forked from Archive/PX4-Autopilot
ekf rng finder consistency: simplify class member names
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@ -49,34 +49,31 @@ void RangeFinderConsistencyCheck::update(float dist_bottom, float dist_bottom_va
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}
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const float vel_bottom = (dist_bottom - _dist_bottom_prev) / dt;
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const float innov = -vel_bottom - vz; // vel_bottom is +up while vz is +down
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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
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const float innov_var = vel_bottom_var + vz_var;
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const float normalized_innov_sq = (innov * innov) / innov_var;
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_vel_bottom_test_ratio = normalized_innov_sq / (_vel_bottom_gate * _vel_bottom_gate);
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_innov = -vel_bottom - vz; // vel_bottom is +up while vz is +down
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_vel_bottom_signed_test_ratio_lpf.setParameters(dt, _vel_bottom_signed_test_ratio_tau);
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const float signed_test_ratio = matrix::sign(innov) * _vel_bottom_test_ratio;
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_vel_bottom_signed_test_ratio_lpf.update(signed_test_ratio);
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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
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_innov_var = var + vz_var;
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const float normalized_innov_sq = (_innov * _innov) / _innov_var;
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_test_ratio = normalized_innov_sq / (_gate * _gate);
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_signed_test_ratio_lpf.setParameters(dt, _signed_test_ratio_tau);
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const float signed_test_ratio = matrix::sign(_innov) * _test_ratio;
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_signed_test_ratio_lpf.update(signed_test_ratio);
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updateConsistency(vz, time_us);
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_time_last_update_us = time_us;
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_dist_bottom_prev = dist_bottom;
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// Save for logging
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_vel_bottom_innov = innov;
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_vel_bottom_innov_var = innov_var;
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}
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void RangeFinderConsistencyCheck::updateConsistency(float vz, uint64_t time_us)
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{
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if (fabsf(_vel_bottom_signed_test_ratio_lpf.getState()) >= 1.f) {
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if (fabsf(_signed_test_ratio_lpf.getState()) >= 1.f) {
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_is_kinematically_consistent = false;
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_time_last_inconsistent_us = time_us;
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} else {
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if (fabsf(vz) > _min_vz_for_valid_consistency && _vel_bottom_test_ratio < 1.f && ((time_us - _time_last_inconsistent_us) > _consistency_hyst_time_us)) {
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if (fabsf(vz) > _min_vz_for_valid_consistency && _test_ratio < 1.f && ((time_us - _time_last_inconsistent_us) > _consistency_hyst_time_us)) {
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_is_kinematically_consistent = true;
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}
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}
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@ -49,12 +49,12 @@ public:
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void update(float dist_bottom, float dist_bottom_var, float vz, float vz_var, uint64_t time_us);
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void setGate(float gate) { _vel_bottom_gate = gate; }
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void setGate(float gate) { _gate = gate; }
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float getTestRatio() const { return _vel_bottom_test_ratio; }
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float getSignedTestRatioLpf() const { return _vel_bottom_signed_test_ratio_lpf.getState(); }
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float getInnov() const { return _vel_bottom_innov; }
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float getInnovVar() const { return _vel_bottom_innov_var; }
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float getTestRatio() const { return _test_ratio; }
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float getSignedTestRatioLpf() const { return _signed_test_ratio_lpf.getState(); }
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float getInnov() const { return _innov; }
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float getInnovVar() const { return _innov_var; }
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bool isKinematicallyConsistent() const { return _is_kinematically_consistent; }
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private:
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@ -63,16 +63,16 @@ private:
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uint64_t _time_last_update_us{};
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float _dist_bottom_prev{};
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float _vel_bottom_test_ratio{};
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AlphaFilter<float> _vel_bottom_signed_test_ratio_lpf{}; // average signed test ratio used to detect a bias in the data
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float _vel_bottom_gate{.2f};
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float _vel_bottom_innov{};
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float _vel_bottom_innov_var{};
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float _test_ratio{};
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AlphaFilter<float> _signed_test_ratio_lpf{}; // average signed test ratio used to detect a bias in the data
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float _gate{.2f};
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float _innov{};
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float _innov_var{};
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bool _is_kinematically_consistent{true};
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uint64_t _time_last_inconsistent_us{};
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static constexpr float _vel_bottom_signed_test_ratio_tau = 2.f;
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static constexpr float _signed_test_ratio_tau = 2.f;
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static constexpr float _min_vz_for_valid_consistency = .5f;
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static constexpr uint64_t _consistency_hyst_time_us = 1e6;
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