ardupilot/libraries/AP_NavEKF3/AP_NavEKF3_VehicleStatus.cpp

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AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
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#include <AP_HAL/AP_HAL.h>
#include "AP_NavEKF3_core.h"
#include <AP_DAL/AP_DAL.h>
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
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/* Monitor GPS data to see if quality is good enough to initialise the EKF
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Monitor magnetometer innovations to see if the heading is good enough to use GPS
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
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Return true if all criteria pass for 10 seconds
We also record the failure reason so that pre_arm_check()
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
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can give a good report to the user on why arming is failing
*/
void NavEKF3_core::calcGpsGoodToAlign(void)
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
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{
if (inFlight && assume_zero_sideslip() && !use_compass()) {
// this is a special case where a plane has launched without magnetometer
// is now in the air and needs to align yaw to the GPS and start navigating as soon as possible
gpsGoodToAlign = true;
return;
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
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}
// User defined multiplier to be applied to check thresholds
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ftype checkScaler = 0.01f*(ftype)frontend->_gpsCheckScaler;
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
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if (gpsGoodToAlign) {
/*
if we have already passed GPS alignment checks then raise
the check threshold so that we have some hysterisis and
don't continuously change from able to arm to not able to
arm
*/
checkScaler *= 1.3f;
}
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
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// If we have good magnetometer consistency and bad innovations for longer than 5 seconds then we reset heading and field states
// This enables us to handle large changes to the external magnetic field environment that occur before arming
if ((magTestRatio.x <= 1.0f && magTestRatio.y <= 1.0f && yawTestRatio <= 1.0f) || !consistentMagData) {
magYawResetTimer_ms = imuSampleTime_ms;
}
if ((imuSampleTime_ms - magYawResetTimer_ms > 5000) && !motorsArmed) {
// request reset of heading and magnetic field states
magYawResetRequest = true;
// reset timer to ensure that bad magnetometer data cannot cause a heading reset more often than every 5 seconds
magYawResetTimer_ms = imuSampleTime_ms;
}
// Check for significant change in GPS position if disarmed which indicates bad GPS
// This check can only be used when the vehicle is stationary
const auto &gps = dal.gps();
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const Location &gpsloc = gps.location(preferred_gps); // Current location
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const ftype posFiltTimeConst = 10.0; // time constant used to decay position drift
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// calculate time lapsed since last update and limit to prevent numerical errors
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ftype deltaTime = constrain_ftype(ftype(imuDataDelayed.time_ms - lastPreAlignGpsCheckTime_ms)*0.001f,0.01f,posFiltTimeConst);
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
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lastPreAlignGpsCheckTime_ms = imuDataDelayed.time_ms;
// Sum distance moved
gpsDriftNE += gpsloc_prev.get_distance(gpsloc);
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
gpsloc_prev = gpsloc;
// Decay distance moved exponentially to zero
gpsDriftNE *= (1.0f - deltaTime/posFiltTimeConst);
2019-02-22 19:35:24 -04:00
// Clamp the filter state to prevent excessive persistence of large transients
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
gpsDriftNE = MIN(gpsDriftNE,10.0f);
// Fail if more than 3 metres drift after filtering whilst on-ground
// This corresponds to a maximum acceptable average drift rate of 0.3 m/s or single glitch event of 3m
bool gpsDriftFail = (gpsDriftNE > 3.0f*checkScaler) && onGround && (frontend->_gpsCheck & MASK_GPS_POS_DRIFT);
// Report check result as a text string and bitmask
if (gpsDriftFail) {
dal.snprintf(prearm_fail_string,
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
sizeof(prearm_fail_string),
"GPS drift %.1fm (needs %.1f)", (double)gpsDriftNE, (double)(3.0f*checkScaler));
gpsCheckStatus.bad_horiz_drift = true;
} else {
gpsCheckStatus.bad_horiz_drift = false;
}
// Check that the vertical GPS vertical velocity is reasonable after noise filtering
bool gpsVertVelFail;
if (gpsDataNew.have_vz && onGround) {
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
// check that the average vertical GPS velocity is close to zero
gpsVertVelFilt = 0.1f * gpsDataNew.vel.z + 0.9f * gpsVertVelFilt;
2021-05-04 08:12:23 -03:00
gpsVertVelFilt = constrain_ftype(gpsVertVelFilt,-10.0f,10.0f);
gpsVertVelFail = (fabsF(gpsVertVelFilt) > 0.3f*checkScaler) && (frontend->_gpsCheck & MASK_GPS_VERT_SPD);
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
} else {
gpsVertVelFail = false;
}
// Report check result as a text string and bitmask
if (gpsVertVelFail) {
dal.snprintf(prearm_fail_string,
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
sizeof(prearm_fail_string),
2021-05-04 08:12:23 -03:00
"GPS vertical speed %.2fm/s (needs %.2f)", (double)fabsF(gpsVertVelFilt), (double)(0.3f*checkScaler));
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
gpsCheckStatus.bad_vert_vel = true;
} else {
gpsCheckStatus.bad_vert_vel = false;
}
// Check that the horizontal GPS vertical velocity is reasonable after noise filtering
// This check can only be used if the vehicle is stationary
bool gpsHorizVelFail;
if (onGround) {
gpsHorizVelFilt = 0.1f * gpsDataDelayed.vel.xy().length() + 0.9f * gpsHorizVelFilt;
2021-05-04 08:12:23 -03:00
gpsHorizVelFilt = constrain_ftype(gpsHorizVelFilt,-10.0f,10.0f);
gpsHorizVelFail = (fabsF(gpsHorizVelFilt) > 0.3f*checkScaler) && (frontend->_gpsCheck & MASK_GPS_HORIZ_SPD);
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
} else {
gpsHorizVelFail = false;
}
// Report check result as a text string and bitmask
if (gpsHorizVelFail) {
dal.snprintf(prearm_fail_string,
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
sizeof(prearm_fail_string),
"GPS horizontal speed %.2fm/s (needs %.2f)", (double)gpsDriftNE, (double)(0.3f*checkScaler));
gpsCheckStatus.bad_horiz_vel = true;
} else {
gpsCheckStatus.bad_horiz_vel = false;
}
// fail if horiziontal position accuracy not sufficient
float hAcc = 0.0f;
bool hAccFail;
if (gps.horizontal_accuracy(preferred_gps, hAcc)) {
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
hAccFail = (hAcc > 5.0f*checkScaler) && (frontend->_gpsCheck & MASK_GPS_POS_ERR);
} else {
hAccFail = false;
}
// Report check result as a text string and bitmask
if (hAccFail) {
dal.snprintf(prearm_fail_string,
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
sizeof(prearm_fail_string),
"GPS horiz error %.1fm (needs %.1f)", (double)hAcc, (double)(5.0f*checkScaler));
gpsCheckStatus.bad_hAcc = true;
} else {
gpsCheckStatus.bad_hAcc = false;
}
// Check for vertical GPS accuracy
float vAcc = 0.0f;
bool vAccFail = false;
if (gps.vertical_accuracy(preferred_gps, vAcc)) {
vAccFail = (vAcc > 7.5f * checkScaler) && (frontend->_gpsCheck & MASK_GPS_POS_ERR);
}
// Report check result as a text string and bitmask
if (vAccFail) {
dal.snprintf(prearm_fail_string,
sizeof(prearm_fail_string),
"GPS vert error %.1fm (needs < %.1f)", (double)vAcc, (double)(7.5f * checkScaler));
gpsCheckStatus.bad_vAcc = true;
} else {
gpsCheckStatus.bad_vAcc = false;
}
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
// fail if reported speed accuracy greater than threshold
bool gpsSpdAccFail = (gpsSpdAccuracy > 1.0f*checkScaler) && (frontend->_gpsCheck & MASK_GPS_SPD_ERR);
// Report check result as a text string and bitmask
if (gpsSpdAccFail) {
dal.snprintf(prearm_fail_string,
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
sizeof(prearm_fail_string),
2018-06-02 20:53:20 -03:00
"GPS speed error %.1f (needs < %.1f)", (double)gpsSpdAccuracy, (double)(1.0f*checkScaler));
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
gpsCheckStatus.bad_sAcc = true;
} else {
gpsCheckStatus.bad_sAcc = false;
}
// fail if satellite geometry is poor
bool hdopFail = (gps.get_hdop(preferred_gps) > 250) && (frontend->_gpsCheck & MASK_GPS_HDOP);
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
// Report check result as a text string and bitmask
if (hdopFail) {
dal.snprintf(prearm_fail_string, sizeof(prearm_fail_string),
"GPS HDOP %.1f (needs 2.5)", (double)(0.01f * gps.get_hdop(preferred_gps)));
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
gpsCheckStatus.bad_hdop = true;
} else {
gpsCheckStatus.bad_hdop = false;
}
// fail if not enough sats
bool numSatsFail = (gps.num_sats(preferred_gps) < 6) && (frontend->_gpsCheck & MASK_GPS_NSATS);
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
// Report check result as a text string and bitmask
if (numSatsFail) {
dal.snprintf(prearm_fail_string, sizeof(prearm_fail_string),
"GPS numsats %u (needs 6)", gps.num_sats(preferred_gps));
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
gpsCheckStatus.bad_sats = true;
} else {
gpsCheckStatus.bad_sats = false;
}
// fail if magnetometer innovations are outside limits indicating bad yaw
// with bad yaw we are unable to use GPS
bool yawFail;
if ((magTestRatio.x > 1.0f || magTestRatio.y > 1.0f || yawTestRatio > 1.0f) && (frontend->_gpsCheck & MASK_GPS_YAW_ERR)) {
yawFail = true;
} else {
yawFail = false;
}
// Report check result as a text string and bitmask
if (yawFail) {
dal.snprintf(prearm_fail_string,
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
sizeof(prearm_fail_string),
"Mag yaw error x=%.1f y=%.1f",
(double)magTestRatio.x,
(double)magTestRatio.y);
gpsCheckStatus.bad_yaw = true;
} else {
gpsCheckStatus.bad_yaw = false;
}
// assume failed first time through and notify user checks have started
if (lastGpsVelFail_ms == 0) {
dal.snprintf(prearm_fail_string, sizeof(prearm_fail_string), "EKF starting GPS checks");
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
lastGpsVelFail_ms = imuSampleTime_ms;
}
// record time of pass or fail
if (gpsSpdAccFail || numSatsFail || hdopFail || hAccFail || vAccFail || yawFail || gpsDriftFail || gpsVertVelFail || gpsHorizVelFail) {
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
lastGpsVelFail_ms = imuSampleTime_ms;
} else {
lastGpsVelPass_ms = imuSampleTime_ms;
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
}
// continuous period of 10s without fail required to set healthy
// continuous period of 5s without pass required to set unhealthy
if (!gpsGoodToAlign && imuSampleTime_ms - lastGpsVelFail_ms > 10000) {
gpsGoodToAlign = true;
} else if (gpsGoodToAlign && imuSampleTime_ms - lastGpsVelPass_ms > 5000) {
gpsGoodToAlign = false;
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
}
}
// update inflight calculaton that determines if GPS data is good enough for reliable navigation
void NavEKF3_core::calcGpsGoodForFlight(void)
{
// use simple criteria based on the GPS receiver's claimed vertical
// position accuracy and speed accuracy and the EKF innovation consistency
// checks
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
// set up variables and constants used by filter that is applied to GPS speed accuracy
2021-05-04 08:12:23 -03:00
const ftype alpha1 = 0.2f; // coefficient for first stage LPF applied to raw speed accuracy data
const ftype tau = 10.0f; // time constant (sec) of peak hold decay
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
if (lastGpsCheckTime_ms == 0) {
lastGpsCheckTime_ms = imuSampleTime_ms;
}
2021-05-04 08:12:23 -03:00
ftype dtLPF = (imuSampleTime_ms - lastGpsCheckTime_ms) * 1e-3f;
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
lastGpsCheckTime_ms = imuSampleTime_ms;
2021-05-04 08:12:23 -03:00
ftype alpha2 = constrain_ftype(dtLPF/tau,0.0f,1.0f);
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
// get the receivers reported speed accuracy
float gpsSpdAccRaw;
if (!dal.gps().speed_accuracy(preferred_gps, gpsSpdAccRaw)) {
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
gpsSpdAccRaw = 0.0f;
}
// filter the raw speed accuracy using a LPF
2021-05-04 08:12:23 -03:00
sAccFilterState1 = constrain_ftype((alpha1 * gpsSpdAccRaw + (1.0f - alpha1) * sAccFilterState1),0.0f,10.0f);
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
// apply a peak hold filter to the LPF output
sAccFilterState2 = MAX(sAccFilterState1,((1.0f - alpha2) * sAccFilterState2));
// Apply a threshold test with hysteresis to the filtered GPS speed accuracy data
if (sAccFilterState2 > 1.5f ) {
gpsSpdAccPass = false;
} else if(sAccFilterState2 < 1.0f) {
gpsSpdAccPass = true;
}
// Apply a threshold test with hysteresis to the GPS vertical position accuracy data
// Require a fail for one second and a pass for 3 seconds to transition
float gpsVAccRaw;
ftype gpsVAccThreshold = (ftype)frontend->_gpsVAccThreshold;
if (lastGpsVertAccFailTime_ms == 0) {
lastGpsVertAccFailTime_ms = imuSampleTime_ms;
lastGpsVertAccPassTime_ms = imuSampleTime_ms;
}
if (!dal.gps().vertical_accuracy(preferred_gps, gpsVAccRaw)) {
// No vertical accuracy data yet, let's treat it as a value above the threshold
gpsVAccRaw = gpsVAccThreshold + 1.0f;
}
if (gpsVAccThreshold <= 0 || gpsVAccRaw < gpsVAccThreshold) {
lastGpsVertAccPassTime_ms = imuSampleTime_ms;
} else {
lastGpsVertAccFailTime_ms = imuSampleTime_ms;
}
if ((imuSampleTime_ms - lastGpsVertAccPassTime_ms) > 1000) {
gpsVertAccPass = false;
} else if ((imuSampleTime_ms - lastGpsVertAccFailTime_ms) > 3000) {
gpsVertAccPass = true;
}
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
// Apply a threshold test with hysteresis to the normalised position and velocity innovations
// Require a fail for one second and a pass for 10 seconds to transition
if (lastGpsInnovFailTime_ms == 0) {
lastGpsInnovFailTime_ms = imuSampleTime_ms;
lastGpsInnovPassTime_ms = imuSampleTime_ms;
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
}
if (velTestRatio < 1.0f && posTestRatio < 1.0f) {
lastGpsInnovPassTime_ms = imuSampleTime_ms;
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
} else if (velTestRatio > 0.7f || posTestRatio > 0.7f) {
lastGpsInnovFailTime_ms = imuSampleTime_ms;
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
}
if ((imuSampleTime_ms - lastGpsInnovPassTime_ms) > 1000) {
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
ekfInnovationsPass = false;
} else if ((imuSampleTime_ms - lastGpsInnovFailTime_ms) > 10000) {
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
ekfInnovationsPass = true;
}
// both GPS speed accuracy and EKF innovations must pass
gpsAccuracyGood = gpsSpdAccPass && ekfInnovationsPass;
// also update whether the GPS fix is good enough for altitude
gpsAccuracyGoodForAltitude = gpsAccuracyGood && gpsVertAccPass;
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
}
// Detect if we are in flight or on ground
void NavEKF3_core::detectFlight()
{
/*
If we are a fly forward type vehicle (eg plane), then in-air status can be determined through a combination of speed and height criteria.
Because of the differing certainty requirements of algorithms that need the in-flight / on-ground status we use two booleans where
onGround indicates a high certainty we are not flying and inFlight indicates a high certainty we are flying. It is possible for
both onGround and inFlight to be false if the status is uncertain, but they cannot both be true.
If we are a plane as indicated by the assume_zero_sideslip() status, then different logic is used
TODO - this logic should be moved out of the EKF and into the flight vehicle code.
*/
if (assume_zero_sideslip()) {
// To be confident we are in the air we use a criteria which combines arm status, ground speed, airspeed and height change
2021-05-04 08:12:23 -03:00
ftype gndSpdSq = sq(gpsDataNew.vel.x) + sq(gpsDataNew.vel.y);
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
bool highGndSpd = false;
bool highAirSpd = false;
bool largeHgtChange = false;
// trigger at 8 m/s airspeed
const auto *arsp = dal.airspeed();
if (arsp && arsp->healthy(selected_airspeed) && arsp->use(selected_airspeed)) {
if (arsp->get_airspeed(selected_airspeed) * dal.get_EAS2TAS() > 10.0f) {
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
highAirSpd = true;
}
}
// trigger on ground speed
2021-05-04 08:12:23 -03:00
const ftype gndSpdThresholdSq = sq(5.0f);
if (gndSpdSq > gndSpdThresholdSq + sq(gpsSpdAccuracy)) {
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
highGndSpd = true;
}
// trigger if more than 10m away from initial height
2021-05-04 08:12:23 -03:00
if (fabsF(hgtMea) > 10.0f) {
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
largeHgtChange = true;
}
if (motorsArmed) {
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
onGround = false;
if (highGndSpd && (dal.get_takeoff_expected() || highAirSpd || largeHgtChange)) {
// to a high certainty we are flying
inFlight = true;
}
} else {
// to a high certainty we are not flying
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
onGround = true;
inFlight = false;
}
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
} else {
// Non fly forward vehicle, so can only use height and motor arm status
// If the motors are armed then we could be flying and if they are not armed then we are definitely not flying
if (motorsArmed) {
onGround = false;
} else {
inFlight = false;
onGround = true;
}
if (!onGround) {
// If height has increased since exiting on-ground, then we definitely are flying
if ((stateStruct.position.z - posDownAtTakeoff) < -1.5f) {
inFlight = true;
}
// If rangefinder has increased since exiting on-ground, then we definitely are flying
if ((rangeDataNew.rng - rngAtStartOfFlight) > 0.5f) {
inFlight = true;
}
// If more than 5 seconds since likely_flying was set
// true, then set inFlight true
if (dal.get_time_flying_ms() > 5000) {
inFlight = true;
}
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
}
}
// Store vehicle height and range prior to takeoff for use in post takeoff checks
if (onGround) {
// store vertical position at start of flight to use as a reference for ground relative checks
posDownAtTakeoff = stateStruct.position.z;
// store the range finder measurement which will be used as a reference to detect when we have taken off
rngAtStartOfFlight = rangeDataNew.rng;
// if the magnetic field states have been set, then continue to update the vertical position
// quaternion and yaw innovation snapshots to use as a reference when we start to fly.
if (magStateInitComplete) {
posDownAtLastMagReset = stateStruct.position.z;
quatAtLastMagReset = stateStruct.quat;
yawInnovAtLastMagReset = innovYaw;
}
}
AP_NavEKF3: Enable use of EKF-GSF yaw estimate AP_NavEKF3: Add emergency yaw reset using a Gussian Sum Filter estimate AP_NavEKF3: Reduce default minimum GPS velocity noise for Copters Enables fail-safe to be set with more sensitivity and improves tracking accuracy. Origin values were set using typical GPS performance for receivers on sale 6 years ago. Receiver performance has improved since then. AP_NavEKF3: Prevent constant mag anomaly yaw resets Prevents constant magnetic anomaly induced resets that can be triggered when flying with vehicle generated magnetic interference. Allows for two resets per takeoff. Allowance for two resets is required, becasue a large ground based magnetic yaw anomaly can cause a sufficiently large yaw innovation that two resets in close succession are required. AP_NavEKF3: Add option to fly without magnetometer AP_NavEKF3: Rework emergency yaw reset logic Use a separate external accessor function to request the yaw reset. Allow reset requests to remain active for a defined period of time. Tidy up reset function to split out accuracy check. AP_NavEKF3: Fix vulnerability to lane switch race condition Prevents the situation where a lane switch results in a lane being selected that does not have the correct yaw. This can occur if the primary lane becomes unhealthy before the external failsafe monitor has time to react. AP_NavEKF3: Fix EKF_MAG_CAL = 6 behaviours Fix bug causing the yaw alignment to be performed at startup before the GSF had a valid estimate. Fix bug causing emergency yaw message to be output for a normal reset. Fix vulnerability to reported negative yaw variance. Remove duplicate timer checks. AP_NavEKF3: Update EK3_MAG_CAL documentation AP_NavEKF3: Relax yaw gyro bias convergence check when not using mag AP_NavEKF3: Reduce yaw drift in hover with no yaw sensor Uses the GSF yaw estimate if available which is better than the EKF's own yaw when no yaw sensor is available.
2020-03-10 03:48:08 -03:00
// handle reset of counters used to control how many times we will try to reset the yaw to the EKF-GSF value per flight
if ((!prevOnGround && onGround) || !gpsSpdAccPass) {
// disable filter bank
AP_NavEKF3: Enable use of EKF-GSF yaw estimate AP_NavEKF3: Add emergency yaw reset using a Gussian Sum Filter estimate AP_NavEKF3: Reduce default minimum GPS velocity noise for Copters Enables fail-safe to be set with more sensitivity and improves tracking accuracy. Origin values were set using typical GPS performance for receivers on sale 6 years ago. Receiver performance has improved since then. AP_NavEKF3: Prevent constant mag anomaly yaw resets Prevents constant magnetic anomaly induced resets that can be triggered when flying with vehicle generated magnetic interference. Allows for two resets per takeoff. Allowance for two resets is required, becasue a large ground based magnetic yaw anomaly can cause a sufficiently large yaw innovation that two resets in close succession are required. AP_NavEKF3: Add option to fly without magnetometer AP_NavEKF3: Rework emergency yaw reset logic Use a separate external accessor function to request the yaw reset. Allow reset requests to remain active for a defined period of time. Tidy up reset function to split out accuracy check. AP_NavEKF3: Fix vulnerability to lane switch race condition Prevents the situation where a lane switch results in a lane being selected that does not have the correct yaw. This can occur if the primary lane becomes unhealthy before the external failsafe monitor has time to react. AP_NavEKF3: Fix EKF_MAG_CAL = 6 behaviours Fix bug causing the yaw alignment to be performed at startup before the GSF had a valid estimate. Fix bug causing emergency yaw message to be output for a normal reset. Fix vulnerability to reported negative yaw variance. Remove duplicate timer checks. AP_NavEKF3: Update EK3_MAG_CAL documentation AP_NavEKF3: Relax yaw gyro bias convergence check when not using mag AP_NavEKF3: Reduce yaw drift in hover with no yaw sensor Uses the GSF yaw estimate if available which is better than the EKF's own yaw when no yaw sensor is available.
2020-03-10 03:48:08 -03:00
EKFGSF_run_filterbank = false;
} else if (yawEstimator != nullptr && !EKFGSF_run_filterbank && (inFlight || dal.get_takeoff_expected()) && gpsSpdAccPass) {
// flying or about to fly so reset counters and enable filter bank when GPS is good
AP_NavEKF3: Enable use of EKF-GSF yaw estimate AP_NavEKF3: Add emergency yaw reset using a Gussian Sum Filter estimate AP_NavEKF3: Reduce default minimum GPS velocity noise for Copters Enables fail-safe to be set with more sensitivity and improves tracking accuracy. Origin values were set using typical GPS performance for receivers on sale 6 years ago. Receiver performance has improved since then. AP_NavEKF3: Prevent constant mag anomaly yaw resets Prevents constant magnetic anomaly induced resets that can be triggered when flying with vehicle generated magnetic interference. Allows for two resets per takeoff. Allowance for two resets is required, becasue a large ground based magnetic yaw anomaly can cause a sufficiently large yaw innovation that two resets in close succession are required. AP_NavEKF3: Add option to fly without magnetometer AP_NavEKF3: Rework emergency yaw reset logic Use a separate external accessor function to request the yaw reset. Allow reset requests to remain active for a defined period of time. Tidy up reset function to split out accuracy check. AP_NavEKF3: Fix vulnerability to lane switch race condition Prevents the situation where a lane switch results in a lane being selected that does not have the correct yaw. This can occur if the primary lane becomes unhealthy before the external failsafe monitor has time to react. AP_NavEKF3: Fix EKF_MAG_CAL = 6 behaviours Fix bug causing the yaw alignment to be performed at startup before the GSF had a valid estimate. Fix bug causing emergency yaw message to be output for a normal reset. Fix vulnerability to reported negative yaw variance. Remove duplicate timer checks. AP_NavEKF3: Update EK3_MAG_CAL documentation AP_NavEKF3: Relax yaw gyro bias convergence check when not using mag AP_NavEKF3: Reduce yaw drift in hover with no yaw sensor Uses the GSF yaw estimate if available which is better than the EKF's own yaw when no yaw sensor is available.
2020-03-10 03:48:08 -03:00
EKFGSF_yaw_reset_ms = 0;
EKFGSF_yaw_reset_request_ms = 0;
EKFGSF_yaw_reset_count = 0;
EKFGSF_yaw_valid_count = 0;
AP_NavEKF3: Enable use of EKF-GSF yaw estimate AP_NavEKF3: Add emergency yaw reset using a Gussian Sum Filter estimate AP_NavEKF3: Reduce default minimum GPS velocity noise for Copters Enables fail-safe to be set with more sensitivity and improves tracking accuracy. Origin values were set using typical GPS performance for receivers on sale 6 years ago. Receiver performance has improved since then. AP_NavEKF3: Prevent constant mag anomaly yaw resets Prevents constant magnetic anomaly induced resets that can be triggered when flying with vehicle generated magnetic interference. Allows for two resets per takeoff. Allowance for two resets is required, becasue a large ground based magnetic yaw anomaly can cause a sufficiently large yaw innovation that two resets in close succession are required. AP_NavEKF3: Add option to fly without magnetometer AP_NavEKF3: Rework emergency yaw reset logic Use a separate external accessor function to request the yaw reset. Allow reset requests to remain active for a defined period of time. Tidy up reset function to split out accuracy check. AP_NavEKF3: Fix vulnerability to lane switch race condition Prevents the situation where a lane switch results in a lane being selected that does not have the correct yaw. This can occur if the primary lane becomes unhealthy before the external failsafe monitor has time to react. AP_NavEKF3: Fix EKF_MAG_CAL = 6 behaviours Fix bug causing the yaw alignment to be performed at startup before the GSF had a valid estimate. Fix bug causing emergency yaw message to be output for a normal reset. Fix vulnerability to reported negative yaw variance. Remove duplicate timer checks. AP_NavEKF3: Update EK3_MAG_CAL documentation AP_NavEKF3: Relax yaw gyro bias convergence check when not using mag AP_NavEKF3: Reduce yaw drift in hover with no yaw sensor Uses the GSF yaw estimate if available which is better than the EKF's own yaw when no yaw sensor is available.
2020-03-10 03:48:08 -03:00
EKFGSF_run_filterbank = true;
Vector3f gyroBias;
getGyroBias(gyroBias);
yawEstimator->setGyroBias(gyroBias);
AP_NavEKF3: Enable use of EKF-GSF yaw estimate AP_NavEKF3: Add emergency yaw reset using a Gussian Sum Filter estimate AP_NavEKF3: Reduce default minimum GPS velocity noise for Copters Enables fail-safe to be set with more sensitivity and improves tracking accuracy. Origin values were set using typical GPS performance for receivers on sale 6 years ago. Receiver performance has improved since then. AP_NavEKF3: Prevent constant mag anomaly yaw resets Prevents constant magnetic anomaly induced resets that can be triggered when flying with vehicle generated magnetic interference. Allows for two resets per takeoff. Allowance for two resets is required, becasue a large ground based magnetic yaw anomaly can cause a sufficiently large yaw innovation that two resets in close succession are required. AP_NavEKF3: Add option to fly without magnetometer AP_NavEKF3: Rework emergency yaw reset logic Use a separate external accessor function to request the yaw reset. Allow reset requests to remain active for a defined period of time. Tidy up reset function to split out accuracy check. AP_NavEKF3: Fix vulnerability to lane switch race condition Prevents the situation where a lane switch results in a lane being selected that does not have the correct yaw. This can occur if the primary lane becomes unhealthy before the external failsafe monitor has time to react. AP_NavEKF3: Fix EKF_MAG_CAL = 6 behaviours Fix bug causing the yaw alignment to be performed at startup before the GSF had a valid estimate. Fix bug causing emergency yaw message to be output for a normal reset. Fix vulnerability to reported negative yaw variance. Remove duplicate timer checks. AP_NavEKF3: Update EK3_MAG_CAL documentation AP_NavEKF3: Relax yaw gyro bias convergence check when not using mag AP_NavEKF3: Reduce yaw drift in hover with no yaw sensor Uses the GSF yaw estimate if available which is better than the EKF's own yaw when no yaw sensor is available.
2020-03-10 03:48:08 -03:00
}
// store current on-ground and in-air status for next time
prevOnGround = onGround;
prevInFlight = inFlight;
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
}
// Set to true if the terrain underneath is stable enough to be used as a height reference
// in combination with a range finder. Set to false if the terrain underneath the vehicle
// cannot be used as a height reference. Use to prevent range finder operation otherwise
// enabled by the combination of EK3_RNG_USE_HGT and EK3_RNG_USE_SPD parameters.
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
void NavEKF3_core::setTerrainHgtStable(bool val)
{
terrainHgtStable = val;
}
// Detect takeoff for optical flow navigation
void NavEKF3_core::detectOptFlowTakeoff(void)
{
if (!onGround && !takeOffDetected && (imuSampleTime_ms - timeAtArming_ms) > 1000) {
// we are no longer confidently on the ground so check the range finder and gyro for signs of takeoff
const auto &ins = dal.ins();
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
Vector3f angRateVec;
Vector3f gyroBias;
getGyroBias(gyroBias);
angRateVec = ins.get_gyro(gyro_index_active) - gyroBias;
AP_NavEKF3: added EKF3 for EKF experimentation AP_NavEKF3: Implement same maths as PX4/ecl EKF Replace attitude vector states with quaternions Remove gyro scale factor states Add XY accel delta velocity bias estimation Initial tuning Add GPS body frame offset compensation AP_NavEKF3: Fix bugs and consolidate aiding switch logic Switching in and out of aiding modes was being performed in more than one place and was using two variables. The reversion out of GPS mode due to prolonged loss of GPS was not working. This consolidates the logic and ensures that PV_AidingMode is only changed by the setAidingMode function. AP_NavEKF3: prevent multiple fusion mode changes per filter update AP_NavEKF3: Update tuning defaults AP_NavEKF3: Fix bug causing switching in and out of aiding If the GPS receiver was disconnected and no data received, then then the gpsGoodToAlign check did not get a chance to run and becasue it was previously true the EKF would switch back into aiding. This prevents this by ensuring that gpsGoodToAlign defaults to false when the check is not being performed. An additional check has also been dded to ensure that there is GPS data to fuse before we declare ready to use GPS. AP_NavEKF3: Fix bug preventing planes recovering from bad magnetometers This bug created a race condition whereby if the EKF had to reset the yaw to the GPS ground course to recover from a bad magnetometer, the new heading could be over-written by the bad magnetic heading when the plane reached the height for the scheduled reset. AP_NavEKF3: Improve switch-over to backup magnetometer When switching over to a back up magnetometer, ensure that the earth field estimate are reset. Otherwise mag earth field estimates due to the previous failed mag could cause data from the new mag to be rejected. AP_NavEKF3: enable automatic use of range finder height AP_NavEKF3: Fix bug in handling of invalid range data AP_NavEKF3: Fix height drift on ground using range finder without GPSAP_NavEKF3: AP_NavEKF3: Handle yaw jumps due to core switches AP_NavEKF3: Enable simultaneous GPS and optical flow use AP_NavEKF3: fix console status reporting AP_NavEKF3: send messages to mavlink instead of console This allows the GCS to better handle the display of messages to the user. AP_NavEKF3: replace deprecated function call AP_NavEKF3: Compensate for sensor body frame offsets AP_NavEKF3: Fix bug in median filter code AP_NavEKF3: save some memory in the position offsets in EKF3 We don't need to copy that vector3f for every sample. A uint8_t does the job AP_NavEKF3: Add fusion of range beacon data AP_NavEKF3: Bring up to date with EKF2 AP_NavEKF3: Misc range beacon updates AP_NavEKF3: Add mising accessors AP_NavEKF3: remove duplicate include AP_NavEKF3: Prevent NaN's when accessing range beacon debug data AP_NavEKF3: Update range beacon naming AP_NavEKF3: updates AP_NavEKF3: miscellaneous changes AP_NavEKF3: misc updates AP_NavEKF3: misc range beacons updates AP_NavEKF3: add missing rover default param
2016-07-14 02:08:43 -03:00
takeOffDetected = (takeOffDetected || (angRateVec.length() > 0.1f) || (rangeDataNew.rng > (rngAtStartOfFlight + 0.1f)));
} else if (onGround) {
// we are confidently on the ground so set the takeoff detected status to false
takeOffDetected = false;
}
}