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ekf rng finder consistency: simplify class member names

This commit is contained in:
bresch 2022-03-23 16:00:03 +01:00 committed by Mathieu Bresciani
parent 4c03f0bc50
commit 1fbe04986f
2 changed files with 22 additions and 25 deletions
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25
src/modules/ekf2/EKF/range_finder_consistency_check.cpp
View File

@ -49,34 +49,31 @@ void RangeFinderConsistencyCheck::update(float dist_bottom, float dist_bottom_va
}
const float vel_bottom = (dist_bottom - _dist_bottom_prev) / dt;
const float innov = -vel_bottom - vz; // vel_bottom is +up while vz is +down
const float vel_bottom_var = 2.f * dist_bottom_var / (dt * dt); // Variance of the time derivative of a random variable: var(dz/dt) = 2*var(z) / dt^2
const float innov_var = vel_bottom_var + vz_var;
const float normalized_innov_sq = (innov * innov) / innov_var;
_vel_bottom_test_ratio = normalized_innov_sq / (_vel_bottom_gate * _vel_bottom_gate);
_innov = -vel_bottom - vz; // vel_bottom is +up while vz is +down
_vel_bottom_signed_test_ratio_lpf.setParameters(dt, _vel_bottom_signed_test_ratio_tau);
const float signed_test_ratio = matrix::sign(innov) * _vel_bottom_test_ratio;
_vel_bottom_signed_test_ratio_lpf.update(signed_test_ratio);
const float var = 2.f * dist_bottom_var / (dt * dt); // Variance of the time derivative of a random variable: var(dz/dt) = 2*var(z) / dt^2
_innov_var = var + vz_var;
const float normalized_innov_sq = (_innov * _innov) / _innov_var;
_test_ratio = normalized_innov_sq / (_gate * _gate);
_signed_test_ratio_lpf.setParameters(dt, _signed_test_ratio_tau);
const float signed_test_ratio = matrix::sign(_innov) * _test_ratio;
_signed_test_ratio_lpf.update(signed_test_ratio);
updateConsistency(vz, time_us);
_time_last_update_us = time_us;
_dist_bottom_prev = dist_bottom;
// Save for logging
_vel_bottom_innov = innov;
_vel_bottom_innov_var = innov_var;
}
void RangeFinderConsistencyCheck::updateConsistency(float vz, uint64_t time_us)
{
if (fabsf(_vel_bottom_signed_test_ratio_lpf.getState()) >= 1.f) {
if (fabsf(_signed_test_ratio_lpf.getState()) >= 1.f) {
_is_kinematically_consistent = false;
_time_last_inconsistent_us = time_us;
} else {
if (fabsf(vz) > _min_vz_for_valid_consistency && _vel_bottom_test_ratio < 1.f && ((time_us - _time_last_inconsistent_us) > _consistency_hyst_time_us)) {
if (fabsf(vz) > _min_vz_for_valid_consistency && _test_ratio < 1.f && ((time_us - _time_last_inconsistent_us) > _consistency_hyst_time_us)) {
_is_kinematically_consistent = true;
}
}

22
src/modules/ekf2/EKF/range_finder_consistency_check.hpp
View File

@ -49,12 +49,12 @@ public:
void update(float dist_bottom, float dist_bottom_var, float vz, float vz_var, uint64_t time_us);
void setGate(float gate) { _vel_bottom_gate = gate; }
void setGate(float gate) { _gate = gate; }
float getTestRatio() const { return _vel_bottom_test_ratio; }
float getSignedTestRatioLpf() const { return _vel_bottom_signed_test_ratio_lpf.getState(); }
float getInnov() const { return _vel_bottom_innov; }
float getInnovVar() const { return _vel_bottom_innov_var; }
float getTestRatio() const { return _test_ratio; }
float getSignedTestRatioLpf() const { return _signed_test_ratio_lpf.getState(); }
float getInnov() const { return _innov; }
float getInnovVar() const { return _innov_var; }
bool isKinematicallyConsistent() const { return _is_kinematically_consistent; }
private:
@ -63,16 +63,16 @@ private:
uint64_t _time_last_update_us{};
float _dist_bottom_prev{};
float _vel_bottom_test_ratio{};
AlphaFilter<float> _vel_bottom_signed_test_ratio_lpf{}; // average signed test ratio used to detect a bias in the data
float _vel_bottom_gate{.2f};
float _vel_bottom_innov{};
float _vel_bottom_innov_var{};
float _test_ratio{};
AlphaFilter<float> _signed_test_ratio_lpf{}; // average signed test ratio used to detect a bias in the data
float _gate{.2f};
float _innov{};
float _innov_var{};
bool _is_kinematically_consistent{true};
uint64_t _time_last_inconsistent_us{};
static constexpr float _vel_bottom_signed_test_ratio_tau = 2.f;
static constexpr float _signed_test_ratio_tau = 2.f;
static constexpr float _min_vz_for_valid_consistency = .5f;
static constexpr uint64_t _consistency_hyst_time_us = 1e6;