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AP_NavEKF3: Allow reporting of airspeed consistency for a deselected sensor

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Paul Riseborough 2022-07-04 08:01:54 +10:00 committed by Randy Mackay
parent 037cf9d2e9
commit 66e26bb5cc
4 changed files with 13 additions and 14 deletions
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16
libraries/AP_NavEKF3/AP_NavEKF3_AirDataFusion.cpp
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@ -68,7 +68,7 @@ void NavEKF3_core::FuseAirspeed()
}
SK_TAS[1] = SH_TAS[1];
if (tasDataDelayed.healthy && !airDataFusionWindOnly) {
if (tasDataDelayed.allowFusion && !airDataFusionWindOnly) {
Kfusion[0] = SK_TAS[0]*(P[0][4]*SH_TAS[2] - P[0][22]*SH_TAS[2] + P[0][5]*SK_TAS[1] - P[0][23]*SK_TAS[1] + P[0][6]*vd*SH_TAS[0]);
Kfusion[1] = SK_TAS[0]*(P[1][4]*SH_TAS[2] - P[1][22]*SH_TAS[2] + P[1][5]*SK_TAS[1] - P[1][23]*SK_TAS[1] + P[1][6]*vd*SH_TAS[0]);
Kfusion[2] = SK_TAS[0]*(P[2][4]*SH_TAS[2] - P[2][22]*SH_TAS[2] + P[2][5]*SK_TAS[1] - P[2][23]*SK_TAS[1] + P[2][6]*vd*SH_TAS[0]);
@ -84,7 +84,7 @@ void NavEKF3_core::FuseAirspeed()
zero_range(&Kfusion[0], 0, 9);
}
if (tasDataDelayed.healthy && !inhibitDelAngBiasStates && !airDataFusionWindOnly) {
if (tasDataDelayed.allowFusion && !inhibitDelAngBiasStates && !airDataFusionWindOnly) {
Kfusion[10] = SK_TAS[0]*(P[10][4]*SH_TAS[2] - P[10][22]*SH_TAS[2] + P[10][5]*SK_TAS[1] - P[10][23]*SK_TAS[1] + P[10][6]*vd*SH_TAS[0]);
Kfusion[11] = SK_TAS[0]*(P[11][4]*SH_TAS[2] - P[11][22]*SH_TAS[2] + P[11][5]*SK_TAS[1] - P[11][23]*SK_TAS[1] + P[11][6]*vd*SH_TAS[0]);
Kfusion[12] = SK_TAS[0]*(P[12][4]*SH_TAS[2] - P[12][22]*SH_TAS[2] + P[12][5]*SK_TAS[1] - P[12][23]*SK_TAS[1] + P[12][6]*vd*SH_TAS[0]);
@ -93,7 +93,7 @@ void NavEKF3_core::FuseAirspeed()
zero_range(&Kfusion[0], 10, 12);
}
if (tasDataDelayed.healthy && !inhibitDelVelBiasStates && !airDataFusionWindOnly) {
if (tasDataDelayed.allowFusion && !inhibitDelVelBiasStates && !airDataFusionWindOnly) {
for (uint8_t index = 0; index < 3; index++) {
const uint8_t stateIndex = index + 13;
if (!dvelBiasAxisInhibit[index]) {
@ -108,7 +108,7 @@ void NavEKF3_core::FuseAirspeed()
}
// zero Kalman gains to inhibit magnetic field state estimation
if (tasDataDelayed.healthy && !inhibitMagStates && !airDataFusionWindOnly) {
if (tasDataDelayed.allowFusion && !inhibitMagStates && !airDataFusionWindOnly) {
Kfusion[16] = SK_TAS[0]*(P[16][4]*SH_TAS[2] - P[16][22]*SH_TAS[2] + P[16][5]*SK_TAS[1] - P[16][23]*SK_TAS[1] + P[16][6]*vd*SH_TAS[0]);
Kfusion[17] = SK_TAS[0]*(P[17][4]*SH_TAS[2] - P[17][22]*SH_TAS[2] + P[17][5]*SK_TAS[1] - P[17][23]*SK_TAS[1] + P[17][6]*vd*SH_TAS[0]);
Kfusion[18] = SK_TAS[0]*(P[18][4]*SH_TAS[2] - P[18][22]*SH_TAS[2] + P[18][5]*SK_TAS[1] - P[18][23]*SK_TAS[1] + P[18][6]*vd*SH_TAS[0]);
@ -120,7 +120,7 @@ void NavEKF3_core::FuseAirspeed()
zero_range(&Kfusion[0], 16, 21);
}
if (tasDataDelayed.healthy && !inhibitWindStates) {
if (tasDataDelayed.allowFusion && !inhibitWindStates) {
Kfusion[22] = SK_TAS[0]*(P[22][4]*SH_TAS[2] - P[22][22]*SH_TAS[2] + P[22][5]*SK_TAS[1] - P[22][23]*SK_TAS[1] + P[22][6]*vd*SH_TAS[0]);
Kfusion[23] = SK_TAS[0]*(P[23][4]*SH_TAS[2] - P[23][22]*SH_TAS[2] + P[23][5]*SK_TAS[1] - P[23][23]*SK_TAS[1] + P[23][6]*vd*SH_TAS[0]);
} else {
@ -135,16 +135,16 @@ void NavEKF3_core::FuseAirspeed()
tasTestRatio = sq(innovVtas) / (sq(MAX(0.01f * (ftype)frontend->_tasInnovGate, 1.0f)) * varInnovVtas);
// fail if the ratio is > 1, but don't fail if bad IMU data
const bool tasHealth = tasDataDelayed.healthy && ((tasTestRatio < 1.0f) || badIMUdata);
const bool isConsistent = (tasTestRatio < 1.0f) || badIMUdata;
tasTimeout = (imuSampleTime_ms - lastTasPassTime_ms) > frontend->tasRetryTime_ms;
if (!tasHealth) {
if (!isConsistent) {
lastTasFailTime_ms = imuSampleTime_ms;
} else {
lastTasFailTime_ms = 0;
}
// test the ratio before fusing data, forcing fusion if airspeed and position are timed out as we have no choice but to try and use airspeed to constrain error growth
if (tasHealth || (tasTimeout && posTimeout)) {
if (tasDataDelayed.allowFusion && (isConsistent || (tasTimeout && posTimeout))) {
// restart the counter
lastTasPassTime_ms = imuSampleTime_ms;

4
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -77,7 +77,7 @@ void NavEKF3_core::setWindMagStateLearningMode()
Vector3F tempEuler;
stateStruct.quat.to_euler(tempEuler.x, tempEuler.y, tempEuler.z);
ftype trueAirspeedVariance;
const bool haveAirspeedMeasurement = usingDefaultAirspeed || (tasDataDelayed.healthy && (imuDataDelayed.time_ms - tasDataDelayed.time_ms < 500) && useAirspeed());
const bool haveAirspeedMeasurement = usingDefaultAirspeed || (tasDataDelayed.allowFusion && (imuDataDelayed.time_ms - tasDataDelayed.time_ms < 500) && useAirspeed());
if (haveAirspeedMeasurement) {
trueAirspeedVariance = constrain_ftype(tasDataDelayed.tasVariance, WIND_VEL_VARIANCE_MIN, WIND_VEL_VARIANCE_MAX);
const ftype windSpeed = sqrtF(sq(stateStruct.velocity.x) + sq(stateStruct.velocity.y)) - tasDataDelayed.tas;
@ -738,7 +738,7 @@ void NavEKF3_core::runYawEstimatorPrediction()
}
ftype trueAirspeed;
if (tasDataDelayed.healthy && assume_zero_sideslip()) {
if (tasDataDelayed.allowFusion && assume_zero_sideslip()) {
trueAirspeed = MAX(tasDataDelayed.tas, 0.0f);
} else {
trueAirspeed = 0.0f;

5
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -831,13 +831,12 @@ void NavEKF3_core::readAirSpdData()
const auto *airspeed = dal.airspeed();
if (airspeed &&
airspeed->use(selected_airspeed) &&
(airspeed->last_update_ms(selected_airspeed) - timeTasReceived_ms) > frontend->sensorIntervalMin_ms) {
tasDataNew.tas = airspeed->get_airspeed(selected_airspeed) * EAS2TAS;
timeTasReceived_ms = airspeed->last_update_ms(selected_airspeed);
tasDataNew.time_ms = timeTasReceived_ms - frontend->tasDelay_ms;
tasDataNew.tasVariance = sq(MAX(frontend->_easNoise * EAS2TAS, 0.5f));
tasDataNew.healthy = airspeed->healthy(selected_airspeed);
tasDataNew.allowFusion = airspeed->healthy(selected_airspeed) && airspeed->use(selected_airspeed);
// Correct for the average intersampling delay due to the filter update rate
tasDataNew.time_ms -= localFilterTimeStep_ms/2;
@ -856,7 +855,7 @@ void NavEKF3_core::readAirSpdData()
is_positive(defaultAirSpeed)) {
tasDataDelayed.tas = defaultAirSpeed * EAS2TAS;
tasDataDelayed.tasVariance = sq(MAX(defaultAirSpeedVariance, easErrVar));
tasDataDelayed.healthy = true;
tasDataDelayed.allowFusion = true;
tasDataDelayed.time_ms = 0;
usingDefaultAirspeed = true;
} else {

2
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -559,7 +559,7 @@ private:
struct tas_elements : EKF_obs_element_t {
ftype tas; // true airspeed measurement (m/sec)
ftype tasVariance; // variance of true airspeed measurement (m/sec)^2
bool healthy; // true if measurement can be allowed to modify EKF states.
bool allowFusion; // true if measurement can be allowed to modify EKF states.
};
struct of_elements : EKF_obs_element_t {