaw_offset); | ||
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| const bool is_fusion_failing = isTimedOut(_aid_src_gnss_yaw.time_last_fuse, _params.reset_timeout_max); | ||
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| if (is_fusion_failing) { | ||
| stopGnssYawFusion(); | ||
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| // Before takeoff, we do not want to continue to rely on the current heading | ||
| // if we had to stop the fusion | ||
| if (!_control_status.flags.in_air) { | ||
| ECL_INFO("clearing yaw alignment"); | ||
| _control_status.flags.yaw_align = false; | ||
| } | ||
| } | ||
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| } else { | ||
| // Stop GNSS yaw fusion but do not declare it faulty | ||
| stopGnssYawFusion(); | ||
| } | ||
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| } else { | ||
| if (starting_conditions_passing) { | ||
| // Try to activate GNSS yaw fusion | ||
| const bool not_using_ne_aiding = !_control_status.flags.gps && !_control_status.flags.aux_gpos; | ||
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| if (!_control_status.flags.in_air | ||
| || !_control_status.flags.yaw_align | ||
| || not_using_ne_aiding) { | ||
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| // Reset before starting the fusion | ||
| if (resetYawToGnss(gnss_sample.yaw, gnss_sample.yaw_offset)) { | ||
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| resetAidSourceStatusZeroInnovation(_aid_src_gnss_yaw); | ||
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| _control_status.flags.gnss_yaw = true; | ||
| _control_status.flags.yaw_align = true; | ||
| } | ||
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| } else if (!_aid_src_gnss_yaw.innovation_rejected) { | ||
| // Do not force a reset but wait for the consistency check to pass | ||
| _control_status.flags.gnss_yaw = true; | ||
| fuseGnssYaw(gnss_sample.yaw_offset); | ||
| } | ||
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| if (_control_status.flags.gnss_yaw) { | ||
| ECL_INFO("starting GNSS yaw fusion"); | ||
| } | ||
| } | ||
| } | ||
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| } else if (_control_status.flags.gnss_yaw | ||
| && !isNewestSampleRecent(_time_last_gnss_yaw_buffer_push, _params.reset_timeout_max)) { | ||
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| // No yaw data in the message anymore. Stop until it comes back. | ||
| stopGnssYawFusion(); | ||
| } | ||
| } | ||
|
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| void Ekf::updateGnssYaw(const gnssSample &gnss_sample) | ||
| { | ||
| // calculate the observed yaw angle of antenna array, converting a from body to antenna yaw measurement | ||
| const float measured_hdg = wrap_pi(gps_sample.yaw + gps_sample.yaw_offset); | ||
| const float measured_hdg = wrap_pi(gnss_sample.yaw + gnss_sample.yaw_offset); | ||
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| const float yaw_acc = PX4_ISFINITE(gps_sample.yaw_acc) ? gps_sample.yaw_acc : 0.f; | ||
| const float R_YAW = sq(fmaxf(yaw_acc, _params.gps_heading_noise)); | ||
| const float yaw_acc = PX4_ISFINITE(gnss_sample.yaw_acc) ? gnss_sample.yaw_acc : 0.f; | ||
| const float R_YAW = sq(fmaxf(yaw_acc, _params.gnss_heading_noise)); | ||
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| float heading_pred; | ||
| float heading_innov_var; | ||
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| VectorState H; | ||
| sym::ComputeGnssYawPredInnovVarAndH(_state.vector(), P, gps_sample.yaw_offset, R_YAW, FLT_EPSILON, | ||
| sym::ComputeGnssYawPredInnovVarAndH(_state.vector(), P, gnss_sample.yaw_offset, R_YAW, FLT_EPSILON, | ||
| &heading_pred, &heading_innov_var, &H); | ||
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| updateAidSourceStatus(_aid_src_gnss_yaw, | ||
| gps_sample.time_us, // sample timestamp | ||
| gnss_sample.time_us, // sample timestamp | ||
| measured_hdg, // observation | ||
| R_YAW, // observation variance | ||
| wrap_pi(heading_pred - measured_hdg), // innovation | ||
| heading_innov_var, // innovation variance | ||
| math::max(_params.heading_innov_gate, 1.f)); // innovation gate | ||
| } | ||
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| void Ekf::fuseGpsYaw(float antenna_yaw_offset) | ||
| void Ekf::fuseGnssYaw(float antenna_yaw_offset) | ||
| { | ||
| auto &aid_src = _aid_src_gnss_yaw; | ||
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@@ -99,7 +184,8 @@ void Ekf::fuseGpsYaw(float antenna_yaw_offset) | |
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| // we reinitialise the covariance matrix and abort this fusion step | ||
| initialiseCovariance(); | ||
| ECL_ERR("GPS yaw numerical error - covariance reset"); | ||
| ECL_ERR("GNSS yaw numerical error - covariance reset"); | ||
| stopGnssYawFusion(); | ||
| return; | ||
| } | ||
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@@ -129,7 +215,7 @@ void Ekf::fuseGpsYaw(float antenna_yaw_offset) | |
| } | ||
| } | ||
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| bool Ekf::resetYawToGps(const float gnss_yaw, const float gnss_yaw_offset) | ||
| bool Ekf::resetYawToGnss(const float gnss_yaw, const float gnss_yaw_offset) | ||
| { | ||
| // define the predicted antenna array vector and rotate into earth frame | ||
| const Vector3f ant_vec_bf = {cosf(gnss_yaw_offset), sinf(gnss_yaw_offset), 0.0f}; | ||
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@@ -140,11 +226,21 @@ bool Ekf::resetYawToGps(const float gnss_yaw, const float gnss_yaw_offset) | |
| return false; | ||
| } | ||
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| // GPS yaw measurement is alreday compensated for antenna offset in the driver | ||
| // GNSS yaw measurement is already compensated for antenna offset in the driver | ||
| const float measured_yaw = gnss_yaw; | ||
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| const float yaw_variance = sq(fmaxf(_params.gps_heading_noise, 1.e-2f)); | ||
| const float yaw_variance = sq(fmaxf(_params.gnss_heading_noise, 1.e-2f)); | ||
| resetQuatStateYaw(measured_yaw, yaw_variance); | ||
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| return true; | ||
| } | ||
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| void Ekf::stopGnssYawFusion() | ||
| { | ||
| if (_control_status.flags.gnss_yaw) { | ||
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| _control_status.flags.gnss_yaw = false; | ||
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| ECL_INFO("stopping GNSS yaw fusion"); | ||
| } | ||
| } | ||
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