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AP_NavEKF3: Enable monitoring of unhealthy airspeed sensors

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Innovations and innovation test ratios will still be calculated and reported for an unhealthy sensor, but the EKF states wnd covariance matrix will not be modified.
This commit is contained in:
Paul Riseborough 2022-06-26 08:09:09 +10:00 committed by Randy Mackay
parent ec7b9aa272
commit 991959ddf7
4 changed files with 14 additions and 13 deletions
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19
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 (!airDataFusionWindOnly) {
if (tasDataDelayed.healthy && !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 (!inhibitDelAngBiasStates && !airDataFusionWindOnly) {
if (tasDataDelayed.healthy && !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 (!inhibitDelVelBiasStates && !airDataFusionWindOnly) {
if (tasDataDelayed.healthy && !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 (!inhibitMagStates && !airDataFusionWindOnly) {
if (tasDataDelayed.healthy && !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 (!inhibitWindStates) {
if (tasDataDelayed.healthy && !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 {
@ -135,7 +135,7 @@ 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
bool tasHealth = ((tasTestRatio < 1.0f) || badIMUdata);
const bool tasHealth = tasDataDelayed.healthy && ((tasTestRatio < 1.0f) || badIMUdata);
tasTimeout = (imuSampleTime_ms - lastTasPassTime_ms) > frontend->tasRetryTime_ms;
if (!tasHealth) {
lastTasFailTime_ms = imuSampleTime_ms;
@ -189,11 +189,10 @@ void NavEKF3_core::FuseAirspeed()
}
}
}
// force the covariance matrix to be symmetrical and limit the variances to prevent ill-conditioning.
ForceSymmetry();
ConstrainVariances();
}
// force the covariance matrix to be symmetrical and limit the variances to prevent ill-conditioning.
ForceSymmetry();
ConstrainVariances();
}
// select fusion of true airspeed measurements

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 || (imuDataDelayed.time_ms - tasDataDelayed.time_ms < 500 && useAirspeed());
const bool haveAirspeedMeasurement = usingDefaultAirspeed || (tasDataDelayed.healthy && (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 (assume_zero_sideslip()) {
if (tasDataDelayed.healthy && assume_zero_sideslip()) {
trueAirspeed = MAX(tasDataDelayed.tas, 0.0f);
} else {
trueAirspeed = 0.0f;

3
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -832,12 +832,12 @@ void NavEKF3_core::readAirSpdData()
const auto *airspeed = dal.airspeed();
if (airspeed &&
airspeed->use(selected_airspeed) &&
airspeed->healthy(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);
// Correct for the average intersampling delay due to the filter update rate
tasDataNew.time_ms -= localFilterTimeStep_ms/2;
@ -856,6 +856,7 @@ void NavEKF3_core::readAirSpdData()
is_positive(defaultAirSpeed)) {
tasDataDelayed.tas = defaultAirSpeed * EAS2TAS;
tasDataDelayed.tasVariance = sq(MAX(defaultAirSpeedVariance, easErrVar));
tasDataDelayed.healthy = true;
tasDataDelayed.time_ms = 0;
usingDefaultAirspeed = true;
} else {

1
libraries/AP_NavEKF3/AP_NavEKF3_core.h
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@ -555,6 +555,7 @@ 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.
};
struct of_elements : EKF_obs_element_t {