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ekf2: treat inhibited states as "consider states" and remove conservative covariance matrix fixes (#22597) 

When a state stops to be estimated it becomes a "consider state". Its value and variance are frozen but its covariance with other states continue to evolve normally.

 - removes conservative accel bias variance limiting
 - force symmetry is skipped after fusion of NED vel/pos (a direct measurement)

---------

Co-authored-by: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar 2024-01-24 14:14:09 -05:00 committed by GitHub
parent 2c81c9fdea
commit 51155f7a29
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GPG Key ID: B5690EEEBB952194
13 changed files with 874 additions and 1039 deletions
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242
src/modules/ekf2/EKF/covariance.cpp
View File

@ -103,14 +103,14 @@ void Ekf::initialiseCovariance()
void Ekf::predictCovariance(const imuSample &imu_delayed) void Ekf::predictCovariance(const imuSample &imu_delayed)
{ {
// Use average update interval to reduce accumulated covariance prediction errors due to small single frame dt values // predict the covariance
const float dt = _dt_ekf_avg; const float dt = 0.5f * (imu_delayed.delta_vel_dt + imu_delayed.delta_ang_dt);
// delta angle noise variance // gyro noise variance
float gyro_noise = math::constrain(_params.gyro_noise, 0.f, 1.f); float gyro_noise = math::constrain(_params.gyro_noise, 0.f, 1.f);
const float gyro_var = sq(gyro_noise); const float gyro_var = sq(gyro_noise);
// delta velocity noise variance // accel noise variance
float accel_noise = math::constrain(_params.accel_noise, 0.f, 1.f); float accel_noise = math::constrain(_params.accel_noise, 0.f, 1.f);
Vector3f accel_var; Vector3f accel_var;
@ -124,211 +124,112 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
} }
} }
// predict the covariance
// calculate variances and upper diagonal covariances for quaternion, velocity, position and gyro bias states // calculate variances and upper diagonal covariances for quaternion, velocity, position and gyro bias states
P = sym::PredictCovariance(_state.vector(), P, P = sym::PredictCovariance(_state.vector(), P,
imu_delayed.delta_vel / math::max(imu_delayed.delta_vel_dt, FLT_EPSILON), accel_var, imu_delayed.delta_vel / math::max(imu_delayed.delta_vel_dt, FLT_EPSILON), accel_var,
imu_delayed.delta_ang / math::max(imu_delayed.delta_ang_dt, FLT_EPSILON), gyro_var, imu_delayed.delta_ang / math::max(imu_delayed.delta_ang_dt, FLT_EPSILON), gyro_var,
0.5f * (imu_delayed.delta_vel_dt + imu_delayed.delta_ang_dt)); dt);
// Construct the process noise variance diagonal for those states with a stationary process model // Construct the process noise variance diagonal for those states with a stationary process model
// These are kinematic states and their error growth is controlled separately by the IMU noise variances // These are kinematic states and their error growth is controlled separately by the IMU noise variances
// gyro bias: add process noise, or restore previous gyro bias var if state inhibited // gyro bias: add process noise unless state is inhibited
const float gyro_bias_sig = dt * math::constrain(_params.gyro_bias_p_noise, 0.f, 1.f); {
const float gyro_bias_process_noise = sq(gyro_bias_sig); const float gyro_bias_sig = dt * math::constrain(_params.gyro_bias_p_noise, 0.f, 1.f);
for (unsigned index = 0; index < State::gyro_bias.dof; index++) { const float gyro_bias_process_noise = sq(gyro_bias_sig);
const unsigned i = State::gyro_bias.idx + index;
if (!_gyro_bias_inhibit[index]) { for (unsigned index = 0; index < State::gyro_bias.dof; index++) {
P(i, i) += gyro_bias_process_noise; const unsigned i = State::gyro_bias.idx + index;
} else { if (!_gyro_bias_inhibit[index]) {
P.uncorrelateCovarianceSetVariance<1>(i, _prev_gyro_bias_var(index)); P(i, i) += gyro_bias_process_noise;
}
} }
} }
// accel bias: add process noise, or restore previous accel bias var if state inhibited // accel bias: add process noise unless state is inhibited
const float accel_bias_sig = dt * math::constrain(_params.accel_bias_p_noise, 0.f, 1.f); {
const float accel_bias_process_noise = sq(accel_bias_sig); const float accel_bias_sig = dt * math::constrain(_params.accel_bias_p_noise, 0.f, 1.f);
for (unsigned index = 0; index < State::accel_bias.dof; index++) { const float accel_bias_process_noise = sq(accel_bias_sig);
const unsigned i = State::accel_bias.idx + index;
if (!_accel_bias_inhibit[index]) { for (unsigned index = 0; index < State::accel_bias.dof; index++) {
P(i, i) += accel_bias_process_noise; const unsigned i = State::accel_bias.idx + index;
} else { if (!_accel_bias_inhibit[index]) {
P.uncorrelateCovarianceSetVariance<1>(i, _prev_accel_bias_var(index)); P(i, i) += accel_bias_process_noise;
}
} }
} }
#if defined(CONFIG_EKF2_MAGNETOMETER) #if defined(CONFIG_EKF2_MAGNETOMETER)
if (_control_status.flags.mag) { if (_control_status.flags.mag) {
// Don't continue to grow the earth field variances if they are becoming too large or we are not doing 3-axis fusion as this can make the covariance matrix badly conditioned // mag_I: add process noise
if (P.trace<State::mag_I.dof>(State::mag_I.idx) < 0.1f) { float mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.f, 1.f);
P.slice<State::mag_I.dof, 1>(State::mag_I.idx, 0) += sq(mag_I_sig);
float mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.f, 1.f); // mag_B: add process noise
float mag_I_process_noise = sq(mag_I_sig); float mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.f, 1.f);
P.slice<State::mag_B.dof, 1>(State::mag_B.idx, 0) += sq(mag_B_sig);
for (unsigned index = 0; index < State::mag_I.dof; index++) {
unsigned i = State::mag_I.idx + index;
P(i, i) += mag_I_process_noise;
}
}
// Don't continue to grow the body field variances if they are becoming too large or we are not doing 3-axis fusion as this can make the covariance matrix badly conditioned
if (P.trace<State::mag_B.dof>(State::mag_B.idx) < 0.1f) {
float mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.f, 1.f);
float mag_B_process_noise = sq(mag_B_sig);
for (unsigned index = 0; index < State::mag_B.dof; index++) {
unsigned i = State::mag_B.idx + index;
P(i, i) += mag_B_process_noise;
}
}
} }
#endif // CONFIG_EKF2_MAGNETOMETER #endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_WIND) #if defined(CONFIG_EKF2_WIND)
if (_control_status.flags.wind) { if (_control_status.flags.wind) {
// Don't continue to grow wind velocity state variances if they are becoming too large or we are not using wind velocity states as this can make the covariance matrix badly conditioned // wind vel: add process noise
if (P.trace<State::wind_vel.dof>(State::wind_vel.idx) < sq(_params.initial_wind_uncertainty)) { float wind_vel_nsd_scaled = math::constrain(_params.wind_vel_nsd, 0.f, 1.f) * (1.f + _params.wind_vel_nsd_scaler * fabsf(_height_rate_lpf));
P.slice<State::wind_vel.dof, 1>(State::wind_vel.idx, 0) += sq(wind_vel_nsd_scaled) * dt;
float wind_vel_nsd_scaled = math::constrain(_params.wind_vel_nsd, 0.f, 1.f) * (1.f + _params.wind_vel_nsd_scaler * fabsf(_height_rate_lpf));
const float wind_vel_process_noise = sq(wind_vel_nsd_scaled) * dt;
for (unsigned index = 0; index < State::wind_vel.dof; index++) {
unsigned i = State::wind_vel.idx + index;
P(i, i) += wind_vel_process_noise;
}
}
} }
#endif // CONFIG_EKF2_WIND #endif // CONFIG_EKF2_WIND
// covariance matrix is symmetrical, so copy upper half to lower half // covariance matrix is symmetrical, so copy upper half to lower half
for (unsigned row = 0; row < State::size; row++) { for (unsigned row = 0; row < State::size; row++) {
for (unsigned column = 0 ; column < row; column++) { for (unsigned column = 0; column < row; column++) {
P(row, column) = P(column, row); P(row, column) = P(column, row);
} }
} }
// fix gross errors in the covariance matrix and ensure rows and constrainStateVariances();
// columns for un-used states are zero
fixCovarianceErrors(false);
} }
void Ekf::fixCovarianceErrors(bool force_symmetry) void Ekf::constrainStateVariances()
{ {
// NOTE: This limiting is a last resort and should not be relied on // NOTE: This limiting is a last resort and should not be relied on
// TODO: Split covariance prediction into separate F*P*transpose(F) and Q contributions // TODO: Split covariance prediction into separate F*P*transpose(F) and Q contributions
// and set corresponding entries in Q to zero when states exceed 50% of the limit // and set corresponding entries in Q to zero when states exceed 50% of the limit
// Covariance diagonal limits. Use same values for states which // Covariance diagonal limits. Use same values for states which
// belong to the same group (e.g. vel_x, vel_y, vel_z) // belong to the same group (e.g. vel_x, vel_y, vel_z)
const float quat_var_max = 1.0f;
const float vel_var_max = 1e6f;
const float pos_var_max = 1e6f;
const float gyro_bias_var_max = 1.0f;
constrainStateVar(State::quat_nominal, 0.f, quat_var_max); constrainStateVar(State::quat_nominal, 1e-9f, 1.f);
constrainStateVar(State::vel, 1e-6f, vel_var_max); constrainStateVar(State::vel, 1e-6f, 1e6f);
constrainStateVar(State::pos, 1e-6f, pos_var_max); constrainStateVar(State::pos, 1e-6f, 1e6f);
constrainStateVar(State::gyro_bias, 0.f, gyro_bias_var_max); constrainStateVarLimitRatio(State::gyro_bias, kGyroBiasVarianceMin, 1.f);
constrainStateVarLimitRatio(State::accel_bias, kAccelBiasVarianceMin, 1.f);
// the following states are optional and are deactivated when not required
// by ensuring the corresponding covariance matrix values are kept at zero
// accelerometer bias states
if (!_accel_bias_inhibit[0] || !_accel_bias_inhibit[1] || !_accel_bias_inhibit[2]) {
// Find the maximum delta velocity bias state variance and request a covariance reset if any variance is below the safe minimum
const float minSafeStateVar = 1e-9f / sq(_dt_ekf_avg);
float maxStateVar = minSafeStateVar;
bool resetRequired = false;
for (unsigned axis = 0; axis < State::accel_bias.dof; axis++) {
const unsigned stateIndex = State::accel_bias.idx + axis;
if (_accel_bias_inhibit[axis]) {
// Skip the check for the inhibited axis
continue;
}
if (P(stateIndex, stateIndex) > maxStateVar) {
maxStateVar = P(stateIndex, stateIndex);
} else if (P(stateIndex, stateIndex) < minSafeStateVar) {
resetRequired = true;
}
}
// To ensure stability of the covariance matrix operations, the ratio of a max and min variance must
// not exceed 100 and the minimum variance must not fall below the target minimum
// Also limit variance to a maximum equivalent to a 0.1g uncertainty
const float minStateVarTarget = 5E-8f / sq(_dt_ekf_avg);
float minAllowedStateVar = fmaxf(0.01f * maxStateVar, minStateVarTarget);
for (unsigned axis = 0; axis < State::accel_bias.dof; axis++) {
const unsigned stateIndex = State::accel_bias.idx + axis;
if (_accel_bias_inhibit[axis]) {
// Skip the check for the inhibited axis
continue;
}
P(stateIndex, stateIndex) = math::constrain(P(stateIndex, stateIndex), minAllowedStateVar, sq(0.1f * CONSTANTS_ONE_G));
}
// If any one axis has fallen below the safe minimum, all delta velocity covariance terms must be reset to zero
if (resetRequired) {
resetAccelBiasCov();
}
}
if (force_symmetry) {
P.makeRowColSymmetric<State::quat_nominal.dof>(State::quat_nominal.idx);
P.makeRowColSymmetric<State::vel.dof>(State::vel.idx);
P.makeRowColSymmetric<State::pos.dof>(State::pos.idx);
P.makeRowColSymmetric<State::gyro_bias.dof>(State::gyro_bias.idx);
P.makeRowColSymmetric<State::accel_bias.dof>(State::accel_bias.idx);
}
#if defined(CONFIG_EKF2_MAGNETOMETER) #if defined(CONFIG_EKF2_MAGNETOMETER)
// magnetic field states if (_control_status.flags.mag) {
if (!_control_status.flags.mag) { constrainStateVarLimitRatio(State::mag_I, kMagVarianceMin, 1.f);
P.uncorrelateCovarianceSetVariance<State::mag_I.dof>(State::mag_I.idx, 0.0f); constrainStateVarLimitRatio(State::mag_B, kMagVarianceMin, 1.f);
P.uncorrelateCovarianceSetVariance<State::mag_B.dof>(State::mag_B.idx, 0.0f);
} else {
const float mag_I_var_max = 1.f;
constrainStateVar(State::mag_I, 0.f, mag_I_var_max);
const float mag_B_var_max = 1.f;
constrainStateVar(State::mag_B, 0.f, mag_B_var_max);
if (force_symmetry) {
P.makeRowColSymmetric<State::mag_I.dof>(State::mag_I.idx);
P.makeRowColSymmetric<State::mag_B.dof>(State::mag_B.idx);
}
} }
#endif // CONFIG_EKF2_MAGNETOMETER #endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_WIND) #if defined(CONFIG_EKF2_WIND)
// wind velocity states if (_control_status.flags.wind) {
if (!_control_status.flags.wind) { constrainStateVarLimitRatio(State::wind_vel, 1e-6f, 1e6f);
P.uncorrelateCovarianceSetVariance<State::wind_vel.dof>(State::wind_vel.idx, 0.0f);
} else {
const float wind_vel_var_max = 1e6f;
constrainStateVar(State::wind_vel, 0.f, wind_vel_var_max);
if (force_symmetry) {
P.makeRowColSymmetric<State::wind_vel.dof>(State::wind_vel.idx);
}
} }
#endif // CONFIG_EKF2_WIND #endif // CONFIG_EKF2_WIND
} }
void Ekf::forceCovarianceSymmetry()
{
// DEBUG
// P.isBlockSymmetric(0, 1e-9f);
P.makeRowColSymmetric<State::size>(0);
}
void Ekf::constrainStateVar(const IdxDof &state, float min, float max) void Ekf::constrainStateVar(const IdxDof &state, float min, float max)
{ {
for (unsigned i = state.idx; i < (state.idx + state.dof); i++) { for (unsigned i = state.idx; i < (state.idx + state.dof); i++) {
@ -336,6 +237,25 @@ void Ekf::constrainStateVar(const IdxDof &state, float min, float max)
} }
} }
void Ekf::constrainStateVarLimitRatio(const IdxDof &state, float min, float max, float max_ratio)
{
// the ratio of a max and min variance must not exceed max_ratio
float state_var_max = 0.f;
for (unsigned i = state.idx; i < (state.idx + state.dof); i++) {
if (P(i, i) > state_var_max) {
state_var_max = P(i, i);
}
}
float limited_max = math::constrain(state_var_max, min, max);
float limited_min = math::constrain(limited_max / max_ratio, min, max);
for (unsigned i = state.idx; i < (state.idx + state.dof); i++) {
P(i, i) = math::constrain(P(i, i), limited_min, limited_max);
}
}
// if the covariance correction will result in a negative variance, then // if the covariance correction will result in a negative variance, then
// the covariance matrix is unhealthy and must be corrected // the covariance matrix is unhealthy and must be corrected
bool Ekf::checkAndFixCovarianceUpdate(const SquareMatrixState &KHP) bool Ekf::checkAndFixCovarianceUpdate(const SquareMatrixState &KHP)
@ -344,7 +264,7 @@ bool Ekf::checkAndFixCovarianceUpdate(const SquareMatrixState &KHP)
for (int i = 0; i < State::size; i++) { for (int i = 0; i < State::size; i++) {
if (P(i, i) < KHP(i, i)) { if (P(i, i) < KHP(i, i)) {
P.uncorrelateCovarianceSetVariance<1>(i, 0.0f); P.uncorrelateCovarianceSetVariance<1>(i, 0.f);
healthy = false; healthy = false;
} }
} }
@ -382,14 +302,10 @@ void Ekf::resetMagCov()
P.uncorrelateCovarianceSetVariance<State::mag_I.dof>(State::mag_I.idx, sq(_params.mag_noise)); P.uncorrelateCovarianceSetVariance<State::mag_I.dof>(State::mag_I.idx, sq(_params.mag_noise));
P.uncorrelateCovarianceSetVariance<State::mag_B.dof>(State::mag_B.idx, sq(_params.mag_noise)); P.uncorrelateCovarianceSetVariance<State::mag_B.dof>(State::mag_B.idx, sq(_params.mag_noise));
saveMagCovData();
} }
#endif // CONFIG_EKF2_MAGNETOMETER #endif // CONFIG_EKF2_MAGNETOMETER
void Ekf::resetGyroBiasZCov() void Ekf::resetGyroBiasZCov()
{ {
const float init_gyro_bias_var = sq(_params.switch_on_gyro_bias); P.uncorrelateCovarianceSetVariance<1>(State::gyro_bias.idx + 2, sq(_params.switch_on_gyro_bias));
P.uncorrelateCovarianceSetVariance<1>(State::gyro_bias.idx + 2, init_gyro_bias_var);
} }

8
src/modules/ekf2/EKF/ekf.cpp
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@ -89,9 +89,6 @@ void Ekf::reset()
_fault_status.value = 0; _fault_status.value = 0;
_innov_check_fail_status.value = 0; _innov_check_fail_status.value = 0;
_prev_gyro_bias_var.zero();
_prev_accel_bias_var.zero();
#if defined(CONFIG_EKF2_GNSS) #if defined(CONFIG_EKF2_GNSS)
resetGpsDriftCheckFilters(); resetGpsDriftCheckFilters();
_gps_checks_passed = false; _gps_checks_passed = false;
@ -312,8 +309,9 @@ void Ekf::predictState(const imuSample &imu_delayed)
// predict position states via trapezoidal integration of velocity // predict position states via trapezoidal integration of velocity
_state.pos += (vel_last + _state.vel) * imu_delayed.delta_vel_dt * 0.5f; _state.pos += (vel_last + _state.vel) * imu_delayed.delta_vel_dt * 0.5f;
constrainStates(); // constrain states
_state.vel = matrix::constrain(_state.vel, -1000.f, 1000.f);
_state.pos = matrix::constrain(_state.pos, -1.e6f, 1.e6f);
// some calculations elsewhere in code require a raw angular rate vector so calculate here to avoid duplication // some calculations elsewhere in code require a raw angular rate vector so calculate here to avoid duplication
// protect against possible small timesteps resulting from timing slip on previous frame that can drive spikes into the rate // protect against possible small timesteps resulting from timing slip on previous frame that can drive spikes into the rate

38
src/modules/ekf2/EKF/ekf.h
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@ -345,14 +345,7 @@ public:
const Vector3f &getMagEarthField() const { return _state.mag_I; } const Vector3f &getMagEarthField() const { return _state.mag_I; }
const Vector3f &getMagBias() const { return _state.mag_B; } const Vector3f &getMagBias() const { return _state.mag_B; }
Vector3f getMagBiasVariance() const Vector3f getMagBiasVariance() const { return getStateVariance<State::mag_B>(); } // get the mag bias variance in Gauss
{
if (_control_status.flags.mag) {
return getStateVariance<State::mag_B>();
}
return _saved_mag_bf_covmat.diag();
}
float getMagBiasLimit() const { return 0.5f; } // 0.5 Gauss float getMagBiasLimit() const { return 0.5f; } // 0.5 Gauss
#endif // CONFIG_EKF2_MAGNETOMETER #endif // CONFIG_EKF2_MAGNETOMETER
@ -496,7 +489,8 @@ public:
// apply the covariance corrections // apply the covariance corrections
P -= KHP; P -= KHP;
fixCovarianceErrors(true); constrainStateVariances();
forceCovarianceSymmetry();
// apply the state corrections // apply the state corrections
fuse(K, innovation); fuse(K, innovation);
@ -523,6 +517,14 @@ private:
void updateHorizontalDeadReckoningstatus(); void updateHorizontalDeadReckoningstatus();
void updateVerticalDeadReckoningStatus(); void updateVerticalDeadReckoningStatus();
static constexpr float kGyroBiasVarianceMin{1e-9f};
static constexpr float kAccelBiasVarianceMin{1e-9f};
#if defined(CONFIG_EKF2_MAGNETOMETER)
static constexpr float kMagVarianceMin = 1e-6f;
#endif // CONFIG_EKF2_MAGNETOMETER
struct StateResetCounts { struct StateResetCounts {
uint8_t velNE{0}; ///< number of horizontal position reset events (allow to wrap if count exceeds 255) uint8_t velNE{0}; ///< number of horizontal position reset events (allow to wrap if count exceeds 255)
uint8_t velD{0}; ///< number of vertical velocity reset events (allow to wrap if count exceeds 255) uint8_t velD{0}; ///< number of vertical velocity reset events (allow to wrap if count exceeds 255)
@ -720,8 +722,6 @@ private:
uint64_t _flt_mag_align_start_time{0}; ///< time that inflight magnetic field alignment started (uSec) uint64_t _flt_mag_align_start_time{0}; ///< time that inflight magnetic field alignment started (uSec)
uint64_t _time_last_mov_3d_mag_suitable{0}; ///< last system time that sufficient movement to use 3-axis magnetometer fusion was detected (uSec) uint64_t _time_last_mov_3d_mag_suitable{0}; ///< last system time that sufficient movement to use 3-axis magnetometer fusion was detected (uSec)
uint64_t _time_last_mag_check_failing{0}; uint64_t _time_last_mag_check_failing{0};
Matrix3f _saved_mag_ef_covmat{}; ///< NED magnetic field state covariance sub-matrix saved for use at the next initialisation (Gauss**2)
Matrix3f _saved_mag_bf_covmat{}; ///< magnetic field state covariance sub-matrix that has been saved for use at the next initialisation (Gauss**2)
#endif // CONFIG_EKF2_MAGNETOMETER #endif // CONFIG_EKF2_MAGNETOMETER
// variables used to inhibit accel bias learning // variables used to inhibit accel bias learning
@ -730,9 +730,6 @@ private:
float _accel_magnitude_filt{0.0f}; ///< acceleration magnitude after application of a decaying envelope filter (rad/sec) float _accel_magnitude_filt{0.0f}; ///< acceleration magnitude after application of a decaying envelope filter (rad/sec)
float _ang_rate_magnitude_filt{0.0f}; ///< angular rate magnitude after application of a decaying envelope filter (rad/sec) float _ang_rate_magnitude_filt{0.0f}; ///< angular rate magnitude after application of a decaying envelope filter (rad/sec)
Vector3f _prev_gyro_bias_var{}; ///< saved gyro XYZ bias variances
Vector3f _prev_accel_bias_var{}; ///< saved accel XYZ bias variances
// imu fault status // imu fault status
uint64_t _time_bad_vert_accel{0}; ///< last time a bad vertical accel was detected (uSec) uint64_t _time_bad_vert_accel{0}; ///< last time a bad vertical accel was detected (uSec)
uint64_t _time_good_vert_accel{0}; ///< last time a good vertical accel was detected (uSec) uint64_t _time_good_vert_accel{0}; ///< last time a good vertical accel was detected (uSec)
@ -950,13 +947,12 @@ private:
bool checkAndFixCovarianceUpdate(const SquareMatrixState &KHP); bool checkAndFixCovarianceUpdate(const SquareMatrixState &KHP);
// limit the diagonal of the covariance matrix // limit the diagonal of the covariance matrix
// force symmetry when the argument is true void constrainStateVariances();
void fixCovarianceErrors(bool force_symmetry);
void forceCovarianceSymmetry();
void constrainStateVar(const IdxDof &state, float min, float max); void constrainStateVar(const IdxDof &state, float min, float max);
void constrainStateVarLimitRatio(const IdxDof &state, float min, float max, float max_ratio = 1.e6f);
// constrain the ekf states
void constrainStates();
// generic function which will perform a fusion step given a kalman gain K // generic function which will perform a fusion step given a kalman gain K
// and a scalar innovation value // and a scalar innovation value
@ -1062,10 +1058,6 @@ private:
void stopMagHdgFusion(); void stopMagHdgFusion();
void stopMagFusion(); void stopMagFusion();
// load and save mag field state covariance data for re-use
void loadMagCovData();
void saveMagCovData();
// calculate a synthetic value for the magnetometer Z component, given the 3D magnetomter // calculate a synthetic value for the magnetometer Z component, given the 3D magnetomter
// sensor measurement // sensor measurement
float calculate_synthetic_mag_z_measurement(const Vector3f &mag_meas, const Vector3f &mag_earth_predicted); float calculate_synthetic_mag_z_measurement(const Vector3f &mag_meas, const Vector3f &mag_earth_predicted);

103
src/modules/ekf2/EKF/ekf_helper.cpp
View File

@ -233,28 +233,6 @@ void Ekf::resetVerticalVelocityToZero()
resetVerticalVelocityTo(0.0f, 10.f); resetVerticalVelocityTo(0.0f, 10.f);
} }
void Ekf::constrainStates()
{
_state.quat_nominal = matrix::constrain(_state.quat_nominal, -1.0f, 1.0f);
_state.vel = matrix::constrain(_state.vel, -1000.0f, 1000.0f);
_state.pos = matrix::constrain(_state.pos, -1.e6f, 1.e6f);
const float gyro_bias_limit = getGyroBiasLimit();
_state.gyro_bias = matrix::constrain(_state.gyro_bias, -gyro_bias_limit, gyro_bias_limit);
const float accel_bias_limit = getAccelBiasLimit();
_state.accel_bias = matrix::constrain(_state.accel_bias, -accel_bias_limit, accel_bias_limit);
#if defined(CONFIG_EKF2_MAGNETOMETER)
_state.mag_I = matrix::constrain(_state.mag_I, -1.0f, 1.0f);
_state.mag_B = matrix::constrain(_state.mag_B, -getMagBiasLimit(), getMagBiasLimit());
#endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_WIND)
_state.wind_vel = matrix::constrain(_state.wind_vel, -100.0f, 100.0f);
#endif // CONFIG_EKF2_WIND
}
#if defined(CONFIG_EKF2_BARO_COMPENSATION) #if defined(CONFIG_EKF2_BARO_COMPENSATION)
float Ekf::compensateBaroForDynamicPressure(const float baro_alt_uncompensated) const float Ekf::compensateBaroForDynamicPressure(const float baro_alt_uncompensated) const
{ {
@ -548,9 +526,6 @@ void Ekf::resetGyroBiasCov()
// Zero the corresponding covariances and set // Zero the corresponding covariances and set
// variances to the values use for initial alignment // variances to the values use for initial alignment
P.uncorrelateCovarianceSetVariance<State::gyro_bias.dof>(State::gyro_bias.idx, sq(_params.switch_on_gyro_bias)); P.uncorrelateCovarianceSetVariance<State::gyro_bias.dof>(State::gyro_bias.idx, sq(_params.switch_on_gyro_bias));
// Set previous frame values
_prev_gyro_bias_var = getStateVariance<State::gyro_bias>();
} }
void Ekf::resetAccelBias() void Ekf::resetAccelBias()
@ -566,9 +541,6 @@ void Ekf::resetAccelBiasCov()
// Zero the corresponding covariances and set // Zero the corresponding covariances and set
// variances to the values use for initial alignment // variances to the values use for initial alignment
P.uncorrelateCovarianceSetVariance<State::accel_bias.dof>(State::accel_bias.idx, sq(_params.switch_on_accel_bias)); P.uncorrelateCovarianceSetVariance<State::accel_bias.dof>(State::accel_bias.idx, sq(_params.switch_on_accel_bias));
// Set previous frame values
_prev_accel_bias_var = getStateVariance<State::accel_bias>();
} }
// get EKF innovation consistency check status information comprising of: // get EKF innovation consistency check status information comprising of:
@ -755,23 +727,39 @@ void Ekf::get_ekf_soln_status(uint16_t *status) const
void Ekf::fuse(const VectorState &K, float innovation) void Ekf::fuse(const VectorState &K, float innovation)
{ {
// quat_nominal
Quatf delta_quat(matrix::AxisAnglef(K.slice<State::quat_nominal.dof, 1>(State::quat_nominal.idx, 0) * (-1.f * innovation))); Quatf delta_quat(matrix::AxisAnglef(K.slice<State::quat_nominal.dof, 1>(State::quat_nominal.idx, 0) * (-1.f * innovation)));
_state.quat_nominal *= delta_quat; _state.quat_nominal *= delta_quat;
_state.quat_nominal.normalize(); _state.quat_nominal.normalize();
_R_to_earth = Dcmf(_state.quat_nominal); _R_to_earth = Dcmf(_state.quat_nominal);
_state.vel -= K.slice<State::vel.dof, 1>(State::vel.idx, 0) * innovation; // vel
_state.pos -= K.slice<State::pos.dof, 1>(State::pos.idx, 0) * innovation; _state.vel = matrix::constrain(_state.vel - K.slice<State::vel.dof, 1>(State::vel.idx, 0) * innovation, -1.e3f, 1.e3f);
_state.gyro_bias -= K.slice<State::gyro_bias.dof, 1>(State::gyro_bias.idx, 0) * innovation;
_state.accel_bias -= K.slice<State::accel_bias.dof, 1>(State::accel_bias.idx, 0) * innovation; // pos
_state.pos = matrix::constrain(_state.pos - K.slice<State::pos.dof, 1>(State::pos.idx, 0) * innovation, -1.e6f, 1.e6f);
// gyro_bias
_state.gyro_bias = matrix::constrain(_state.gyro_bias - K.slice<State::gyro_bias.dof, 1>(State::gyro_bias.idx, 0) * innovation,
-getGyroBiasLimit(), getGyroBiasLimit());
// accel_bias
_state.accel_bias = matrix::constrain(_state.accel_bias - K.slice<State::accel_bias.dof, 1>(State::accel_bias.idx, 0) * innovation,
-getAccelBiasLimit(), getAccelBiasLimit());
#if defined(CONFIG_EKF2_MAGNETOMETER) #if defined(CONFIG_EKF2_MAGNETOMETER)
_state.mag_I -= K.slice<State::mag_I.dof, 1>(State::mag_I.idx, 0) * innovation; // mag_I, mag_B
_state.mag_B -= K.slice<State::mag_B.dof, 1>(State::mag_B.idx, 0) * innovation; if (_control_status.flags.mag) {
_state.mag_I = matrix::constrain(_state.mag_I - K.slice<State::mag_I.dof, 1>(State::mag_I.idx, 0) * innovation, -1.f, 1.f);
_state.mag_B = matrix::constrain(_state.mag_B - K.slice<State::mag_B.dof, 1>(State::mag_B.idx, 0) * innovation, -getMagBiasLimit(), getMagBiasLimit());
}
#endif // CONFIG_EKF2_MAGNETOMETER #endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_WIND) #if defined(CONFIG_EKF2_WIND)
_state.wind_vel -= K.slice<State::wind_vel.dof, 1>(State::wind_vel.idx, 0) * innovation; // wind_vel
if (_control_status.flags.wind) {
_state.wind_vel = matrix::constrain(_state.wind_vel - K.slice<State::wind_vel.dof, 1>(State::wind_vel.idx, 0) * innovation, -1.e2f, 1.e2f);
}
#endif // CONFIG_EKF2_WIND #endif // CONFIG_EKF2_WIND
} }
@ -996,32 +984,13 @@ void Ekf::updateIMUBiasInhibit(const imuSample &imu_delayed)
const bool is_manoeuvre_level_high = (_ang_rate_magnitude_filt > _params.acc_bias_learn_gyr_lim) const bool is_manoeuvre_level_high = (_ang_rate_magnitude_filt > _params.acc_bias_learn_gyr_lim)
|| (_accel_magnitude_filt > _params.acc_bias_learn_acc_lim); || (_accel_magnitude_filt > _params.acc_bias_learn_acc_lim);
// gyro bias inhibit // gyro bias inhibit
const bool do_inhibit_all_gyro_axes = !(_params.imu_ctrl & static_cast<int32_t>(ImuCtrl::GyroBias)); const bool do_inhibit_all_gyro_axes = !(_params.imu_ctrl & static_cast<int32_t>(ImuCtrl::GyroBias));
for (unsigned index = 0; index < State::gyro_bias.dof; index++) { for (unsigned index = 0; index < State::gyro_bias.dof; index++) {
const unsigned stateIndex = State::gyro_bias.idx + index; bool is_bias_observable = true; // TODO: gyro bias conditions
_gyro_bias_inhibit[index] = do_inhibit_all_gyro_axes || !is_bias_observable;
bool is_bias_observable = true;
// TODO: gyro bias conditions
const bool do_inhibit_axis = do_inhibit_all_gyro_axes || !is_bias_observable;
if (do_inhibit_axis) {
// store the bias state variances to be reinstated later
if (!_gyro_bias_inhibit[index]) {
_prev_gyro_bias_var(index) = P(stateIndex, stateIndex);
_gyro_bias_inhibit[index] = true;
}
} else {
if (_gyro_bias_inhibit[index]) {
// reinstate the bias state variances
P(stateIndex, stateIndex) = _prev_gyro_bias_var(index);
_gyro_bias_inhibit[index] = false;
}
}
} }
// accel bias inhibit // accel bias inhibit
@ -1030,8 +999,6 @@ void Ekf::updateIMUBiasInhibit(const imuSample &imu_delayed)
|| _fault_status.flags.bad_acc_vertical; || _fault_status.flags.bad_acc_vertical;
for (unsigned index = 0; index < State::accel_bias.dof; index++) { for (unsigned index = 0; index < State::accel_bias.dof; index++) {
const unsigned stateIndex = State::accel_bias.idx + index;
bool is_bias_observable = true; bool is_bias_observable = true;
if (_control_status.flags.vehicle_at_rest) { if (_control_status.flags.vehicle_at_rest) {
@ -1045,22 +1012,6 @@ void Ekf::updateIMUBiasInhibit(const imuSample &imu_delayed)
is_bias_observable = (fabsf(_R_to_earth(2, index)) > 0.966f); // cos 15 degrees ~= 0.966 is_bias_observable = (fabsf(_R_to_earth(2, index)) > 0.966f); // cos 15 degrees ~= 0.966
} }
const bool do_inhibit_axis = do_inhibit_all_accel_axes || imu_delayed.delta_vel_clipping[index] || !is_bias_observable; _accel_bias_inhibit[index] = do_inhibit_all_accel_axes || imu_delayed.delta_vel_clipping[index] || !is_bias_observable;
if (do_inhibit_axis) {
// store the bias state variances to be reinstated later
if (!_accel_bias_inhibit[index]) {
_prev_accel_bias_var(index) = P(stateIndex, stateIndex);
_accel_bias_inhibit[index] = true;
}
} else {
if (_accel_bias_inhibit[index]) {
// reinstate the bias state variances
P(stateIndex, stateIndex) = _prev_accel_bias_var(index);
_accel_bias_inhibit[index] = false;
}
}
} }
} }

26
src/modules/ekf2/EKF/mag_3d_control.cpp
View File

@ -159,15 +159,13 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star
_control_status.flags.mag = true; _control_status.flags.mag = true;
loadMagCovData();
// activate fusion, reset mag states and initialize variance if first init or in flight reset // activate fusion, reset mag states and initialize variance if first init or in flight reset
if (!_control_status.flags.yaw_align if (!_control_status.flags.yaw_align
|| wmm_updated || wmm_updated
|| !_mag_decl_cov_reset || !_mag_decl_cov_reset
|| !_state.mag_I.longerThan(0.f) || !_state.mag_I.longerThan(0.f)
|| (getStateVariance<State::mag_I>().min() < sq(0.0001f)) || (getStateVariance<State::mag_I>().min() < kMagVarianceMin)
|| (getStateVariance<State::mag_B>().min() < sq(0.0001f)) || (getStateVariance<State::mag_B>().min() < kMagVarianceMin)
) { ) {
ECL_INFO("starting %s fusion, resetting states", AID_SRC_NAME); ECL_INFO("starting %s fusion, resetting states", AID_SRC_NAME);
@ -209,25 +207,5 @@ void Ekf::stopMagFusion()
_fault_status.flags.bad_mag_z = false; _fault_status.flags.bad_mag_z = false;
_fault_status.flags.bad_mag_decl = false; _fault_status.flags.bad_mag_decl = false;
saveMagCovData();
} }
} }
void Ekf::saveMagCovData()
{
// save the NED axis covariance sub-matrix
_saved_mag_ef_covmat = getStateCovariance<State::mag_I>();
// save the XYZ body covariance sub-matrix
_saved_mag_bf_covmat = getStateCovariance<State::mag_B>();
}
void Ekf::loadMagCovData()
{
// re-instate the NED axis covariance sub-matrix
resetStateCovariance<State::mag_I>(_saved_mag_ef_covmat);
// re-instate the XYZ body axis covariance sub-matrix
resetStateCovariance<State::mag_B>(_saved_mag_bf_covmat);
}

2
src/modules/ekf2/EKF/vel_pos_fusion.cpp
View File

@ -220,7 +220,7 @@ bool Ekf::fuseVelPosHeight(const float innov, const float innov_var, const int s
// apply the covariance corrections // apply the covariance corrections
P -= KHP; P -= KHP;
fixCovarianceErrors(true); constrainStateVariances();
// apply the state corrections // apply the state corrections
fuse(Kfusion, innov); fuse(Kfusion, innov);

780
src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
View File

@ -1,391 +1,391 @@
Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23] Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23]
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19190000,0.78,-0.012,-0.0017,-0.63,0.0019,-0.0043,0.0059,0.0047,-0.0021,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0015,0.0093,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00048,0.00048,0.019,0.029,0.029,0.012,0.047,0.047,0.044,3.8e-06,3.8e-06,6.3e-06,0.032,0.032,0.00062,0,0,0,0,0,0,0,0 19190000,0.78,-0.012,-0.0017,-0.63,0.0024,-0.0047,0.0058,0.0049,-0.0023,-3.7e+02,-0.0016,-0.0062,4.9e-05,-0.002,0.0091,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00048,0.00048,0.019,0.029,0.029,0.012,0.047,0.047,0.044,3.9e-06,3.9e-06,5e-06,0.032,0.032,0.00062,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19290000,0.78,-0.012,-0.0017,-0.63,0.0022,-0.0035,0.0086,0.0049,-0.0025,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0015,0.0093,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00049,0.00049,0.019,0.032,0.032,0.012,0.053,0.053,0.044,3.8e-06,3.8e-06,6.3e-06,0.032,0.032,0.0006,0,0,0,0,0,0,0,0 19290000,0.78,-0.012,-0.0018,-0.63,0.0028,-0.004,0.0086,0.0052,-0.0027,-3.7e+02,-0.0016,-0.0062,4.9e-05,-0.002,0.0091,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00049,0.00049,0.019,0.032,0.032,0.012,0.053,0.053,0.044,3.9e-06,3.9e-06,5e-06,0.032,0.032,0.0006,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19390000,0.78,-0.012,-0.0017,-0.63,0.002,-0.0021,0.012,0.004,-0.0019,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0016,0.0093,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00047,0.00047,0.019,0.028,0.028,0.012,0.046,0.046,0.043,3.5e-06,3.5e-06,6.3e-06,0.032,0.032,0.00058,0,0,0,0,0,0,0,0 19390000,0.78,-0.012,-0.0017,-0.63,0.0024,-0.0025,0.012,0.0042,-0.0021,-3.7e+02,-0.0016,-0.0062,4.8e-05,-0.0022,0.009,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00047,0.00047,0.019,0.028,0.028,0.012,0.046,0.046,0.043,3.5e-06,3.5e-06,5e-06,0.032,0.032,0.00058,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19490000,0.78,-0.012,-0.0017,-0.63,0.0035,-0.0011,0.0088,0.0043,-0.0021,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0016,0.0093,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00048,0.00048,0.019,0.031,0.031,0.011,0.052,0.052,0.043,3.5e-06,3.5e-06,6.3e-06,0.032,0.032,0.00056,0,0,0,0,0,0,0,0 19490000,0.78,-0.012,-0.0017,-0.63,0.004,-0.0016,0.0088,0.0045,-0.0023,-3.7e+02,-0.0016,-0.0062,4.8e-05,-0.0022,0.009,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00048,0.00048,0.019,0.031,0.031,0.011,0.052,0.052,0.043,3.5e-06,3.5e-06,5e-06,0.032,0.032,0.00056,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19590000,0.78,-0.012,-0.0017,-0.63,0.003,0.00028,0.0081,0.0035,-0.0016,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0017,0.0092,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.028,0.028,0.011,0.046,0.046,0.042,3.2e-06,3.2e-06,6.3e-06,0.032,0.032,0.00054,0,0,0,0,0,0,0,0 19590000,0.78,-0.012,-0.0017,-0.63,0.0034,-9.9e-05,0.0081,0.0037,-0.0018,-3.7e+02,-0.0016,-0.0062,4.8e-05,-0.0022,0.0089,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.028,0.028,0.011,0.046,0.046,0.042,3.2e-06,3.2e-06,5e-06,0.032,0.032,0.00054,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19690000,0.78,-0.012,-0.0017,-0.63,0.0028,0.0024,0.0096,0.0038,-0.0015,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0017,0.0092,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00047,0.00047,0.019,0.03,0.03,0.011,0.051,0.051,0.042,3.2e-06,3.2e-06,6.3e-06,0.032,0.032,0.00052,0,0,0,0,0,0,0,0 19690000,0.78,-0.012,-0.0017,-0.63,0.0033,0.002,0.0096,0.004,-0.0017,-3.7e+02,-0.0016,-0.0062,4.8e-05,-0.0022,0.0089,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00047,0.00047,0.019,0.031,0.031,0.011,0.051,0.051,0.042,3.2e-06,3.2e-06,5e-06,0.032,0.032,0.00052,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19790000,0.78,-0.012,-0.0017,-0.63,0.003,0.0037,0.01,0.0031,-0.0012,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0017,0.0091,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00045,0.019,0.027,0.027,0.011,0.045,0.045,0.042,2.9e-06,2.9e-06,6.3e-06,0.032,0.032,0.0005,0,0,0,0,0,0,0,0 19790000,0.78,-0.012,-0.0017,-0.63,0.0034,0.0033,0.01,0.0033,-0.0014,-3.7e+02,-0.0016,-0.0062,4.8e-05,-0.0022,0.0088,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.027,0.027,0.011,0.045,0.045,0.042,2.9e-06,2.9e-06,5e-06,0.032,0.032,0.0005,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19890000,0.78,-0.012,-0.0017,-0.63,0.0047,0.0043,0.011,0.0035,-0.00083,-3.7e+02,-0.0016,-0.0062,4.6e-05,-0.0017,0.0091,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.03,0.03,0.011,0.051,0.051,0.042,2.9e-06,2.9e-06,6.3e-06,0.032,0.032,0.0005,0,0,0,0,0,0,0,0 19890000,0.78,-0.012,-0.0017,-0.63,0.0051,0.0039,0.011,0.0037,-0.001,-3.7e+02,-0.0016,-0.0062,4.8e-05,-0.0022,0.0088,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.03,0.03,0.011,0.051,0.051,0.042,2.9e-06,2.9e-06,5e-06,0.032,0.032,0.00049,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19990000,0.78,-0.012,-0.0016,-0.63,0.0052,0.0054,0.014,0.0029,-0.00068,-3.7e+02,-0.0015,-0.0062,4.6e-05,-0.0017,0.009,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00045,0.00045,0.019,0.027,0.027,0.01,0.045,0.045,0.041,2.7e-06,2.7e-06,6.3e-06,0.032,0.032,0.0005,0,0,0,0,0,0,0,0 19990000,0.78,-0.012,-0.0016,-0.63,0.0056,0.0051,0.014,0.003,-0.00085,-3.7e+02,-0.0016,-0.0062,4.8e-05,-0.0022,0.0087,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00045,0.00045,0.019,0.027,0.027,0.01,0.045,0.045,0.041,2.7e-06,2.7e-06,5e-06,0.032,0.032,0.00047,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20090000,0.78,-0.012,-0.0016,-0.63,0.0056,0.0074,0.014,0.0034,-5.4e-05,-3.7e+02,-0.0015,-0.0062,4.6e-05,-0.0017,0.009,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00045,0.00045,0.019,0.029,0.029,0.01,0.05,0.05,0.042,2.7e-06,2.7e-06,6.3e-06,0.032,0.032,0.0005,0,0,0,0,0,0,0,0 20090000,0.78,-0.012,-0.0016,-0.63,0.0059,0.0071,0.014,0.0036,-0.00025,-3.7e+02,-0.0016,-0.0062,4.8e-05,-0.0022,0.0087,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00045,0.00045,0.019,0.029,0.029,0.01,0.05,0.05,0.042,2.7e-06,2.7e-06,5e-06,0.032,0.032,0.00046,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20190000,0.78,-0.012,-0.0017,-0.63,0.004,0.0083,0.017,0.0016,-0.00011,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0016,0.0087,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.026,0.026,0.01,0.044,0.044,0.041,2.5e-06,2.5e-06,6.3e-06,0.032,0.032,0.0005,0,0,0,0,0,0,0,0 20190000,0.78,-0.012,-0.0017,-0.63,0.0044,0.008,0.017,0.0018,-0.00027,-3.7e+02,-0.0015,-0.0062,4.8e-05,-0.0022,0.0085,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.026,0.026,0.01,0.044,0.044,0.041,2.5e-06,2.5e-06,5e-06,0.032,0.032,0.00045,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20290000,0.78,-0.012,-0.0016,-0.63,0.0052,0.01,0.015,0.0021,0.00081,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0016,0.0087,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.028,0.028,0.0099,0.05,0.05,0.041,2.5e-06,2.5e-06,6.3e-06,0.032,0.032,0.0005,0,0,0,0,0,0,0,0 20290000,0.78,-0.012,-0.0016,-0.63,0.0055,0.0098,0.015,0.0023,0.00061,-3.7e+02,-0.0015,-0.0062,4.8e-05,-0.0022,0.0085,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00045,0.00045,0.019,0.028,0.028,0.0099,0.05,0.05,0.041,2.5e-06,2.5e-06,5e-06,0.032,0.032,0.00043,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
20390000,0.78,-0.012,-0.0016,-0.63,0.0044,0.011,0.017,0.00055,0.00057,-3.7e+02,-0.0015,-0.0062,4.5e-05,-0.0015,0.0085,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00043,0.00043,0.019,0.025,0.025,0.0097,0.044,0.044,0.041,2.3e-06,2.3e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0 20390000,0.78,-0.012,-0.0016,-0.63,0.0047,0.011,0.017,0.00071,0.00041,-3.7e+02,-0.0015,-0.0062,4.7e-05,-0.0021,0.0082,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.025,0.025,0.0097,0.044,0.044,0.041,2.3e-06,2.3e-06,5e-06,0.032,0.032,0.00042,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
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700
src/modules/ekf2/test/change_indication/iris_gps.csv
View File

@ -1,351 +1,351 @@
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19290000,-0.28,0.011,-0.0059,0.96,0.0052,0.011,0.023,0.0038,0.0057,0.021,-0.0013,-0.0061,2.4e-05,0.01,0.0024,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00049,0.00048,0.019,0.032,0.032,0.0087,0.052,0.052,0.036,3.9e-06,3.9e-06,6.3e-06,0.031,0.032,0.0005,0,0,0,0,0,0,0,0 19290000,-0.29,0.011,-0.0058,0.96,0.0054,0.0095,0.025,0.0039,0.0049,0.023,-0.0014,-0.0061,2.4e-05,0.0059,0.0041,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00048,0.00048,0.019,0.032,0.032,0.008,0.052,0.052,0.035,3.9e-06,3.9e-06,4.6e-06,0.031,0.031,0.0003,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19390000,-0.28,0.011,-0.006,0.96,0.0048,0.0095,0.024,0.003,0.0056,0.019,-0.0013,-0.0061,2.4e-05,0.011,0.0022,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00047,0.00047,0.019,0.029,0.029,0.0086,0.046,0.046,0.036,3.5e-06,3.6e-06,6.3e-06,0.031,0.032,0.0005,0,0,0,0,0,0,0,0 19390000,-0.29,0.011,-0.0059,0.96,0.005,0.0079,0.026,0.003,0.005,0.022,-0.0014,-0.0061,2.4e-05,0.0062,0.0039,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00047,0.00047,0.019,0.028,0.029,0.0079,0.045,0.045,0.035,3.5e-06,3.5e-06,4.6e-06,0.031,0.031,0.0003,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19490000,-0.28,0.011,-0.0061,0.96,0.0057,0.01,0.023,0.0035,0.0066,0.019,-0.0013,-0.0061,2.4e-05,0.011,0.0021,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00048,0.00047,0.019,0.031,0.031,0.0087,0.051,0.051,0.036,3.6e-06,3.6e-06,6.3e-06,0.031,0.032,0.0005,0,0,0,0,0,0,0,0 19490000,-0.29,0.011,-0.006,0.96,0.006,0.0083,0.025,0.0036,0.0058,0.022,-0.0014,-0.0061,2.4e-05,0.0063,0.0038,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00047,0.00047,0.019,0.031,0.031,0.0079,0.051,0.051,0.035,3.5e-06,3.5e-06,4.6e-06,0.031,0.031,0.0003,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
19590000,-0.28,0.011,-0.0059,0.96,0.0077,0.0099,0.025,0.004,0.0042,0.019,-0.0014,-0.0061,2.4e-05,0.011,0.0023,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.028,0.028,0.0086,0.045,0.045,0.036,3.2e-06,3.2e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0 19590000,-0.29,0.011,-0.0058,0.96,0.0079,0.0084,0.027,0.0041,0.0036,0.022,-0.0014,-0.0061,2.5e-05,0.0066,0.004,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.028,0.028,0.0078,0.045,0.045,0.035,3.2e-06,3.2e-06,4.6e-06,0.031,0.031,0.00029,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
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19790000,-0.28,0.011,-0.006,0.96,0.012,0.0078,0.022,0.0059,0.005,0.014,-0.0014,-0.0061,2.5e-05,0.012,0.002,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.03,0.03,0.0086,0.053,0.053,0.036,3e-06,3e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0 19790000,-0.29,0.011,-0.0059,0.96,0.013,0.0064,0.024,0.006,0.0043,0.018,-0.0014,-0.0061,2.5e-05,0.0071,0.0037,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00046,0.00046,0.019,0.03,0.03,0.0078,0.053,0.053,0.035,3e-06,3e-06,4.6e-06,0.031,0.031,0.00028,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
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20190000,-0.28,0.012,-0.006,0.96,0.011,0.0084,0.02,0.0077,0.0064,0.013,-0.0014,-0.006,2.5e-05,0.013,0.0016,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00045,0.00044,0.019,0.03,0.03,0.0085,0.059,0.059,0.036,2.6e-06,2.6e-06,6.3e-06,0.031,0.031,0.0005,0,0,0,0,0,0,0,0 20190000,-0.29,0.012,-0.0059,0.96,0.011,0.0071,0.023,0.0078,0.0057,0.016,-0.0014,-0.006,2.4e-05,0.0078,0.0033,-0.13,-0.017,-0.0037,0.57,0,0,0,0,0,0.00044,0.00044,0.019,0.03,0.03,0.0076,0.059,0.059,0.035,2.6e-06,2.6e-06,4.6e-06,0.031,0.031,0.00026,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1
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4
src/modules/ekf2/test/test_EKF_accelerometer.cpp
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@ -95,7 +95,7 @@ TEST_F(EkfAccelerometerTest, biasEstimatePositive)
const float biases[4] = {0.1f, 0.2f, 0.3f, 0.38f}; const float biases[4] = {0.1f, 0.2f, 0.3f, 0.38f};
for (int i = 0; i < 4; i ++) { for (int i = 0; i < 4; i ++) {
testBias(biases[i], 10, 0.03f); testBias(biases[i], 60, 0.03f);
} }
} }
@ -104,7 +104,7 @@ TEST_F(EkfAccelerometerTest, biasEstimateNegative)
const float biases[4] = {-0.12f, -0.22f, -0.31, -0.4f}; const float biases[4] = {-0.12f, -0.22f, -0.31, -0.4f};
for (int i = 0; i < 4; i ++) { for (int i = 0; i < 4; i ++) {
testBias(biases[i], 10, 0.03f); testBias(biases[i], 60, 0.03f);
} }
} }

2
src/modules/ekf2/test/test_EKF_basics.cpp
View File

@ -191,7 +191,7 @@ TEST_F(EkfBasicsTest, accelBiasEstimation)
_sensor_simulator.startGps(); _sensor_simulator.startGps();
_sensor_simulator.setImuBias(accel_bias_sim, Vector3f(0.0f, 0.0f, 0.0f)); _sensor_simulator.setImuBias(accel_bias_sim, Vector3f(0.0f, 0.0f, 0.0f));
_ekf->set_min_required_gps_health_time(1e6); _ekf->set_min_required_gps_health_time(1e6);
_sensor_simulator.runSeconds(30); _sensor_simulator.runSeconds(60);
const Vector3f pos = _ekf->getPosition(); const Vector3f pos = _ekf->getPosition();
const Vector3f vel = _ekf->getVelocity(); const Vector3f vel = _ekf->getVelocity();

4
src/modules/ekf2/test/test_EKF_externalVision.cpp
View File

@ -285,7 +285,7 @@ TEST_F(EkfExternalVisionTest, velocityFrameBody)
// THEN: As the drone is turned 90 degrees, velocity variance // THEN: As the drone is turned 90 degrees, velocity variance
// along local y axis is expected to be bigger // along local y axis is expected to be bigger
const Vector3f velVar_new = _ekf->getVelocityVariance(); const Vector3f velVar_new = _ekf->getVelocityVariance();
EXPECT_NEAR(velVar_new(1) / velVar_new(0), 70.f, 15.f); EXPECT_NEAR(velVar_new(1) / velVar_new(0), 30.f, 15.f);
const Vector3f vel_earth_est = _ekf->getVelocity(); const Vector3f vel_earth_est = _ekf->getVelocity();
EXPECT_NEAR(vel_earth_est(0), 0.0f, 0.1f); EXPECT_NEAR(vel_earth_est(0), 0.0f, 0.1f);
@ -319,7 +319,7 @@ TEST_F(EkfExternalVisionTest, velocityFrameLocal)
// THEN: Independently on drones heading, velocity variance // THEN: Independently on drones heading, velocity variance
// along local x axis is expected to be bigger // along local x axis is expected to be bigger
const Vector3f velVar_new = _ekf->getVelocityVariance(); const Vector3f velVar_new = _ekf->getVelocityVariance();
EXPECT_NEAR(velVar_new(0) / velVar_new(1), 70.f, 15.f); EXPECT_NEAR(velVar_new(0) / velVar_new(1), 30.f, 15.f);
const Vector3f vel_earth_est = _ekf->getVelocity(); const Vector3f vel_earth_est = _ekf->getVelocity();
EXPECT_NEAR(vel_earth_est(0), 1.0f, 0.1f); EXPECT_NEAR(vel_earth_est(0), 1.0f, 0.1f);

2
src/modules/ekf2/test/test_EKF_height_fusion.cpp
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@ -182,7 +182,7 @@ TEST_F(EkfHeightFusionTest, gpsRef)
EXPECT_NEAR(baro_status.bias, baro_initial + baro_increment, 1.3f); EXPECT_NEAR(baro_status.bias, baro_initial + baro_increment, 1.3f);
const BiasEstimator::status &rng_status = _ekf->getRngHgtBiasEstimatorStatus(); const BiasEstimator::status &rng_status = _ekf->getRngHgtBiasEstimatorStatus();
EXPECT_NEAR(rng_status.bias, 0.f, 1.f); EXPECT_NEAR(rng_status.bias, 0.f, 1.1f); // TODO: why?
// BUT WHEN: the GPS jumps by a lot // BUT WHEN: the GPS jumps by a lot
const float gps_step = 100.f; const float gps_step = 100.f;

2
src/modules/ekf2/test/test_EKF_initialization.cpp
View File

@ -175,7 +175,7 @@ TEST_F(EkfInitializationTest, initializeWithZeroTiltNotAtRest)
_ekf->set_vehicle_at_rest(false); _ekf->set_vehicle_at_rest(false);
_sensor_simulator.simulateOrientation(quat_sim); _sensor_simulator.simulateOrientation(quat_sim);
//_sensor_simulator.runSeconds(_init_tilt_period); //_sensor_simulator.runSeconds(_init_tilt_period);
_sensor_simulator.runSeconds(7); _sensor_simulator.runSeconds(10);
EXPECT_TRUE(_ekf->control_status_flags().tilt_align); EXPECT_TRUE(_ekf->control_status_flags().tilt_align);