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AP_NavEKF3: remove mag_state state

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we don't need to persist this across multiple calls as we now fuse all axes on the one step.

I've moved the defintion of these variables to where they are initialised to make it clear they're not used uninitialised.
This commit is contained in:
Peter Barker 2023-01-10 13:14:39 +11:00 committed by Andrew Tridgell
parent 1d353d0be9
commit da95985dd7
3 changed files with 16 additions and 49 deletions
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43
libraries/AP_NavEKF3/AP_NavEKF3_MagFusion.cpp
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@ -443,21 +443,6 @@ void NavEKF3_core::SelectMagFusion()
*/
void NavEKF3_core::FuseMagnetometer()
{
// declarations
ftype &q0 = mag_state.q0;
ftype &q1 = mag_state.q1;
ftype &q2 = mag_state.q2;
ftype &q3 = mag_state.q3;
ftype &magN = mag_state.magN;
ftype &magE = mag_state.magE;
ftype &magD = mag_state.magD;
ftype &magXbias = mag_state.magXbias;
ftype &magYbias = mag_state.magYbias;
ftype &magZbias = mag_state.magZbias;
Matrix3F &DCM = mag_state.DCM;
Vector3F &MagPred = mag_state.MagPred;
ftype &R_MAG = mag_state.R_MAG;
ftype *SH_MAG = &mag_state.SH_MAG[0];
Vector24 H_MAG;
Vector5 SK_MX;
Vector5 SK_MY;
@ -471,20 +456,21 @@ void NavEKF3_core::FuseMagnetometer()
// associated with sequential fusion
// calculate observation jacobians and Kalman gains
// copy required states to local variable names
q0 = stateStruct.quat[0];
q1 = stateStruct.quat[1];
q2 = stateStruct.quat[2];
q3 = stateStruct.quat[3];
magN = stateStruct.earth_magfield[0];
magE = stateStruct.earth_magfield[1];
magD = stateStruct.earth_magfield[2];
magXbias = stateStruct.body_magfield[0];
magYbias = stateStruct.body_magfield[1];
magZbias = stateStruct.body_magfield[2];
// create aliases for state to make code easier to read:
const ftype q0 = stateStruct.quat[0];
const ftype q1 = stateStruct.quat[1];
const ftype q2 = stateStruct.quat[2];
const ftype q3 = stateStruct.quat[3];
const ftype magN = stateStruct.earth_magfield[0];
const ftype magE = stateStruct.earth_magfield[1];
const ftype magD = stateStruct.earth_magfield[2];
const ftype magXbias = stateStruct.body_magfield[0];
const ftype magYbias = stateStruct.body_magfield[1];
const ftype magZbias = stateStruct.body_magfield[2];
// rotate predicted earth components into body axes and calculate
// predicted measurements
Matrix3F DCM;
DCM[0][0] = q0*q0 + q1*q1 - q2*q2 - q3*q3;
DCM[0][1] = 2.0f*(q1*q2 + q0*q3);
DCM[0][2] = 2.0f*(q1*q3-q0*q2);
@ -494,6 +480,8 @@ void NavEKF3_core::FuseMagnetometer()
DCM[2][0] = 2.0f*(q1*q3 + q0*q2);
DCM[2][1] = 2.0f*(q2*q3 - q0*q1);
DCM[2][2] = q0*q0 - q1*q1 - q2*q2 + q3*q3;
Vector3F MagPred;
MagPred[0] = DCM[0][0]*magN + DCM[0][1]*magE + DCM[0][2]*magD + magXbias;
MagPred[1] = DCM[1][0]*magN + DCM[1][1]*magE + DCM[1][2]*magD + magYbias;
MagPred[2] = DCM[2][0]*magN + DCM[2][1]*magE + DCM[2][2]*magD + magZbias;
@ -504,9 +492,10 @@ void NavEKF3_core::FuseMagnetometer()
}
// scale magnetometer observation error with total angular rate to allow for timing errors
R_MAG = sq(constrain_ftype(frontend->_magNoise, 0.01f, 0.5f)) + sq(frontend->magVarRateScale*imuDataDelayed.delAng.length() / imuDataDelayed.delAngDT);
const ftype R_MAG = sq(constrain_ftype(frontend->_magNoise, 0.01f, 0.5f)) + sq(frontend->magVarRateScale*imuDataDelayed.delAng.length() / imuDataDelayed.delAngDT);
// calculate common expressions used to calculate observation jacobians an innovation variance for each component
Vector9 SH_MAG;
SH_MAG[0] = 2.0f*magD*q3 + 2.0f*magE*q2 + 2.0f*magN*q1;
SH_MAG[1] = 2.0f*magD*q0 - 2.0f*magE*q1 + 2.0f*magN*q2;
SH_MAG[2] = 2.0f*magD*q1 + 2.0f*magE*q0 - 2.0f*magN*q3;

2
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -460,8 +460,6 @@ void NavEKF3_core::InitialiseVariablesMag()
magTimeout = false;
allMagSensorsFailed = false;
finalInflightMagInit = false;
mag_state.q0 = 1;
mag_state.DCM.identity();
inhibitMagStates = true;
magSelectIndex = dal.compass().get_first_usable();
lastMagOffsetsValid = false;

20
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -1450,26 +1450,6 @@ private:
uint16_t value;
} gpsCheckStatus;
// states held by magnetometer fusion across time steps
// magnetometer X,Y,Z measurements are fused across three time steps
// to level computational load as this is an expensive operation
struct {
ftype q0;
ftype q1;
ftype q2;
ftype q3;
ftype magN;
ftype magE;
ftype magD;
ftype magXbias;
ftype magYbias;
ftype magZbias;
Matrix3F DCM;
Vector3F MagPred;
ftype R_MAG;
Vector9 SH_MAG;
} mag_state;
// string representing last reason for prearm failure
char prearm_fail_string[40];