AP_NavEKF: Improve takeoff with optical flow and range data loss

Range finder and optical flow data can drop-out and be reliable very close to ground. these patches enable the takeoff to be more relaibly detected and constrain optical flow navigation drift in the first part of takeoff.

libraries/AP_NavEKF/AP_NavEKF.cpp

@@ -979,38 +979,34 @@ void NavEKF::SelectFlowFusion()
     // Perform Data Checks
     // Check if the optical flow data is still valid
     flowDataValid = ((imuSampleTime_ms - flowValidMeaTime_ms) < 1000);
+    // Check if the optical flow sensor has timed out
+    bool flowSensorTimeout = ((imuSampleTime_ms - flowValidMeaTime_ms) > 5000);
     // Check if the fusion has timed out (flow measurements have been rejected for too long)
     bool flowFusionTimeout = ((imuSampleTime_ms - prevFlowFuseTime_ms) > 5000);
     // check is the terrain offset estimate is still valid
     gndOffsetValid = ((imuSampleTime_ms - gndHgtValidTime_ms) < 5000);
     // Perform tilt check
     bool tiltOK = (Tnb_flow.c.z > DCM33FlowMin);
-
+    // Constrain measurements to zero if we are using optical flow and are on the ground
-    // if we don't have valid flow measurements and are relying on them, dead reckon using current velocity vector
+    if (_fusionModeGPS == 3 && !takeOffDetected && vehicleArmed) {
-    // If the flow measurements have been rejected for too long and we are relying on them, then reset the velocities to an estimate based on the flow and range data
+        flowRadXYcomp[0]    = 0.0f;
-    if (!flowDataValid && PV_AidingMode == AID_RELATIVE) {
+        flowRadXYcomp[1]    = 0.0f;
-        constVelMode = true;
+        flowRadXY[0]        = 0.0f;
-        constPosMode = false; // always clear constant position mode if constant velocity mode is active
+        flowRadXY[1]        = 0.0f;
-    } else if (flowDataValid && flowFusionTimeout && PV_AidingMode == AID_RELATIVE) {
+        omegaAcrossFlowTime.zero();
-        // we need to reset the velocities to a value estimated from the flow data
+    }
-        // estimate the range
+    // If the flow measurements have been rejected for too long and we are relying on them, then revert to constant position mode
-        float initPredRng = max((terrainState - state.position[2]),RNG_MEAS_ON_GND) / Tnb_flow.c.z;
+    if ((flowSensorTimeout || flowFusionTimeout) && PV_AidingMode == AID_RELATIVE) {
-        // multiply the range by the LOS rates to get an estimated XY velocity in body frame
+            constVelMode = false; // always clear constant velocity mode if constant velocity mode is active
-        Vector3f initVel;
+            constPosMode = true;
-        initVel.x = -flowRadXYcomp[1]*initPredRng;
+            PV_AidingMode = AID_NONE;
-        initVel.y =  flowRadXYcomp[0]*initPredRng;
+            // reset the velocity
-        // rotate into earth frame
+            ResetVelocity();
-        initVel = Tbn_flow*initVel;
+            // store the current position to be used to keep reporting the last known position
-        // set horizontal velocity states
+            lastKnownPositionNE.x = state.position.x;
-        state.velocity.x = initVel.x;
+            lastKnownPositionNE.y = state.position.y;
-        state.velocity.y = initVel.y;
+            // reset the position
-        // clear any hold modes
+            ResetPosition();
-        constVelMode = false;
-        lastConstVelMode = false;
-    } else if (flowDataValid) {
-        // clear the constant velocity mode now we have good data
-        constVelMode = false;
-        lastConstVelMode = false;
     }
     // if we do have valid flow measurements, fuse data into a 1-state EKF to estimate terrain height
     // we don't do terrain height estimation in optical flow only mode as the ground becomes our zero height reference
@@ -4137,11 +4133,19 @@ void NavEKF::readHgtData()
                 // calculate offset to baro data that enables baro to be used as a backup
                 // filter offset to reduce effect of baro noise and other transient errors on estimate
                 baroHgtOffset = 0.2f * (_baro.get_altitude() + state.position.z) + 0.8f * baroHgtOffset;
-            } else {
+            } else if (vehicleArmed && takeOffDetected) {
                 // use baro measurement and correct for baro offset - failsafe use only as baro will drift
                 hgtMea = max(_baro.get_altitude() - baroHgtOffset, rngOnGnd);
                 // get states that were stored at the time closest to the measurement time, taking measurement delay into account
                 RecallStates(statesAtHgtTime, (imuSampleTime_ms - msecHgtDelay));
+            } else {
+                // If we are on ground and have no range finder reading, assume the nominal on-ground height
+                hgtMea = rngOnGnd;
+                // get states that were stored at the time closest to the measurement time, taking measurement delay into account
+                statesAtHgtTime = state;
+                // calculate offset to baro data that enables baro to be used as a backup
+                // filter offset to reduce effect of baro noise and other transient errors on estimate
+                baroHgtOffset = 0.2f * (_baro.get_altitude() + state.position.z) + 0.8f * baroHgtOffset;
             }
         } else {
             // use baro measurement and correct for baro offset
@@ -4228,15 +4232,19 @@ void NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, V
     // calculate bias errors on flow sensor gyro rates, but protect against spikes in data
     flowGyroBias.x = 0.99f * flowGyroBias.x + 0.01f * constrain_float((rawGyroRates.x - omegaAcrossFlowTime.x),-0.1f,0.1f);
     flowGyroBias.y = 0.99f * flowGyroBias.y + 0.01f * constrain_float((rawGyroRates.y - omegaAcrossFlowTime.y),-0.1f,0.1f);
-    // don't use data with a low quality indicator or extreme rates (helps catch corrupt sesnor data)
+    // check for takeoff if relying on optical flow and zero measurements until takeoff detected
-    if (rawFlowQuality > 50 && rawFlowRates.length() < 4.2f && rawGyroRates.length() < 4.2f) {
+    // if we haven't taken off - constrain position and velocity states
-        // recall vehicle states at mid sample time for flow observations allowing for delays
+    if (_fusionModeGPS == 3) {
-        RecallStates(statesAtFlowTime, imuSampleTime_ms - _msecFLowDelay - flowTimeDeltaAvg_ms/2);
+        detectOptFlowTakeoff();
-        // calculate rotation matrices at mid sample time for flow observations
+    }
-        statesAtFlowTime.quat.rotation_matrix(Tbn_flow);
+    // recall vehicle states at mid sample time for flow observations allowing for delays
-        Tnb_flow = Tbn_flow.transposed();
+    RecallStates(statesAtFlowTime, imuSampleTime_ms - _msecFLowDelay - flowTimeDeltaAvg_ms/2);
+    // calculate rotation matrices at mid sample time for flow observations
+    statesAtFlowTime.quat.rotation_matrix(Tbn_flow);
+    Tnb_flow = Tbn_flow.transposed();
+    // don't use data with a low quality indicator or extreme rates (helps catch corrupt sensor data)
+    if ((rawFlowQuality > 0) && rawFlowRates.length() < 4.2f && rawGyroRates.length() < 4.2f) {
         // correct flow sensor rates for bias
-        
         omegaAcrossFlowTime.x = rawGyroRates.x - flowGyroBias.x;
         omegaAcrossFlowTime.y = rawGyroRates.y - flowGyroBias.y;
         // write uncorrected flow rate measurements that will be used by the focal length scale factor estimator
@@ -4695,13 +4703,14 @@ void  NavEKF::getFilterStatus(nav_filter_status &status) const
     status.flags.attitude = !state.quat.is_nan() && filterHealthy;   // attitude valid (we need a better check)
     status.flags.horiz_vel = someHorizRefData && notDeadReckoning && filterHealthy;      // horizontal velocity estimate valid
     status.flags.vert_vel = someVertRefData && filterHealthy;        // vertical velocity estimate valid
-    status.flags.horiz_pos_rel = (doingFlowNav || doingWindRelNav || doingNormalGpsNav) && notDeadReckoning && filterHealthy;   // relative horizontal position estimate valid
+    status.flags.horiz_pos_rel = ((doingFlowNav && gndOffsetValid) || doingWindRelNav || doingNormalGpsNav) && notDeadReckoning && filterHealthy;   // relative horizontal position estimate valid
     status.flags.horiz_pos_abs = !gpsAidingBad && doingNormalGpsNav && notDeadReckoning && filterHealthy; // absolute horizontal position estimate valid
     status.flags.vert_pos = !hgtTimeout && filterHealthy;            // vertical position estimate valid
     status.flags.terrain_alt = gndOffsetValid && filterHealthy;		// terrain height estimate valid
     status.flags.const_pos_mode = constPosMode && filterHealthy;     // constant position mode
     status.flags.pred_horiz_pos_rel = (optFlowNavPossible || gpsNavPossible) && filterHealthy; // we should be able to estimate a relative position when we enter flight mode
     status.flags.pred_horiz_pos_abs = gpsNavPossible && filterHealthy; // we should be able to estimate an absolute position when we enter flight mode
+    status.flags.takeoff_detected = takeOffDetected; // takeoff for optical flow navigation has been detected
 }
 
 // send an EKF_STATUS message to GCS
@@ -4753,6 +4762,8 @@ void NavEKF::performArmingChecks()
         }
         // zero stored velocities used to do dead-reckoning
         heldVelNE.zero();
+        // reset the flag that indicates takeoff for use by optical flow navigation
+        takeOffDetected = false;
         // set various  useage modes based on the condition at arming. These are then held until the vehicle is disarmed.
         if (!vehicleArmed) {
             PV_AidingMode = AID_NONE; // When dis-armed, we only estimate orientation & height using the constant position mode
@@ -4778,6 +4789,16 @@ void NavEKF::performArmingChecks()
                 constPosMode = true;
                 constVelMode = false; // always clear constant velocity mode if constant position mode is active
             }
+            // Reset the last valid flow measurement time
+            flowValidMeaTime_ms = imuSampleTime_ms;
+            // Reset the last valid flow fusion time
+            prevFlowFuseTime_ms = imuSampleTime_ms;
+            // this avoids issues casued by the time delay associated with arming that can trigger short timeouts
+            rngValidMeaTime_ms = imuSampleTime_ms;
+            // store the range finder measurement which will be used as a reference to detect when we have taken off
+            rangeAtArming = rngMea;
+            // set the time at which we arm to assist with takeoff detection
+            timeAtArming_ms =  imuSampleTime_ms;
         } else { // arming when GPS useage is allowed
             if (gpsNotAvailable) {
                 PV_AidingMode = AID_NONE; // we don't have have GPS data and will only be able to estimate orientation and height
@@ -4991,4 +5012,22 @@ void NavEKF::readRangeFinder(void)
 }
 
 // Detect takeoff for optical flow navigation
+void NavEKF::detectOptFlowTakeoff(void)
+{
+    if (vehicleArmed && !takeOffDetected && (imuSampleTime_ms - timeAtArming_ms) > 1000) {
+        const AP_InertialSensor &ins = _ahrs->get_ins();
+        Vector3f angRateVec;
+        Vector3f gyroBias;
+        getGyroBias(gyroBias);
+        bool dual_ins = ins.get_gyro_health(0) && ins.get_gyro_health(1);
+        if (dual_ins) {
+                angRateVec = (ins.get_gyro(0) + ins.get_gyro(1)) * 0.5f - gyroBias;
+        } else {
+                angRateVec = ins.get_gyro() - gyroBias;
+        }
+
+        takeOffDetected = (takeOffDetected || (angRateVec.length() > 0.1f) || (rngMea > (rangeAtArming + 0.1f)));
+    }
+}
+
 #endif // HAL_CPU_CLASS

libraries/AP_NavEKF/AP_NavEKF.h

@@ -429,6 +429,9 @@ private:
     // Apply a median filter to range finder data
     void readRangeFinder();
 
+    // check if the vehicle has taken off during optical flow navigation by looking at inertial and range finder data
+    void detectOptFlowTakeoff(void);
+
     // EKF Mavlink Tuneable Parameters
     AP_Float _gpsHorizVelNoise;     // GPS horizontal velocity measurement noise : m/s
     AP_Float _gpsVertVelNoise;      // GPS vertical velocity measurement noise : m/s
@@ -703,9 +706,15 @@ private:
     AidingMode PV_AidingMode;           // Defines the preferred mode for aiding of velocity and position estimates from the INS
     bool gndOffsetValid;            // true when the ground offset state can still be considered valid
     bool flowXfailed;               // true when the X optical flow measurement has failed the innovation consistency check
+
+    // Range finder
     float baroHgtOffset;            // offset applied when baro height used as a backup height reference if range-finder fails
     float rngOnGnd;                 // Expected range finder reading in metres when vehicle is on ground
 
+    // Movement detector
+    bool takeOffDetected;           // true when takeoff for optical flow navigation has been detected
+    float rangeAtArming;            // range finder measurement when armed
+    uint32_t timeAtArming_ms;       // time in msec that the vehicle armed
 
     bool haveDeltaAngles;
 

libraries/AP_NavEKF/AP_Nav_Common.h

@@ -31,6 +31,7 @@ union nav_filter_status {
         uint16_t const_pos_mode     : 1; // 7 - true if we are in const position mode
         uint16_t pred_horiz_pos_rel : 1; // 8 - true if filter expects it can produce a good relative horizontal position estimate - used before takeoff
         uint16_t pred_horiz_pos_abs : 1; // 9 - true if filter expects it can produce a good absolute horizontal position estimate - used before takeoff
+        uint16_t takeoff_detected   : 1; // 10 - true if optical flow takeoff has been detected
     } flags;
     uint16_t value;
 };