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add GPS drop out case to GPS fusion logic 

EKF waits 10s after GPS signal is lost before setting GPS control status flag to false. As the position information given by the alternative position sources drifts from the last GPS position, the controller over corrects.
With this update, the time horizon until GPS control flag set to false is reduced and only alternative position source is used for estimation.

tested with optical flow as position souce

log from as is https://review.px4.io/plot_app?log=d624af5e-dde4-40ab-ba5b-a693a49f5a36

log with update https://review.px4.io/plot_app?log=13ed6dc3-22dd-43f8-b898-4add41d60439
This commit is contained in:
Anna Dai 2018-12-18 14:24:39 +01:00 committed by Paul Riseborough
parent 8a813c57ec
commit 44200e9649
1 changed files with 5 additions and 0 deletions
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5
EKF/control.cpp
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@ -676,6 +676,11 @@ void Ekf::controlGpsFusion()
} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)10e6)) {
_control_status.flags.gps = false;
ECL_WARN("EKF GPS data stopped");
} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)1e6) && (_control_status.flags.opt_flow || _control_status.flags.ev_pos)) {
// Handle the case where we are fusing another position source along GPS,
// stop waiting for GPS after 1 s of lost signal
_control_status.flags.gps = false;
ECL_WARN("EKF GPS data stopped, using only EV or OF");
}
}