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https://github.com/ArduPilot/ardupilot
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AP_NavEKF: Rename static mode to avoid confusion with other non-GPS modes
This renames static mode as posHoldMode to make it clearer what this and the other non-GPS modes do
This commit is contained in:
priseborough
Randy Mackay
parent
b160f4c03b
commit
4dc1ee2d66
@ -373,8 +373,8 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
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covTimeStepMax(0.07f), // maximum time (sec) between covariance prediction updates
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covDelAngMax(0.05f), // maximum delta angle between covariance prediction updates
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TASmsecMax(200), // maximum allowed interval between airspeed measurement updates
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staticMode(true), // staticMode forces position and velocity fusion with zero values
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prevStaticMode(true), // staticMode from previous filter update
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posHoldMode(true), // forces position fusion with zero values
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prevPosHoldMode(true), // posHoldMode from previous filter update
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yawAligned(false), // set true when heading or yaw angle has been aligned
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inhibitWindStates(true), // inhibit wind state updates on startup
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inhibitMagStates(true) // inhibit magnetometer state updates on startup
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@ -447,10 +447,10 @@ bool NavEKF::healthy(void) const
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return true;
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}
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// resets position states to last GPS measurement or to zero if in static mode
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// resets position states to last GPS measurement or to zero if in position hold mode
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void NavEKF::ResetPosition(void)
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{
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if (staticMode) {
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if (posHoldMode) {
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state.position.x = 0;
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state.position.y = 0;
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} else if (_ahrs->get_gps().status() >= AP_GPS::GPS_OK_FIX_3D) {
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@ -465,11 +465,11 @@ void NavEKF::ResetPosition(void)
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}
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}
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// Reset velocity states to last GPS measurement if available or to zero if in static mode
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// Reset velocity states to last GPS measurement if available or to zero if in position hold mode
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// Do not reset vertical velocity using GPS as there is baro alt available to constrain drift
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void NavEKF::ResetVelocity(void)
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{
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if (staticMode) {
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if (posHoldMode) {
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state.velocity.zero();
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state.vel1.zero();
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state.vel2.zero();
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@ -685,22 +685,22 @@ void NavEKF::UpdateFilter()
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// check if on ground
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SetFlightAndFusionModes();
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// define rules used to set staticMode
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// staticMode enables attitude only estimates without GPS by fusing zeros for position
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if (static_mode_demanded()) {
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staticMode = true;
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// define rules used to set position hold mode
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// position hold enables attitude only estimates without GPS by fusing zeros for position
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if (vehicleNotArmed() || (_fusionModeGPS == 3 && !optFlowDataPresent())) {
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posHoldMode = true;
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} else {
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staticMode = false;
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posHoldMode = false;
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}
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// check to see if static mode has changed and reset states if it has
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if (prevStaticMode != staticMode) {
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// check to see if position hold mode has changed and reset states if it has
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if (prevPosHoldMode != posHoldMode) {
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ResetVelocity();
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ResetPosition();
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ResetHeight();
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StoreStatesReset();
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// only reset the magnetic field and heading on the first arm. This prevents in-flight learning being forgotten for vehicles that do multiple short flights and disarm in-between.
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if (!staticMode && !firstArmComplete) {
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if (!posHoldMode && !firstArmComplete) {
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firstArmComplete = true;
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state.quat = calcQuatAndFieldStates(_ahrs->roll, _ahrs->pitch);
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firstArmPosD = state.position.z;
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@ -708,8 +708,8 @@ void NavEKF::UpdateFilter()
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// zero stored velocities used to do dead-reckoning
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heldVelNE.zero();
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// set various useage modes based on the condition at arming. These are then held until the vehicle is disarmed.
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if (!prevStaticMode) {
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gpsInhibitMode = 0; // When entering static mode (dis-arming), clear any GPS mode inhibits
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if (!prevPosHoldMode) {
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gpsInhibitMode = 0; // When entering potion hold mode (dis-arming), clear any GPS mode inhibits
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} else if (_fusionModeGPS == 3) { // GPS useage has been explicitly prohibited
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if (optFlowDataPresent()) {
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@ -724,8 +724,8 @@ void NavEKF::UpdateFilter()
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gpsInhibitMode = 1; // we don't have have GPS data and will only be able to estimate orientation and height
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}
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}
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prevStaticMode = staticMode;
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} else if (!staticMode && !finalMagYawInit && firstArmPosD - state.position.z > 1.5f && !assume_zero_sideslip()) {
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prevPosHoldMode = posHoldMode;
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} else if (!posHoldMode && !finalMagYawInit && firstArmPosD - state.position.z > 1.5f && !assume_zero_sideslip()) {
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// Do a final yaw and earth mag field initialisation when the vehicle has gained 1.5m of altitude after arming if it is a non-fly forward vehicle (vertical takeoff)
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state.quat = calcQuatAndFieldStates(_ahrs->roll, _ahrs->pitch);
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finalMagYawInit = true;
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@ -769,7 +769,7 @@ void NavEKF::UpdateFilter()
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void NavEKF::SelectVelPosFusion()
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{
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// check for new data, specify which measurements should be used and check data for freshness
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if (!staticMode && !velHoldMode) {
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if (!posHoldMode && !velHoldMode) {
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// check for and read new GPS data
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readGpsData();
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@ -813,8 +813,8 @@ void NavEKF::SelectVelPosFusion()
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fuseVelData = false;
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fusePosData = false;
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}
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} else if (staticMode ) {
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// in static mode use synthetic position measurements set to zero
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} else if (posHoldMode ) {
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// in position hold mode use synthetic position measurements set to zero
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// only fuse synthetic measurements when rate of change of velocity is less than 0.5g to reduce attitude errors due to launch acceleration
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// do not use velocity fusion to reduce the effect of movement on attitude
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if (accNavMag < 4.9f) {
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@ -928,8 +928,8 @@ void NavEKF::SelectFlowFusion()
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{
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// Check if the optical flow data is still valid
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flowDataValid = (imuSampleTime_ms - flowValidMeaTime_ms < 200);
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// if we don't have valid flow measurements and are not using GPS, dead reckon using current velocity vector unless we are in static mode
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if (!flowDataValid && !staticMode && gpsInhibitMode == 2) {
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// if we don't have valid flow measurements and are not using GPS, dead reckon using current velocity vector unless we are in positon hold mode mode
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if (!flowDataValid && !posHoldMode && gpsInhibitMode == 2) {
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velHoldMode = true;
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} else {
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velHoldMode = false;
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@ -946,7 +946,7 @@ void NavEKF::SelectFlowFusion()
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// check if fusion should be delayed to spread load. Setting fuseMeNow to true disables this load spreading feature.
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bool delayFusion = ((covPredStep || magFusePerformed) && !(timeout || inhibitLoadLeveling));
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// if the filter is initialised, we have data to fuse and the vehicle is not excessively tilted, then perform optical flow fusion
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if (flowDataValid && newDataFlow && tiltOK && !delayFusion && !staticMode)
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if (flowDataValid && newDataFlow && tiltOK && !delayFusion && !posHoldMode)
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{
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// reset state updates and counter used to spread fusion updates across several frames to reduce 10Hz pulsing
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memset(&flowIncrStateDelta[0], 0, sizeof(flowIncrStateDelta));
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@ -965,14 +965,14 @@ void NavEKF::SelectFlowFusion()
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// update the time stamp
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prevFlowFusionTime_ms = imuSampleTime_ms;
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} else if (flowDataValid && flow_state.obsIndex == 1 && !delayFusion && !staticMode){
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} else if (flowDataValid && flow_state.obsIndex == 1 && !delayFusion && !posHoldMode){
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// Fuse the optical flow Y axis data into the main filter
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FuseOptFlow();
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// increment the index to fuse the X and Y data using the 2-state EKF on the next prediction cycle
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flow_state.obsIndex = 2;
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// indicate that flow fusion has been performed. This is used for load spreading.
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flowFusePerformed = true;
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} else if (((flowDataValid && flow_state.obsIndex == 2) || newDataRng) && !staticMode) {
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} else if (((flowDataValid && flow_state.obsIndex == 2) || newDataRng) && !posHoldMode) {
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// enable fusion of range data if available and permitted
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if(newDataRng && useRngFinder()) {
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fuseRngData = true;
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@ -1206,10 +1206,10 @@ void NavEKF::CovariancePrediction()
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}
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for (uint8_t i= 0; i<=9; i++) processNoise[i] = 1.0e-9f;
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for (uint8_t i=10; i<=12; i++) processNoise[i] = dAngBiasSigma;
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// scale gyro bias noise when in static mode to allow for faster bias estimation
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// scale gyro bias noise when in position hold mode to allow for faster bias estimation
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for (uint8_t i=10; i<=12; i++) {
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processNoise[i] = dAngBiasSigma;
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if (staticMode) {
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if (posHoldMode) {
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processNoise[i] *= _gyroBiasNoiseScaler;
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}
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}
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@ -1806,9 +1806,7 @@ void NavEKF::CovariancePrediction()
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perf_end(_perf_CovariancePrediction);
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}
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// fuse selected position, velocity and height measurements, checking dat for consistency
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// provide a static mode that allows maintenance of the attitude reference without GPS provided the vehicle is not accelerating
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// check innovation consistency of velocity states calculated using IMU1 and IMU2 and calculate the optimal weighting of accel data
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// fuse selected position, velocity and height measurements
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void NavEKF::FuseVelPosNED()
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{
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// start performance timer
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@ -1847,11 +1845,10 @@ void NavEKF::FuseVelPosNED()
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// associated with sequential fusion
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if (fuseVelData || fusePosData || fuseHgtData) {
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// if static mode or velocity hold is active use the current states to calculate the predicted
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// if position hold mode or velocity hold is active use the current states to calculate the predicted
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// measurement rather than use states from a previous time. We need to do this
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// because there may be no stored states due to lack of real measurements.
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// in static mode, only position and height fusion is used
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if (staticMode) {
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if (posHoldMode) {
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statesAtPosTime = state;
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statesAtHgtTime = state;
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} else if (velHoldMode) {
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@ -1863,15 +1860,15 @@ void NavEKF::FuseVelPosNED()
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if (useAirspeed()) gpsRetryTime = _gpsRetryTimeUseTAS;
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else gpsRetryTime = _gpsRetryTimeNoTAS;
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// form the observation vector and zero velocity and horizontal position observations if in static mode
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// form the observation vector and zero velocity and horizontal position observations if in position hold mode
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// If in velocity hold mode, hold the last known horizontal velocity vector
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if (!staticMode && !velHoldMode) {
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if (!posHoldMode && !velHoldMode) {
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observation[0] = velNED.x + gpsVelGlitchOffset.x;
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observation[1] = velNED.y + gpsVelGlitchOffset.y;
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observation[2] = velNED.z;
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observation[3] = gpsPosNE.x + gpsPosGlitchOffsetNE.x;
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observation[4] = gpsPosNE.y + gpsPosGlitchOffsetNE.y;
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} else if (staticMode){
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} else if (posHoldMode){
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for (uint8_t i=0; i<=4; i++) observation[i] = 0.0f;
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} else if (velHoldMode) {
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observation[0] = heldVelNE.x;
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@ -1927,8 +1924,8 @@ void NavEKF::FuseVelPosNED()
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posHealth = ((posTestRatio < 1.0f) || badIMUdata);
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// declare a timeout condition if we have been too long without data
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posTimeout = ((imuSampleTime_ms - posFailTime) > gpsRetryTime);
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// use position data if healthy, timed out, or in static mode
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if (posHealth || posTimeout || staticMode) {
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// use position data if healthy, timed out, or in position hold mode
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if (posHealth || posTimeout || posHoldMode) {
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posHealth = true;
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posFailTime = imuSampleTime_ms;
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// if timed out or outside the specified glitch radius, increment the offset applied to GPS data to compensate for large GPS position jumps
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@ -1992,8 +1989,8 @@ void NavEKF::FuseVelPosNED()
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velHealth = ((velTestRatio < 1.0f) || badIMUdata);
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// declare a timeout if we have not fused velocity data for too long
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velTimeout = (imuSampleTime_ms - velFailTime) > gpsRetryTime;
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// if data is healthy or in static mode we fuse it
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if (velHealth || staticMode || velHoldMode) {
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// if data is healthy or in position hold mode we fuse it
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if (velHealth || posHoldMode || velHoldMode) {
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velHealth = true;
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velFailTime = imuSampleTime_ms;
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} else if (velTimeout && !posHealth) {
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@ -2016,8 +2013,8 @@ void NavEKF::FuseVelPosNED()
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// fail if the ratio is > 1, but don't fail if bad IMU data
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hgtHealth = ((hgtTestRatio < 1.0f) || badIMUdata);
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hgtTimeout = (imuSampleTime_ms - hgtFailTime) > hgtRetryTime;
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// Fuse height data if healthy or timed out or in static mode
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if (hgtHealth || hgtTimeout || staticMode) {
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// Fuse height data if healthy or timed out or in position hold mode
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if (hgtHealth || hgtTimeout || posHoldMode) {
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hgtHealth = true;
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hgtFailTime = imuSampleTime_ms;
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// if timed out, reset the height, but do not fuse data on this time step
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@ -2032,20 +2029,20 @@ void NavEKF::FuseVelPosNED()
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}
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// set range for sequential fusion of velocity and position measurements depending on which data is available and its health
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if (fuseVelData && _fusionModeGPS == 0 && velHealth && !staticMode && gpsInhibitMode == 0) {
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if (fuseVelData && _fusionModeGPS == 0 && velHealth && !posHoldMode && gpsInhibitMode == 0) {
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fuseData[0] = true;
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fuseData[1] = true;
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fuseData[2] = true;
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}
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if (fuseVelData && _fusionModeGPS == 1 && velHealth && !staticMode && gpsInhibitMode == 0) {
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if (fuseVelData && _fusionModeGPS == 1 && velHealth && !posHoldMode && gpsInhibitMode == 0) {
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fuseData[0] = true;
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fuseData[1] = true;
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}
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if ((fusePosData && posHealth && gpsInhibitMode == 0) || staticMode) {
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if ((fusePosData && posHealth && gpsInhibitMode == 0) || posHoldMode) {
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fuseData[3] = true;
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fuseData[4] = true;
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}
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if ((fuseHgtData && hgtHealth) || staticMode) {
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if ((fuseHgtData && hgtHealth) || posHoldMode) {
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fuseData[5] = true;
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}
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if (velHoldMode) {
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@ -2143,7 +2140,7 @@ void NavEKF::FuseVelPosNED()
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// Don't spread quaternion corrections if total angle change across predicted interval is going to exceed 0.1 rad
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bool highRates = ((gpsUpdateCountMax * correctedDelAng.length()) > 0.1f);
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for (uint8_t i = 0; i<=21; i++) {
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if ((i <= 3 && highRates) || i >= 10 || staticMode || velHoldMode) {
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if ((i <= 3 && highRates) || i >= 10 || posHoldMode || velHoldMode) {
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states[i] = states[i] - Kfusion[i] * innovVelPos[obsIndex];
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} else {
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if (obsIndex == 5) {
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@ -2507,7 +2504,7 @@ void NavEKF::FuseMagnetometer()
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if (!magHealth) {
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Kfusion[j] *= 0.25f;
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}
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if ((j <= 3 && highRates) || j >= 10 || staticMode || minorFramesToGo < 1.5f ) {
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if ((j <= 3 && highRates) || j >= 10 || posHoldMode || minorFramesToGo < 1.5f ) {
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states[j] = states[j] - Kfusion[j] * innovMag[obsIndex];
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} else {
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// scale the correction based on the number of averaging frames left to go
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@ -3619,14 +3616,14 @@ void NavEKF::resetGyroBias(void)
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}
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// Commands the EKF to not use GPS.
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// This command must be sent prior to arming as it will only be actioned when the filter is in static mode
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// This command is forgotten by the EKF each time it goes back into static mode (eg the vehicle disarms)
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// This command must be sent prior to arming as it will only be actioned when the filter is in position hold mode
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// This command is forgotten by the EKF each time it goes back into position hold mode (eg the vehicle disarms)
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// Returns 0 if command rejected
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// Returns 1 if attitude, vertical velocity and vertical position will be provided
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// Returns 2 if attitude, 3D-velocity, vertical position and relative horizontal position will be provided
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uint8_t NavEKF::setInhibitGPS(void)
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{
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if(!staticMode) {
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if(!posHoldMode) {
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return 0;
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}
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if (optFlowDataPresent()) {
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@ -3804,12 +3801,12 @@ void NavEKF::SetFlightAndFusionModes()
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}
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// store current on-ground status for next time
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prevOnGround = onGround;
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// If we are on ground, or in static mode, or don't have the right vehicle and sensing to estimate wind, inhibit wind states
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inhibitWindStates = ((!useAirspeed() && !assume_zero_sideslip()) || onGround || staticMode);
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// If we are on ground, or in position hold mode, or don't have the right vehicle and sensing to estimate wind, inhibit wind states
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inhibitWindStates = ((!useAirspeed() && !assume_zero_sideslip()) || onGround || posHoldMode);
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// request mag calibration for both in-air and manoeuvre threshold options
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bool magCalRequested = ((_magCal == 0) && !onGround) || ((_magCal == 1) && manoeuvring);
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// deny mag calibration request if we aren't using the compass, are in the pre-arm static mode or it has been inhibited by the user
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bool magCalDenied = (!use_compass() || staticMode || (_magCal == 2));
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// deny mag calibration request if we aren't using the compass, are in the pre-arm position hold mode or it has been inhibited by the user
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bool magCalDenied = (!use_compass() || posHoldMode || (_magCal == 2));
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// inhibit the magnetic field calibration if not requested or denied
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inhibitMagStates = (!magCalRequested || magCalDenied);
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}
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@ -4243,11 +4240,11 @@ void NavEKF::alignYawGPS()
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P[1][1] = 0.25f*sq(radians(1.0f));
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P[2][2] = 0.25f*sq(radians(1.0f));
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P[3][3] = 0.25f*sq(radians(1.0f));
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// velocities - we could have a big error coming out of static mode due to GPS lag
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// velocities - we could have a big error coming out of position hold mode due to GPS lag
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P[4][4] = 400.0f;
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P[5][5] = P[4][4];
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P[6][6] = sq(0.7f);
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// positions - we could have a big error coming out of static mode due to GPS lag
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// positions - we could have a big error coming out of position hold mode due to GPS lag
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P[7][7] = 400.0f;
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P[8][8] = P[7][7];
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P[9][9] = sq(5.0f);
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@ -4429,12 +4426,10 @@ bool NavEKF::optFlowDataPresent(void) const
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}
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}
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// return true if the vehicle code has requested use of static mode
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// in static mode, zero postion measurements are fused, allowing an attitude
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// reference to be initialised and maintained without GPS lock
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bool NavEKF::static_mode_demanded(void) const
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// return true if the vehicle is not armed or requesting a static vehicle assumption for correction of attitude errors
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bool NavEKF::vehicleNotArmed(void) const
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{
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return !_ahrs->get_armed() || !_ahrs->get_correct_centrifugal() || gpsInhibitMode == 1;
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return !_ahrs->get_armed() || !_ahrs->get_correct_centrifugal();
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}
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// return true if we should use the compass
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@ -4533,7 +4528,7 @@ return filter function status as a bitmasked integer
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4 = absolute horizontal position estimate valid
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5 = vertical position estimate valid
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6 = terrain height estimate valid
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7 = static mode
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7 = positon hold mode
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*/
|
||||
void NavEKF::getFilterStatus(uint8_t &status) const
|
||||
{
|
||||
@ -4545,7 +4540,7 @@ void NavEKF::getFilterStatus(uint8_t &status) const
|
||||
!posTimeout<<4 |
|
||||
!hgtTimeout<<5 |
|
||||
!inhibitGndState<<6 |
|
||||
staticMode<<7);
|
||||
posHoldMode<<7);
|
||||
}
|
||||
|
||||
#endif // HAL_CPU_CLASS
|
||||
|
||||
@ -158,7 +158,7 @@ public:
|
||||
void getVariances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const;
|
||||
|
||||
// return StaticMode state
|
||||
bool getStaticMode(void) const { return staticMode; }
|
||||
bool getStaticMode(void) const { return posHoldMode; }
|
||||
|
||||
// should we use the compass? This is public so it can be used for
|
||||
// reporting via ahrs.use_compass()
|
||||
@ -354,10 +354,9 @@ private:
|
||||
// return true if we should use the airspeed sensor
|
||||
bool useAirspeed(void) const;
|
||||
|
||||
// return true if the vehicle code has requested use of static mode
|
||||
// in static mode, position and height are constrained to zero, allowing an attitude
|
||||
// reference to be initialised and maintained when on the ground and without GPS lock
|
||||
bool static_mode_demanded(void) const;
|
||||
// return true if the vehicle code has requested operation in a pre-armed state where GPS data isnt used to correct attitude
|
||||
// this causes operation in a mode producing attitude and height only
|
||||
bool vehicleNotArmed(void) const;
|
||||
|
||||
// decay GPS horizontal position offset to close to zero at a rate of 1 m/s
|
||||
// this allows large GPS position jumps to be accomodated gradually
|
||||
@ -522,8 +521,8 @@ private:
|
||||
uint32_t MAGmsecPrev; // time stamp of last compass fusion step
|
||||
uint32_t HGTmsecPrev; // time stamp of last height measurement fusion step
|
||||
bool inhibitLoadLeveling; // boolean that turns off delay of fusion to level processor loading
|
||||
bool staticMode; // boolean to force position and velocity measurements to zero for pre-arm or bench testing
|
||||
bool prevStaticMode; // value of static mode from last update
|
||||
bool posHoldMode; // boolean to force position measurements to zero for operation without GPS
|
||||
bool prevPosHoldMode; // value of static mode from last update
|
||||
uint32_t lastMagUpdate; // last time compass was updated
|
||||
Vector3f velDotNED; // rate of change of velocity in NED frame
|
||||
Vector3f velDotNEDfilt; // low pass filtered velDotNED
|
||||
|
||||
Loading…
Reference in New Issue
Block a user