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px4-firmware/EKF/drag_fusion.cpp

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EKF: Add multi-rotor drag model for wind estimation
2017-04-09 20:21:29 -03:00
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/**
* @file drag_fusion.cpp
* body frame drag fusion methods used for multi-rotor wind estimation.
*
* @author Paul Riseborough <p_riseborough@live.com.au>
*
*/
move geo and geo_lookup from PX4 Firmware to ECL
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EKF: Add multi-rotor drag model for wind estimation
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#include "ekf.h"
move geo and geo_lookup from PX4 Firmware to ECL
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#include <ecl.h>
#include <mathlib/mathlib.h>
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void Ekf::fuseDrag()
EKF trivial code style cleanup
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{
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float SH_ACC[4] = {}; // Variable used to optimise calculations of measurement jacobian
float H_ACC[24] = {}; // Observation Jacobian
float SK_ACC[9] = {}; // Variable used to optimise calculations of the Kalman gain vector
float Kfusion[24] = {}; // Kalman gain vector
EKF: Correct units in comments
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float R_ACC = _params.drag_noise; // observation noise variance in specific force drag (m/sec**2)**2
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EKF: Allow external setting of air density for multi-rotor drag fusion
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float rho = fmaxf(_air_density, 0.1f); // air density (kg/m**3)
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EKF: Add specific drag fusion tuning parameters
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// calculate inverse of ballistic coefficient
if (_params.bcoef_x < 1.0f || _params.bcoef_y < 1.0f) {
return;
}
PX4 style fixes (excluding EKF generated code)
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EKF: Add specific drag fusion tuning parameters
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float BC_inv_x = 1.0f / _params.bcoef_x;
float BC_inv_y = 1.0f / _params.bcoef_y;
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// get latest estimated orientation
float q0 = _state.quat_nominal(0);
float q1 = _state.quat_nominal(1);
float q2 = _state.quat_nominal(2);
float q3 = _state.quat_nominal(3);
// get latest velocity in earth frame
float vn = _state.vel(0);
float ve = _state.vel(1);
float vd = _state.vel(2);
// get latest wind velocity in earth frame
float vwn = _state.wind_vel(0);
float vwe = _state.wind_vel(1);
// predicted specific forces
// calculate relative wind velocity in earth frame and rotte into body frame
Vector3f rel_wind;
rel_wind(0) = vn - vwn;
rel_wind(1) = ve - vwe;
rel_wind(2) = vd;
EKF: Make use of inverse rotation function consistent with name The quaternion to inverse rotation matrix function has been updated so that the rotation it produces is the inverse to that produced by the matrix library and the the inverse of the quaternion is uses. This function is now used to directly calculate an inverse rotation matrix rather than calculating the forward rotation and then transposing it.
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Dcmf earth_to_body = quat_to_invrotmat(_state.quat_nominal);
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rel_wind = earth_to_body * rel_wind;
// perform sequential fusion of XY specific forces
EKF trivial code style cleanup
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for (uint8_t axis_index = 0; axis_index < 2; axis_index++) {
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// calculate observation jacobiam and Kalman gain vectors
if (axis_index == 0) {
// Estimate the airspeed from the measured drag force and ballistic coefficient
Rename IMU biases
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float mea_acc = _drag_sample_delayed.accelXY(axis_index) - _state.delta_vel_bias(axis_index) / _dt_ekf_avg;
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float airSpd = sqrtf((2.0f * fabsf(mea_acc)) / (BC_inv_x * rho));
// Estimate the derivative of specific force wrt airspeed along the X axis
EKF: down-sample drag specific force data
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// Limit lower value to prevent arithmetic exceptions
EKF trivial code style cleanup
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float Kacc = fmaxf(1e-1f, rho * BC_inv_x * airSpd);
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SH_ACC[0] = sq(q0) + sq(q1) - sq(q2) - sq(q3);
SH_ACC[1] = vn - vwn;
SH_ACC[2] = ve - vwe;
SH_ACC[3] = 2.0f*q0*q3 + 2.0f*q1*q2;
H_ACC[0] = -Kacc*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd);
H_ACC[1] = -Kacc*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd);
H_ACC[2] = Kacc*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd);
H_ACC[3] = -Kacc*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd);
H_ACC[4] = -Kacc*SH_ACC[0];
H_ACC[5] = -Kacc*SH_ACC[3];
H_ACC[6] = Kacc*(2.0f*q0*q2 - 2.0f*q1*q3);
H_ACC[22] = Kacc*SH_ACC[0];
H_ACC[23] = Kacc*SH_ACC[3];
Make covariance matrices of type matrix::SquareMatrix and use functions from Matrix to reset covariances.
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_drag_innov_var[0] = (R_ACC + Kacc*SH_ACC[0]*(Kacc*P(4,4)*SH_ACC[0] + Kacc*P(5,4)*SH_ACC[3] - Kacc*P(22,4)*SH_ACC[0] - Kacc*P(23,4)*SH_ACC[3] - Kacc*P(6,4)*(2.0f*q0*q2 - 2.0f*q1*q3) + Kacc*P(0,4)*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd) + Kacc*P(1,4)*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd) - Kacc*P(2,4)*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd) + Kacc*P(3,4)*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd)) + Kacc*SH_ACC[3]*(Kacc*P(4,5)*SH_ACC[0] + Kacc*P(5,5)*SH_ACC[3] - Kacc*P(22,5)*SH_ACC[0] - Kacc*P(23,5)*SH_ACC[3] - Kacc*P(6,5)*(2.0f*q0*q2 - 2.0f*q1*q3) + Kacc*P(0,5)*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd) + Kacc*P(1,5)*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd) - Kacc*P(2,5)*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd) + Kacc*P(3,5)*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd)) - Kacc*SH_ACC[0]*(Kacc*P(4,22)*SH_ACC[0] + Kacc*P(5,22)*SH_ACC[3] - Kacc*P(22,22)*SH_ACC[0] - Kacc*P(23,22)*SH_ACC[3] - Kacc*P(6,22)*(2.0f*q0*q2 - 2.0f*q1*q3) + Kacc*P(0,22)*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd) + Kacc*P(1,22)*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd) - Kacc*P(2,22)*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd) + Kacc*P(3,22)*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd)) - Kacc*SH_ACC[3]*(Kacc*P(4,23)*SH_ACC[0] + Kacc*P(5,23)*SH_ACC[3] - Kacc*P(22,23)*SH_ACC[0] - Kacc*P(23,23)*SH_ACC[3] - Kacc*P(6,23)*(2.0f*q0*q2 - 2.0f*q1*q3) + Kacc*P(0,23)*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd) + Kacc*P(1,23)*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd) - Kacc*P(2,23)*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd) + Kacc*P(3,23)*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd)) - Kacc*(2.0f*q0*q2 - 2.0f*q1*q3)*(Kacc*P(4,6)*SH_ACC[0] + Kacc*P(5,6)*SH_ACC[3] - Kacc*P(22,6)*SH_ACC[0] - Kacc*P(23,6)*SH_ACC[3] - Kacc*P(6,6)*(2.0f*q0*q2 - 2.0f*q1*q3) + Kacc*P(0,6)*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd) + Kacc*P(1,6)*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd) - Kacc*P(2,6)*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd) + Kacc*P(3,6)*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd)) + Kacc*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd)*(Kacc*P(4,0)*SH_ACC[0] + Kacc*P(5,0)*SH_ACC[3] - Kacc*P(22,0)*SH_ACC[0] - Kacc*P(23,0)*SH_ACC[3] - Kacc*P(6,0)*(2.0f*q0*q2 - 2.0f*q1*q3) + Kacc*P(0,0)*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd) + Kacc*P(1,0)*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd) - Kacc*P(2,0)*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd) + Kacc*P(3,0)*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd)) + Kacc*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd)*(Kacc*P(4,1)*SH_ACC[0] + Kacc*P(5,1)*SH_ACC[3] - Kacc*P(22,1)*SH_ACC[0] - Kacc*P(23,1)*SH_ACC[3] - Kacc*P(6,1)*(2.0f*q0*q2 - 2.0f*q1*q3) + Kacc*P(0,1)*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd) + Kacc*P(1,1)*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd) - Kacc*P(2,1)*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd) + Kacc*P(3,1)*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd)) - Kacc*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd)*(Kacc*P(4,2)*SH_ACC[0] + Kacc*P(5,2)*SH_ACC[3] - Kacc*P(22,2)*SH_ACC[0] - Kacc*P(23,2)*SH_ACC[3] - Kacc*P(6,2)*(2.0f*q0*q2 - 2.0f*q1*q3) + Kacc*P(0,2)*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd) + Kacc*P(1,2)*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd) - Kacc*P(2,2)*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd) + Kacc*P(3,2)*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd)) + Kacc*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd)*(Kacc*P(4,3)*SH_ACC[0] + Kacc*P(5,3)*SH_ACC[3] - Kacc*P(22,3)*SH_ACC[0] - Kacc*P(23,3)*SH_ACC[3] - Kacc*P(6,3)*(2.0f*q0*q2 - 2.0f*q1*q3) + Kacc*P(0,3)*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd) + Kacc*P(1,3)*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd) - Kacc*P(2,3)*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd) + Kacc*P(3,3)*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd)));
EKF: Add multi-rotor drag model for wind estimation
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if (_drag_innov_var[0] < R_ACC) {
return;
}
SK_ACC[0] = 1.0f/_drag_innov_var[0];
SK_ACC[1] = 2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd;
SK_ACC[2] = 2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd;
SK_ACC[3] = 2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd;
SK_ACC[4] = 2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd;
SK_ACC[5] = 2.0f*q0*q2 - 2.0f*q1*q3;
SK_ACC[6] = SH_ACC[3];
// Don't allow modification of any states other than wind velocity at this stage of development - we only need a wind estimate.
Make covariance matrices of type matrix::SquareMatrix and use functions from Matrix to reset covariances.
2019-12-06 08:18:27 -04:00
// Kfusion[0] = -SK_ACC[0]*(Kacc*P(0,4)*SH_ACC[0] - Kacc*P(0,22)*SH_ACC[0] + Kacc*P(0,0)*SK_ACC[3] - Kacc*P(0,2)*SK_ACC[2] + Kacc*P(0,3)*SK_ACC[1] + Kacc*P(0,1)*SK_ACC[4] + Kacc*P(0,5)*SK_ACC[6] - Kacc*P(0,6)*SK_ACC[5] - Kacc*P(0,23)*SK_ACC[6]);
// Kfusion[1] = -SK_ACC[0]*(Kacc*P(1,4)*SH_ACC[0] - Kacc*P(1,22)*SH_ACC[0] + Kacc*P(1,0)*SK_ACC[3] - Kacc*P(1,2)*SK_ACC[2] + Kacc*P(1,3)*SK_ACC[1] + Kacc*P(1,1)*SK_ACC[4] + Kacc*P(1,5)*SK_ACC[6] - Kacc*P(1,6)*SK_ACC[5] - Kacc*P(1,23)*SK_ACC[6]);
// Kfusion[2] = -SK_ACC[0]*(Kacc*P(2,4)*SH_ACC[0] - Kacc*P(2,22)*SH_ACC[0] + Kacc*P(2,0)*SK_ACC[3] - Kacc*P(2,2)*SK_ACC[2] + Kacc*P(2,3)*SK_ACC[1] + Kacc*P(2,1)*SK_ACC[4] + Kacc*P(2,5)*SK_ACC[6] - Kacc*P(2,6)*SK_ACC[5] - Kacc*P(2,23)*SK_ACC[6]);
// Kfusion[3] = -SK_ACC[0]*(Kacc*P(3,4)*SH_ACC[0] - Kacc*P(3,22)*SH_ACC[0] + Kacc*P(3,0)*SK_ACC[3] - Kacc*P(3,2)*SK_ACC[2] + Kacc*P(3,3)*SK_ACC[1] + Kacc*P(3,1)*SK_ACC[4] + Kacc*P(3,5)*SK_ACC[6] - Kacc*P(3,6)*SK_ACC[5] - Kacc*P(3,23)*SK_ACC[6]);
// Kfusion[4] = -SK_ACC[0]*(Kacc*P(4,4)*SH_ACC[0] - Kacc*P(4,22)*SH_ACC[0] + Kacc*P(4,0)*SK_ACC[3] - Kacc*P(4,2)*SK_ACC[2] + Kacc*P(4,3)*SK_ACC[1] + Kacc*P(4,1)*SK_ACC[4] + Kacc*P(4,5)*SK_ACC[6] - Kacc*P(4,6)*SK_ACC[5] - Kacc*P(4,23)*SK_ACC[6]);
// Kfusion[5] = -SK_ACC[0]*(Kacc*P(5,4)*SH_ACC[0] - Kacc*P(5,22)*SH_ACC[0] + Kacc*P(5,0)*SK_ACC[3] - Kacc*P(5,2)*SK_ACC[2] + Kacc*P(5,3)*SK_ACC[1] + Kacc*P(5,1)*SK_ACC[4] + Kacc*P(5,5)*SK_ACC[6] - Kacc*P(5,6)*SK_ACC[5] - Kacc*P(5,23)*SK_ACC[6]);
// Kfusion[6] = -SK_ACC[0]*(Kacc*P(6,4)*SH_ACC[0] - Kacc*P(6,22)*SH_ACC[0] + Kacc*P(6,0)*SK_ACC[3] - Kacc*P(6,2)*SK_ACC[2] + Kacc*P(6,3)*SK_ACC[1] + Kacc*P(6,1)*SK_ACC[4] + Kacc*P(6,5)*SK_ACC[6] - Kacc*P(6,6)*SK_ACC[5] - Kacc*P(6,23)*SK_ACC[6]);
// Kfusion[7] = -SK_ACC[0]*(Kacc*P(7,4)*SH_ACC[0] - Kacc*P(7,22)*SH_ACC[0] + Kacc*P(7,0)*SK_ACC[3] - Kacc*P(7,2)*SK_ACC[2] + Kacc*P(7,3)*SK_ACC[1] + Kacc*P(7,1)*SK_ACC[4] + Kacc*P(7,5)*SK_ACC[6] - Kacc*P(7,6)*SK_ACC[5] - Kacc*P(7,23)*SK_ACC[6]);
// Kfusion[8] = -SK_ACC[0]*(Kacc*P(8,4)*SH_ACC[0] - Kacc*P(8,22)*SH_ACC[0] + Kacc*P(8,0)*SK_ACC[3] - Kacc*P(8,2)*SK_ACC[2] + Kacc*P(8,3)*SK_ACC[1] + Kacc*P(8,1)*SK_ACC[4] + Kacc*P(8,5)*SK_ACC[6] - Kacc*P(8,6)*SK_ACC[5] - Kacc*P(8,23)*SK_ACC[6]);
// Kfusion[9] = -SK_ACC[0]*(Kacc*P(9,4)*SH_ACC[0] - Kacc*P(9,22)*SH_ACC[0] + Kacc*P(9,0)*SK_ACC[3] - Kacc*P(9,2)*SK_ACC[2] + Kacc*P(9,3)*SK_ACC[1] + Kacc*P(9,1)*SK_ACC[4] + Kacc*P(9,5)*SK_ACC[6] - Kacc*P(9,6)*SK_ACC[5] - Kacc*P(9,23)*SK_ACC[6]);
// Kfusion[10] = -SK_ACC[0]*(Kacc*P(10,4)*SH_ACC[0] - Kacc*P(10,22)*SH_ACC[0] + Kacc*P(10,0)*SK_ACC[3] - Kacc*P(10,2)*SK_ACC[2] + Kacc*P(10,3)*SK_ACC[1] + Kacc*P(10,1)*SK_ACC[4] + Kacc*P(10,5)*SK_ACC[6] - Kacc*P(10,6)*SK_ACC[5] - Kacc*P(10,23)*SK_ACC[6]);
// Kfusion[11] = -SK_ACC[0]*(Kacc*P(11,4)*SH_ACC[0] - Kacc*P(11,22)*SH_ACC[0] + Kacc*P(11,0)*SK_ACC[3] - Kacc*P(11,2)*SK_ACC[2] + Kacc*P(11,3)*SK_ACC[1] + Kacc*P(11,1)*SK_ACC[4] + Kacc*P(11,5)*SK_ACC[6] - Kacc*P(11,6)*SK_ACC[5] - Kacc*P(11,23)*SK_ACC[6]);
// Kfusion[12] = -SK_ACC[0]*(Kacc*P(12,4)*SH_ACC[0] - Kacc*P(12,22)*SH_ACC[0] + Kacc*P(12,0)*SK_ACC[3] - Kacc*P(12,2)*SK_ACC[2] + Kacc*P(12,3)*SK_ACC[1] + Kacc*P(12,1)*SK_ACC[4] + Kacc*P(12,5)*SK_ACC[6] - Kacc*P(12,6)*SK_ACC[5] - Kacc*P(12,23)*SK_ACC[6]);
// Kfusion[13] = -SK_ACC[0]*(Kacc*P(13,4)*SH_ACC[0] - Kacc*P(13,22)*SH_ACC[0] + Kacc*P(13,0)*SK_ACC[3] - Kacc*P(13,2)*SK_ACC[2] + Kacc*P(13,3)*SK_ACC[1] + Kacc*P(13,1)*SK_ACC[4] + Kacc*P(13,5)*SK_ACC[6] - Kacc*P(13,6)*SK_ACC[5] - Kacc*P(13,23)*SK_ACC[6]);
// Kfusion[14] = -SK_ACC[0]*(Kacc*P(14,4)*SH_ACC[0] - Kacc*P(14,22)*SH_ACC[0] + Kacc*P(14,0)*SK_ACC[3] - Kacc*P(14,2)*SK_ACC[2] + Kacc*P(14,3)*SK_ACC[1] + Kacc*P(14,1)*SK_ACC[4] + Kacc*P(14,5)*SK_ACC[6] - Kacc*P(14,6)*SK_ACC[5] - Kacc*P(14,23)*SK_ACC[6]);
// Kfusion[15] = -SK_ACC[0]*(Kacc*P(15,4)*SH_ACC[0] - Kacc*P(15,22)*SH_ACC[0] + Kacc*P(15,0)*SK_ACC[3] - Kacc*P(15,2)*SK_ACC[2] + Kacc*P(15,3)*SK_ACC[1] + Kacc*P(15,1)*SK_ACC[4] + Kacc*P(15,5)*SK_ACC[6] - Kacc*P(15,6)*SK_ACC[5] - Kacc*P(15,23)*SK_ACC[6]);
// Kfusion[16] = -SK_ACC[0]*(Kacc*P(16,4)*SH_ACC[0] - Kacc*P(16,22)*SH_ACC[0] + Kacc*P(16,0)*SK_ACC[3] - Kacc*P(16,2)*SK_ACC[2] + Kacc*P(16,3)*SK_ACC[1] + Kacc*P(16,1)*SK_ACC[4] + Kacc*P(16,5)*SK_ACC[6] - Kacc*P(16,6)*SK_ACC[5] - Kacc*P(16,23)*SK_ACC[6]);
// Kfusion[17] = -SK_ACC[0]*(Kacc*P(17,4)*SH_ACC[0] - Kacc*P(17,22)*SH_ACC[0] + Kacc*P(17,0)*SK_ACC[3] - Kacc*P(17,2)*SK_ACC[2] + Kacc*P(17,3)*SK_ACC[1] + Kacc*P(17,1)*SK_ACC[4] + Kacc*P(17,5)*SK_ACC[6] - Kacc*P(17,6)*SK_ACC[5] - Kacc*P(17,23)*SK_ACC[6]);
// Kfusion[18] = -SK_ACC[0]*(Kacc*P(18,4)*SH_ACC[0] - Kacc*P(18,22)*SH_ACC[0] + Kacc*P(18,0)*SK_ACC[3] - Kacc*P(18,2)*SK_ACC[2] + Kacc*P(18,3)*SK_ACC[1] + Kacc*P(18,1)*SK_ACC[4] + Kacc*P(18,5)*SK_ACC[6] - Kacc*P(18,6)*SK_ACC[5] - Kacc*P(18,23)*SK_ACC[6]);
// Kfusion[19] = -SK_ACC[0]*(Kacc*P(19,4)*SH_ACC[0] - Kacc*P(19,22)*SH_ACC[0] + Kacc*P(19,0)*SK_ACC[3] - Kacc*P(19,2)*SK_ACC[2] + Kacc*P(19,3)*SK_ACC[1] + Kacc*P(19,1)*SK_ACC[4] + Kacc*P(19,5)*SK_ACC[6] - Kacc*P(19,6)*SK_ACC[5] - Kacc*P(19,23)*SK_ACC[6]);
// Kfusion[20] = -SK_ACC[0]*(Kacc*P(20,4)*SH_ACC[0] - Kacc*P(20,22)*SH_ACC[0] + Kacc*P(20,0)*SK_ACC[3] - Kacc*P(20,2)*SK_ACC[2] + Kacc*P(20,3)*SK_ACC[1] + Kacc*P(20,1)*SK_ACC[4] + Kacc*P(20,5)*SK_ACC[6] - Kacc*P(20,6)*SK_ACC[5] - Kacc*P(20,23)*SK_ACC[6]);
// Kfusion[21] = -SK_ACC[0]*(Kacc*P(21,4)*SH_ACC[0] - Kacc*P(21,22)*SH_ACC[0] + Kacc*P(21,0)*SK_ACC[3] - Kacc*P(21,2)*SK_ACC[2] + Kacc*P(21,3)*SK_ACC[1] + Kacc*P(21,1)*SK_ACC[4] + Kacc*P(21,5)*SK_ACC[6] - Kacc*P(21,6)*SK_ACC[5] - Kacc*P(21,23)*SK_ACC[6]);
Kfusion[22] = -SK_ACC[0]*(Kacc*P(22,4)*SH_ACC[0] - Kacc*P(22,22)*SH_ACC[0] + Kacc*P(22,0)*SK_ACC[3] - Kacc*P(22,2)*SK_ACC[2] + Kacc*P(22,3)*SK_ACC[1] + Kacc*P(22,1)*SK_ACC[4] + Kacc*P(22,5)*SK_ACC[6] - Kacc*P(22,6)*SK_ACC[5] - Kacc*P(22,23)*SK_ACC[6]);
Kfusion[23] = -SK_ACC[0]*(Kacc*P(23,4)*SH_ACC[0] - Kacc*P(23,22)*SH_ACC[0] + Kacc*P(23,0)*SK_ACC[3] - Kacc*P(23,2)*SK_ACC[2] + Kacc*P(23,3)*SK_ACC[1] + Kacc*P(23,1)*SK_ACC[4] + Kacc*P(23,5)*SK_ACC[6] - Kacc*P(23,6)*SK_ACC[5] - Kacc*P(23,23)*SK_ACC[6]);
EKF: Add multi-rotor drag model for wind estimation
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// calculate the predicted acceleration and innovation measured along the X body axis
float drag_sign;
PX4 style fixes (excluding EKF generated code)
2018-05-03 15:14:12 -03:00
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if (rel_wind(axis_index) >= 0.0f) {
EKF trivial code style cleanup
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drag_sign = 1.0f;
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} else {
EKF trivial code style cleanup
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drag_sign = -1.0f;
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}
EKF trivial code style cleanup
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float predAccel = -BC_inv_x * 0.5f * rho * sq(rel_wind(axis_index)) * drag_sign;
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_drag_innov[axis_index] = predAccel - mea_acc;
_drag_test_ratio[axis_index] = sq(_drag_innov[axis_index]) / (25.0f * _drag_innov_var[axis_index]);
} else if (axis_index == 1) {
// Estimate the airspeed from the measured drag force and ballistic coefficient
Rename IMU biases
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float mea_acc = _drag_sample_delayed.accelXY(axis_index) - _state.delta_vel_bias(axis_index) / _dt_ekf_avg;
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float airSpd = sqrtf((2.0f * fabsf(mea_acc)) / (BC_inv_y * rho));
// Estimate the derivative of specific force wrt airspeed along the X axis
EKF: down-sample drag specific force data
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// Limit lower value to prevent arithmetic exceptions
EKF trivial code style cleanup
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float Kacc = fmaxf(1e-1f, rho * BC_inv_y * airSpd);
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SH_ACC[0] = sq(q0) - sq(q1) + sq(q2) - sq(q3);
SH_ACC[1] = vn - vwn;
SH_ACC[2] = ve - vwe;
H_ACC[0] = -Kacc*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd);
H_ACC[1] = -Kacc*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd);
H_ACC[2] = -Kacc*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd);
H_ACC[3] = Kacc*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd);
H_ACC[4] = Kacc*(2.0f*q0*q3 - 2.0f*q1*q2);
H_ACC[5] = -Kacc*SH_ACC[0];
H_ACC[6] = -Kacc*(2.0f*q0*q1 + 2.0f*q2*q3);
H_ACC[22] = -2.0f*Kacc*(q0*q3 - q1*q2);
H_ACC[23] = Kacc*SH_ACC[0];
Make covariance matrices of type matrix::SquareMatrix and use functions from Matrix to reset covariances.
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_drag_innov_var[1] = (R_ACC + Kacc*SH_ACC[0]*(Kacc*P(5,5)*SH_ACC[0] - Kacc*P(23,5)*SH_ACC[0] - Kacc*P(4,5)*(2.0f*q0*q3 - 2.0f*q1*q2) + Kacc*P(6,5)*(2.0f*q0*q1 + 2.0f*q2*q3) + 2*Kacc*P(22,5)*(q0*q3 - q1*q2) + Kacc*P(0,5)*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd) + Kacc*P(1,5)*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd) + Kacc*P(2,5)*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd) - Kacc*P(3,5)*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd)) - Kacc*SH_ACC[0]*(Kacc*P(5,23)*SH_ACC[0] - Kacc*P(23,23)*SH_ACC[0] - Kacc*P(4,23)*(2.0f*q0*q3 - 2.0f*q1*q2) + Kacc*P(6,23)*(2.0f*q0*q1 + 2.0f*q2*q3) + 2*Kacc*P(22,23)*(q0*q3 - q1*q2) + Kacc*P(0,23)*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd) + Kacc*P(1,23)*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd) + Kacc*P(2,23)*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd) - Kacc*P(3,23)*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd)) - Kacc*(2.0f*q0*q3 - 2.0f*q1*q2)*(Kacc*P(5,4)*SH_ACC[0] - Kacc*P(23,4)*SH_ACC[0] - Kacc*P(4,4)*(2.0f*q0*q3 - 2.0f*q1*q2) + Kacc*P(6,4)*(2.0f*q0*q1 + 2.0f*q2*q3) + 2*Kacc*P(22,4)*(q0*q3 - q1*q2) + Kacc*P(0,4)*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd) + Kacc*P(1,4)*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd) + Kacc*P(2,4)*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd) - Kacc*P(3,4)*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd)) + Kacc*(2.0f*q0*q1 + 2.0f*q2*q3)*(Kacc*P(5,6)*SH_ACC[0] - Kacc*P(23,6)*SH_ACC[0] - Kacc*P(4,6)*(2.0f*q0*q3 - 2.0f*q1*q2) + Kacc*P(6,6)*(2.0f*q0*q1 + 2.0f*q2*q3) + 2*Kacc*P(22,6)*(q0*q3 - q1*q2) + Kacc*P(0,6)*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd) + Kacc*P(1,6)*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd) + Kacc*P(2,6)*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd) - Kacc*P(3,6)*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd)) + 2*Kacc*(q0*q3 - q1*q2)*(Kacc*P(5,22)*SH_ACC[0] - Kacc*P(23,22)*SH_ACC[0] - Kacc*P(4,22)*(2.0f*q0*q3 - 2.0f*q1*q2) + Kacc*P(6,22)*(2.0f*q0*q1 + 2.0f*q2*q3) + 2*Kacc*P(22,22)*(q0*q3 - q1*q2) + Kacc*P(0,22)*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd) + Kacc*P(1,22)*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd) + Kacc*P(2,22)*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd) - Kacc*P(3,22)*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd)) + Kacc*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd)*(Kacc*P(5,0)*SH_ACC[0] - Kacc*P(23,0)*SH_ACC[0] - Kacc*P(4,0)*(2.0f*q0*q3 - 2.0f*q1*q2) + Kacc*P(6,0)*(2.0f*q0*q1 + 2.0f*q2*q3) + 2*Kacc*P(22,0)*(q0*q3 - q1*q2) + Kacc*P(0,0)*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd) + Kacc*P(1,0)*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd) + Kacc*P(2,0)*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd) - Kacc*P(3,0)*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd)) + Kacc*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd)*(Kacc*P(5,1)*SH_ACC[0] - Kacc*P(23,1)*SH_ACC[0] - Kacc*P(4,1)*(2.0f*q0*q3 - 2.0f*q1*q2) + Kacc*P(6,1)*(2.0f*q0*q1 + 2.0f*q2*q3) + 2*Kacc*P(22,1)*(q0*q3 - q1*q2) + Kacc*P(0,1)*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd) + Kacc*P(1,1)*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd) + Kacc*P(2,1)*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd) - Kacc*P(3,1)*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd)) + Kacc*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd)*(Kacc*P(5,2)*SH_ACC[0] - Kacc*P(23,2)*SH_ACC[0] - Kacc*P(4,2)*(2.0f*q0*q3 - 2.0f*q1*q2) + Kacc*P(6,2)*(2.0f*q0*q1 + 2.0f*q2*q3) + 2*Kacc*P(22,2)*(q0*q3 - q1*q2) + Kacc*P(0,2)*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd) + Kacc*P(1,2)*(2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd) + Kacc*P(2,2)*(2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd) - Kacc*P(3,2)*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd)) - Kacc*(2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd)*(Kacc*P(5,3)*SH_ACC[0] - Kacc*P(23,3)*SH_ACC[0] - Kacc*P(4,3)*(2.0f*q0*q3 - 2.0f*q1*q2) + Kacc*P(6,3)*(2.0f*q0*q1 + 2.0f*q2*q3) + 2*Kacc*P(22,3)*(q0*q3 - q1*q2) + Kacc*P(0,3)*(2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd) + Kacc*P(1,3)
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if (_drag_innov_var[1] < R_ACC) {
// calculation is badly conditioned
return;
}
SK_ACC[0] = 1.0f/_drag_innov_var[1];
SK_ACC[1] = 2.0f*q0*SH_ACC[1] + 2.0f*q3*SH_ACC[2] - 2.0f*q2*vd;
SK_ACC[2] = 2.0f*q2*SH_ACC[1] - 2.0f*q1*SH_ACC[2] + 2.0f*q0*vd;
SK_ACC[3] = 2.0f*q0*SH_ACC[2] - 2.0f*q3*SH_ACC[1] + 2.0f*q1*vd;
SK_ACC[4] = 2.0f*q1*SH_ACC[1] + 2.0f*q2*SH_ACC[2] + 2.0f*q3*vd;
SK_ACC[5] = 2.0f*q0*q3 - 2.0f*q1*q2;
SK_ACC[6] = q0*q3 - q1*q2;
SK_ACC[7] = 2.0f*q0*q1 + 2.0f*q2*q3;
SK_ACC[8] = SH_ACC[0];
// Don't allow modification of any states other than wind velocity at this stage of development - we only need a wind estimate.
Make covariance matrices of type matrix::SquareMatrix and use functions from Matrix to reset covariances.
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// Kfusion[0] = -SK_ACC[0]*(Kacc*P(0,0)*SK_ACC[3] + Kacc*P(0,1)*SK_ACC[2] - Kacc*P(0,3)*SK_ACC[1] + Kacc*P(0,2)*SK_ACC[4] - Kacc*P(0,4)*SK_ACC[5] + Kacc*P(0,5)*SK_ACC[8] + Kacc*P(0,6)*SK_ACC[7] + 2*Kacc*P(0,22)*SK_ACC[6] - Kacc*P(0,23)*SK_ACC[8]);
// Kfusion[1] = -SK_ACC[0]*(Kacc*P(1,0)*SK_ACC[3] + Kacc*P(1,1)*SK_ACC[2] - Kacc*P(1,3)*SK_ACC[1] + Kacc*P(1,2)*SK_ACC[4] - Kacc*P(1,4)*SK_ACC[5] + Kacc*P(1,5)*SK_ACC[8] + Kacc*P(1,6)*SK_ACC[7] + 2*Kacc*P(1,22)*SK_ACC[6] - Kacc*P(1,23)*SK_ACC[8]);
// Kfusion[2] = -SK_ACC[0]*(Kacc*P(2,0)*SK_ACC[3] + Kacc*P(2,1)*SK_ACC[2] - Kacc*P(2,3)*SK_ACC[1] + Kacc*P(2,2)*SK_ACC[4] - Kacc*P(2,4)*SK_ACC[5] + Kacc*P(2,5)*SK_ACC[8] + Kacc*P(2,6)*SK_ACC[7] + 2*Kacc*P(2,22)*SK_ACC[6] - Kacc*P(2,23)*SK_ACC[8]);
// Kfusion[3] = -SK_ACC[0]*(Kacc*P(3,0)*SK_ACC[3] + Kacc*P(3,1)*SK_ACC[2] - Kacc*P(3,3)*SK_ACC[1] + Kacc*P(3,2)*SK_ACC[4] - Kacc*P(3,4)*SK_ACC[5] + Kacc*P(3,5)*SK_ACC[8] + Kacc*P(3,6)*SK_ACC[7] + 2*Kacc*P(3,22)*SK_ACC[6] - Kacc*P(3,23)*SK_ACC[8]);
// Kfusion[4] = -SK_ACC[0]*(Kacc*P(4,0)*SK_ACC[3] + Kacc*P(4,1)*SK_ACC[2] - Kacc*P(4,3)*SK_ACC[1] + Kacc*P(4,2)*SK_ACC[4] - Kacc*P(4,4)*SK_ACC[5] + Kacc*P(4,5)*SK_ACC[8] + Kacc*P(4,6)*SK_ACC[7] + 2*Kacc*P(4,22)*SK_ACC[6] - Kacc*P(4,23)*SK_ACC[8]);
// Kfusion[5] = -SK_ACC[0]*(Kacc*P(5,0)*SK_ACC[3] + Kacc*P(5,1)*SK_ACC[2] - Kacc*P(5,3)*SK_ACC[1] + Kacc*P(5,2)*SK_ACC[4] - Kacc*P(5,4)*SK_ACC[5] + Kacc*P(5,5)*SK_ACC[8] + Kacc*P(5,6)*SK_ACC[7] + 2*Kacc*P(5,22)*SK_ACC[6] - Kacc*P(5,23)*SK_ACC[8]);
// Kfusion[6] = -SK_ACC[0]*(Kacc*P(6,0)*SK_ACC[3] + Kacc*P(6,1)*SK_ACC[2] - Kacc*P(6,3)*SK_ACC[1] + Kacc*P(6,2)*SK_ACC[4] - Kacc*P(6,4)*SK_ACC[5] + Kacc*P(6,5)*SK_ACC[8] + Kacc*P(6,6)*SK_ACC[7] + 2*Kacc*P(6,22)*SK_ACC[6] - Kacc*P(6,23)*SK_ACC[8]);
// Kfusion[7] = -SK_ACC[0]*(Kacc*P(7,0)*SK_ACC[3] + Kacc*P(7,1)*SK_ACC[2] - Kacc*P(7,3)*SK_ACC[1] + Kacc*P(7,2)*SK_ACC[4] - Kacc*P(7,4)*SK_ACC[5] + Kacc*P(7,5)*SK_ACC[8] + Kacc*P(7,6)*SK_ACC[7] + 2*Kacc*P(7,22)*SK_ACC[6] - Kacc*P(7,23)*SK_ACC[8]);
// Kfusion[8] = -SK_ACC[0]*(Kacc*P(8,0)*SK_ACC[3] + Kacc*P(8,1)*SK_ACC[2] - Kacc*P(8,3)*SK_ACC[1] + Kacc*P(8,2)*SK_ACC[4] - Kacc*P(8,4)*SK_ACC[5] + Kacc*P(8,5)*SK_ACC[8] + Kacc*P(8,6)*SK_ACC[7] + 2*Kacc*P(8,22)*SK_ACC[6] - Kacc*P(8,23)*SK_ACC[8]);
// Kfusion[9] = -SK_ACC[0]*(Kacc*P(9,0)*SK_ACC[3] + Kacc*P(9,1)*SK_ACC[2] - Kacc*P(9,3)*SK_ACC[1] + Kacc*P(9,2)*SK_ACC[4] - Kacc*P(9,4)*SK_ACC[5] + Kacc*P(9,5)*SK_ACC[8] + Kacc*P(9,6)*SK_ACC[7] + 2*Kacc*P(9,22)*SK_ACC[6] - Kacc*P(9,23)*SK_ACC[8]);
// Kfusion[10] = -SK_ACC[0]*(Kacc*P(10,0)*SK_ACC[3] + Kacc*P(10,1)*SK_ACC[2] - Kacc*P(10,3)*SK_ACC[1] + Kacc*P(10,2)*SK_ACC[4] - Kacc*P(10,4)*SK_ACC[5] + Kacc*P(10,5)*SK_ACC[8] + Kacc*P(10,6)*SK_ACC[7] + 2*Kacc*P(10,22)*SK_ACC[6] - Kacc*P(10,23)*SK_ACC[8]);
// Kfusion[11] = -SK_ACC[0]*(Kacc*P(11,0)*SK_ACC[3] + Kacc*P(11,1)*SK_ACC[2] - Kacc*P(11,3)*SK_ACC[1] + Kacc*P(11,2)*SK_ACC[4] - Kacc*P(11,4)*SK_ACC[5] + Kacc*P(11,5)*SK_ACC[8] + Kacc*P(11,6)*SK_ACC[7] + 2*Kacc*P(11,22)*SK_ACC[6] - Kacc*P(11,23)*SK_ACC[8]);
// Kfusion[12] = -SK_ACC[0]*(Kacc*P(12,0)*SK_ACC[3] + Kacc*P(12,1)*SK_ACC[2] - Kacc*P(12,3)*SK_ACC[1] + Kacc*P(12,2)*SK_ACC[4] - Kacc*P(12,4)*SK_ACC[5] + Kacc*P(12,5)*SK_ACC[8] + Kacc*P(12,6)*SK_ACC[7] + 2*Kacc*P(12,22)*SK_ACC[6] - Kacc*P(12,23)*SK_ACC[8]);
// Kfusion[13] = -SK_ACC[0]*(Kacc*P(13,0)*SK_ACC[3] + Kacc*P(13,1)*SK_ACC[2] - Kacc*P(13,3)*SK_ACC[1] + Kacc*P(13,2)*SK_ACC[4] - Kacc*P(13,4)*SK_ACC[5] + Kacc*P(13,5)*SK_ACC[8] + Kacc*P(13,6)*SK_ACC[7] + 2*Kacc*P(13,22)*SK_ACC[6] - Kacc*P(13,23)*SK_ACC[8]);
// Kfusion[14] = -SK_ACC[0]*(Kacc*P(14,0)*SK_ACC[3] + Kacc*P(14,1)*SK_ACC[2] - Kacc*P(14,3)*SK_ACC[1] + Kacc*P(14,2)*SK_ACC[4] - Kacc*P(14,4)*SK_ACC[5] + Kacc*P(14,5)*SK_ACC[8] + Kacc*P(14,6)*SK_ACC[7] + 2*Kacc*P(14,22)*SK_ACC[6] - Kacc*P(14,23)*SK_ACC[8]);
// Kfusion[15] = -SK_ACC[0]*(Kacc*P(15,0)*SK_ACC[3] + Kacc*P(15,1)*SK_ACC[2] - Kacc*P(15,3)*SK_ACC[1] + Kacc*P(15,2)*SK_ACC[4] - Kacc*P(15,4)*SK_ACC[5] + Kacc*P(15,5)*SK_ACC[8] + Kacc*P(15,6)*SK_ACC[7] + 2*Kacc*P(15,22)*SK_ACC[6] - Kacc*P(15,23)*SK_ACC[8]);
// Kfusion[16] = -SK_ACC[0]*(Kacc*P(16,0)*SK_ACC[3] + Kacc*P(16,1)*SK_ACC[2] - Kacc*P(16,3)*SK_ACC[1] + Kacc*P(16,2)*SK_ACC[4] - Kacc*P(16,4)*SK_ACC[5] + Kacc*P(16,5)*SK_ACC[8] + Kacc*P(16,6)*SK_ACC[7] + 2*Kacc*P(16,22)*SK_ACC[6] - Kacc*P(16,23)*SK_ACC[8]);
// Kfusion[17] = -SK_ACC[0]*(Kacc*P(17,0)*SK_ACC[3] + Kacc*P(17,1)*SK_ACC[2] - Kacc*P(17,3)*SK_ACC[1] + Kacc*P(17,2)*SK_ACC[4] - Kacc*P(17,4)*SK_ACC[5] + Kacc*P(17,5)*SK_ACC[8] + Kacc*P(17,6)*SK_ACC[7] + 2*Kacc*P(17,22)*SK_ACC[6] - Kacc*P(17,23)*SK_ACC[8]);
// Kfusion[18] = -SK_ACC[0]*(Kacc*P(18,0)*SK_ACC[3] + Kacc*P(18,1)*SK_ACC[2] - Kacc*P(18,3)*SK_ACC[1] + Kacc*P(18,2)*SK_ACC[4] - Kacc*P(18,4)*SK_ACC[5] + Kacc*P(18,5)*SK_ACC[8] + Kacc*P(18,6)*SK_ACC[7] + 2*Kacc*P(18,22)*SK_ACC[6] - Kacc*P(18,23)*SK_ACC[8]);
// Kfusion[19] = -SK_ACC[0]*(Kacc*P(19,0)*SK_ACC[3] + Kacc*P(19,1)*SK_ACC[2] - Kacc*P(19,3)*SK_ACC[1] + Kacc*P(19,2)*SK_ACC[4] - Kacc*P(19,4)*SK_ACC[5] + Kacc*P(19,5)*SK_ACC[8] + Kacc*P(19,6)*SK_ACC[7] + 2*Kacc*P(19,22)*SK_ACC[6] - Kacc*P(19,23)*SK_ACC[8]);
// Kfusion[20] = -SK_ACC[0]*(Kacc*P(20,0)*SK_ACC[3] + Kacc*P(20,1)*SK_ACC[2] - Kacc*P(20,3)*SK_ACC[1] + Kacc*P(20,2)*SK_ACC[4] - Kacc*P(20,4)*SK_ACC[5] + Kacc*P(20,5)*SK_ACC[8] + Kacc*P(20,6)*SK_ACC[7] + 2*Kacc*P(20,22)*SK_ACC[6] - Kacc*P(20,23)*SK_ACC[8]);
// Kfusion[21] = -SK_ACC[0]*(Kacc*P(21,0)*SK_ACC[3] + Kacc*P(21,1)*SK_ACC[2] - Kacc*P(21,3)*SK_ACC[1] + Kacc*P(21,2)*SK_ACC[4] - Kacc*P(21,4)*SK_ACC[5] + Kacc*P(21,5)*SK_ACC[8] + Kacc*P(21,6)*SK_ACC[7] + 2*Kacc*P(21,22)*SK_ACC[6] - Kacc*P(21,23)*SK_ACC[8]);
Kfusion[22] = -SK_ACC[0]*(Kacc*P(22,0)*SK_ACC[3] + Kacc*P(22,1)*SK_ACC[2] - Kacc*P(22,3)*SK_ACC[1] + Kacc*P(22,2)*SK_ACC[4] - Kacc*P(22,4)*SK_ACC[5] + Kacc*P(22,5)*SK_ACC[8] + Kacc*P(22,6)*SK_ACC[7] + 2*Kacc*P(22,22)*SK_ACC[6] - Kacc*P(22,23)*SK_ACC[8]);
Kfusion[23] = -SK_ACC[0]*(Kacc*P(23,0)*SK_ACC[3] + Kacc*P(23,1)*SK_ACC[2] - Kacc*P(23,3)*SK_ACC[1] + Kacc*P(23,2)*SK_ACC[4] - Kacc*P(23,4)*SK_ACC[5] + Kacc*P(23,5)*SK_ACC[8] + Kacc*P(23,6)*SK_ACC[7] + 2*Kacc*P(23,22)*SK_ACC[6] - Kacc*P(23,23)*SK_ACC[8]);
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// calculate the predicted acceleration and innovation measured along the Y body axis
float drag_sign;
PX4 style fixes (excluding EKF generated code)
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if (rel_wind(axis_index) >= 0.0f) {
EKF trivial code style cleanup
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drag_sign = 1.0f;
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} else {
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drag_sign = -1.0f;
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}
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float predAccel = -BC_inv_y * 0.5f * rho * sq(rel_wind(axis_index)) * drag_sign;
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_drag_innov[axis_index] = predAccel - mea_acc;
_drag_test_ratio[axis_index] = sq(_drag_innov[axis_index]) / (25.0f * _drag_innov_var[axis_index]);
}
// if the innovation consistency check fails then don't fuse the sample
if (_drag_test_ratio[axis_index] <= 1.0f) {
// apply covariance correction via P_new = (I -K*H)*P
// first calculate expression for KHP
// then calculate P - KHP
Improve on flash memory usage
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matrix::SquareMatrix<float, _k_num_states> KHP;
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float KH[9];
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for (unsigned row = 0; row < _k_num_states; row++) {
KH[0] = Kfusion[row] * H_ACC[0];
KH[1] = Kfusion[row] * H_ACC[1];
KH[2] = Kfusion[row] * H_ACC[2];
KH[3] = Kfusion[row] * H_ACC[3];
KH[4] = Kfusion[row] * H_ACC[4];
KH[5] = Kfusion[row] * H_ACC[5];
KH[6] = Kfusion[row] * H_ACC[6];
KH[7] = Kfusion[row] * H_ACC[22];
KH[8] = Kfusion[row] * H_ACC[23];
for (unsigned column = 0; column < _k_num_states; column++) {
Make covariance matrices of type matrix::SquareMatrix and use functions from Matrix to reset covariances.
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float tmp = KH[0] * P(0,column);
tmp += KH[1] * P(1,column);
tmp += KH[2] * P(2,column);
tmp += KH[3] * P(3,column);
tmp += KH[4] * P(4,column);
tmp += KH[5] * P(5,column);
tmp += KH[6] * P(6,column);
tmp += KH[7] * P(22,column);
tmp += KH[8] * P(23,column);
KHP(row,column) = tmp;
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}
}
// if the covariance correction will result in a negative variance, then
EKF: fixed some comment typos Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
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// the covariance matrix is unhealthy and must be corrected
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bool healthy = true;
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//_fault_status.flags.bad_sideslip = false;
for (int i = 0; i < _k_num_states; i++) {
Make covariance matrices of type matrix::SquareMatrix and use functions from Matrix to reset covariances.
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if (P(i,i) < KHP(i,i)) {
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// zero rows and columns
Make covariance matrices of type matrix::SquareMatrix and use functions from Matrix to reset covariances.
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P.uncorrelateCovarianceSetVariance<1>(i, 0.0f);
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//flag as unhealthy
healthy = false;
// update individual measurement health status
//_fault_status.flags.bad_sideslip = true;
}
}
EKF: fixed some comment typos Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
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// only apply covariance and state corrections if healthy
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if (healthy) {
// apply the covariance corrections
for (unsigned row = 0; row < _k_num_states; row++) {
for (unsigned column = 0; column < _k_num_states; column++) {
Make covariance matrices of type matrix::SquareMatrix and use functions from Matrix to reset covariances.
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P(row,column) = P(row,column) - KHP(row,column);
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}
}
EKF: fixed some comment typos Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
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// correct the covariance matrix for gross errors
EKF: Don't run unnecessary makeRowColSymmetric operation This operation is expensive when done to the whole covariance matrix and unnecessary after covariance prediction because we calculate the upper diagonal and copy across so it is already symmetric.
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fixCovarianceErrors(true);
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// apply the state corrections
fuse(Kfusion, _drag_innov[axis_index]);
}
}
}
}