forked from Archive/PX4-Autopilot
ekf2_main - Add optical flow innovation pre-flight check (#13036)
* ekf2: Add FirstOrderLpf and InnovationLpf classes for innovation lowpass filtering * ekf2: use InnovLpf filter class in preflight checks * ekf2: move selection of yaw test limit for pre-flight check in function * ekf2: Move pre-flight checks into separate function * ekf2: use static constexpr insetead of inline for sq (square) function * ekf2: Split pre-flight checks in separate functions Also use the same check for all the innovations: innov_lpf < test and innov < 2xtest * ekf2: Add optical flow pre-flight check * ekf2: Combine FirstOrderLpf and InnovationLpf in single class * ekf2: check vel_pos_innov when ev_pos is active as well * ekf2: transform InnovationLpf into a header only library and pass the spike limit during the update call to avoid storing it here * ekf2: Static and const cleanup - set spike_lim constants as static constexpr, set innovation - set checker helper functions as static - rename the mix of heading and yaw as heading to avoid confusion * ekf2: use ternary operator in selectHeadingTestLimit instead of if-else * ekf2: store intermediate redults in const bool flags. Those will be used for logging * ekf2: set variable const whenever possible * ekf2: create PreFlightChecker class that handle all the innovation pre-flight checks. Add simple unit testing Use bitmask instead of general flag to have more granularity * PreFlightChecker: use setter for the innovations to check instead of sending booleans in the update function This makes it more scalable as more checks will be added * ekf: Use booleans instead of bitmask for ekf preflt checks Rename "down" to "vert"
This commit is contained in:
Mathieu Bresciani
GitHub
parent
644c816a2a
commit
549fb0d5de
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@ -106,8 +106,10 @@ uint16 solution_status_flags # Bitmask indicating which filter kinematic state o
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float32 time_slip # cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time
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bool pre_flt_fail # true when estimator has failed pre-flight checks and the vehicle should not be flown regardless of flight mode
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bool pre_flt_fail_innov_heading
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bool pre_flt_fail_innov_vel_horiz
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bool pre_flt_fail_innov_vel_vert
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bool pre_flt_fail_innov_height
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# legacy local position estimator (LPE) flags
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uint8 health_flags # Bitmask to indicate sensor health states (vel, pos, hgt)
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@ -494,9 +494,23 @@ static bool ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &vehicle_s
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}
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// Check if preflight check performed by estimator has failed
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if (status.pre_flt_fail) {
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if (status.pre_flt_fail_innov_heading ||
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status.pre_flt_fail_innov_vel_horiz ||
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status.pre_flt_fail_innov_vel_vert ||
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status.pre_flt_fail_innov_height) {
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if (report_fail) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: Position unknown");
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if (status.pre_flt_fail_innov_heading) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: heading estimate not stable");
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} else if (status.pre_flt_fail_innov_vel_horiz) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: horizontal velocity estimate not stable");
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} else if (status.pre_flt_fail_innov_vel_horiz) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: vertical velocity estimate not stable");
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} else if (status.pre_flt_fail_innov_height) {
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mavlink_log_critical(mavlink_log_pub, "Preflight Fail: height estimate not stable");
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}
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}
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success = false;
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@ -30,6 +30,9 @@
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#############################################################################
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add_subdirectory(Utility)
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px4_add_module(
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MODULE modules__ekf2
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MAIN ekf2
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@ -42,4 +45,5 @@ px4_add_module(
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ecl_EKF
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ecl_geo
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perf
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Ekf2Utility
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)
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@ -0,0 +1,45 @@
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############################################################################
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#
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# Copyright (c) 2019 PX4 Development Team. All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions
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# are met:
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#
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# 1. Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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# 2. Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in
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# the documentation and/or other materials provided with the
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# distribution.
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# 3. Neither the name PX4 nor the names of its contributors may be
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# used to endorse or promote products derived from this software
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# without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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#############################################################################
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px4_add_library(Ekf2Utility
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PreFlightChecker.cpp
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)
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target_include_directories(Ekf2Utility
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PUBLIC
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${CMAKE_CURRENT_SOURCE_DIR}
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)
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target_link_libraries(Ekf2Utility PRIVATE mathlib)
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px4_add_unit_gtest(SRC PreFlightCheckerTest.cpp LINKLIBS Ekf2Utility)
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@ -0,0 +1,79 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* First order "alpha" IIR digital filter with input saturation
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*/
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#include <mathlib/mathlib.h>
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class InnovationLpf final
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{
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public:
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InnovationLpf() = default;
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~InnovationLpf() = default;
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void reset(float val = 0.f) { _x = val; }
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/**
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* Update the filter with a new value and returns the filtered state
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* The new value is constained by the limit set in setSpikeLimit
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* @param val new input
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* @param alpha normalized weight of the new input
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* @param spike_limit the amplitude of the saturation at the input of the filter
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* @return filtered output
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*/
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float update(float val, float alpha, float spike_limit)
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{
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float val_constrained = math::constrain(val, -spike_limit, spike_limit);
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float beta = 1.f - alpha;
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_x = beta * _x + alpha * val_constrained;
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return _x;
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}
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/**
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* Helper function to compute alpha from dt and the inverse of tau
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* @param dt sampling time in seconds
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* @param tau_inv inverse of the time constant of the filter
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* @return alpha, the normalized weight of a new measurement
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*/
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static float computeAlphaFromDtAndTauInv(float dt, float tau_inv)
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{
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return dt * tau_inv;
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}
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private:
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float _x; ///< current state of the filter
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};
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@ -0,0 +1,142 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
|
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file PreFlightCheckHelper.cpp
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* Class handling the EKF2 innovation pre flight checks
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*/
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#include "PreFlightChecker.hpp"
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void PreFlightChecker::update(const float dt, const ekf2_innovations_s &innov)
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{
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const float alpha = InnovationLpf::computeAlphaFromDtAndTauInv(dt, _innov_lpf_tau_inv);
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_has_heading_failed = preFlightCheckHeadingFailed(innov, alpha);
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_has_horiz_vel_failed = preFlightCheckHorizVelFailed(innov, alpha);
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_has_vert_vel_failed = preFlightCheckVertVelFailed(innov, alpha);
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_has_height_failed = preFlightCheckHeightFailed(innov, alpha);
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}
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bool PreFlightChecker::preFlightCheckHeadingFailed(const ekf2_innovations_s &innov, const float alpha)
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{
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const float heading_test_limit = selectHeadingTestLimit();
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const float heading_innov_spike_lim = 2.0f * heading_test_limit;
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const float heading_innov_lpf = _filter_heading_innov.update(innov.heading_innov, alpha, heading_innov_spike_lim);
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return checkInnovFailed(innov.heading_innov, heading_innov_lpf, heading_test_limit);
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}
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float PreFlightChecker::selectHeadingTestLimit()
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{
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// Select the max allowed heading innovaton depending on whether we are not aiding navigation using
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// observations in the NE reference frame and if the vehicle can use GPS course to realign in flight (fixedwing sideslip fusion).
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const bool is_ne_aiding = _is_using_gps_aiding || _is_using_ev_pos_aiding;
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return (is_ne_aiding && !_can_observe_heading_in_flight)
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? _nav_heading_innov_test_lim // more restrictive test limit
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: _heading_innov_test_lim; // less restrictive test limit
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}
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bool PreFlightChecker::preFlightCheckHorizVelFailed(const ekf2_innovations_s &innov, const float alpha)
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{
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bool has_failed = false;
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if (_is_using_gps_aiding || _is_using_ev_pos_aiding) {
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const Vector2f vel_ne_innov = Vector2f(innov.vel_pos_innov);
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Vector2f vel_ne_innov_lpf;
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vel_ne_innov_lpf(0) = _filter_vel_n_innov.update(vel_ne_innov(0), alpha, _vel_innov_spike_lim);
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vel_ne_innov_lpf(1) = _filter_vel_n_innov.update(vel_ne_innov(1), alpha, _vel_innov_spike_lim);
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has_failed |= checkInnov2DFailed(vel_ne_innov, vel_ne_innov_lpf, _vel_innov_test_lim);
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}
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if (_is_using_flow_aiding) {
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const Vector2f flow_innov = Vector2f(innov.flow_innov);
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Vector2f flow_innov_lpf;
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flow_innov_lpf(0) = _filter_flow_x_innov.update(flow_innov(0), alpha, _flow_innov_spike_lim);
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flow_innov_lpf(1) = _filter_flow_x_innov.update(flow_innov(1), alpha, _flow_innov_spike_lim);
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has_failed |= checkInnov2DFailed(flow_innov, flow_innov_lpf, _flow_innov_test_lim);
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}
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return has_failed;
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}
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bool PreFlightChecker::preFlightCheckVertVelFailed(const ekf2_innovations_s &innov, const float alpha)
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{
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const float vel_d_innov = innov.vel_pos_innov[2];
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const float vel_d_innov_lpf = _filter_vel_d_innov.update(vel_d_innov, alpha, _vel_innov_spike_lim);
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return checkInnovFailed(vel_d_innov, vel_d_innov_lpf, _vel_innov_test_lim);
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}
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bool PreFlightChecker::preFlightCheckHeightFailed(const ekf2_innovations_s &innov, const float alpha)
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{
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const float hgt_innov = innov.vel_pos_innov[5];
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const float hgt_innov_lpf = _filter_hgt_innov.update(hgt_innov, alpha, _hgt_innov_spike_lim);
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return checkInnovFailed(hgt_innov, hgt_innov_lpf, _hgt_innov_test_lim);
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}
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bool PreFlightChecker::checkInnovFailed(const float innov, const float innov_lpf, const float test_limit)
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{
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return fabsf(innov_lpf) > test_limit || fabsf(innov) > 2.0f * test_limit;
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}
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bool PreFlightChecker::checkInnov2DFailed(const Vector2f &innov, const Vector2f &innov_lpf, const float test_limit)
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{
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return innov_lpf.norm_squared() > sq(test_limit)
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|| innov.norm_squared() > sq(2.0f * test_limit);
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}
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uint8_t PreFlightChecker::prefltFailBoolToBitMask(const bool heading_failed, const bool horiz_vel_failed,
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const bool vert_vel_failed, const bool height_failed)
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{
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return heading_failed | (horiz_vel_failed << 1) | (vert_vel_failed << 2) | (height_failed << 3);
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}
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void PreFlightChecker::reset()
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{
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_is_using_gps_aiding = false;
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_is_using_flow_aiding = false;
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_is_using_ev_pos_aiding = false;
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_has_heading_failed = false;
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_has_horiz_vel_failed = false;
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_has_vert_vel_failed = false;
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_has_height_failed = false;
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_filter_vel_n_innov.reset();
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_filter_vel_e_innov.reset();
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_filter_vel_d_innov.reset();
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_filter_hgt_innov.reset();
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_filter_heading_innov.reset();
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_filter_flow_x_innov.reset();
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_filter_flow_y_innov.reset();
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}
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@ -0,0 +1,182 @@
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/****************************************************************************
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*
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* Copyright (c) 2019 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
|
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* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
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*
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****************************************************************************/
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/**
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* @file PreFlightChecker.hpp
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* Class handling the EKF2 innovation pre flight checks
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*
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* First call the update(...) function and then get the results
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* using the hasXxxFailed() getters
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*/
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#pragma once
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#include <uORB/topics/vehicle_status.h>
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#include <uORB/topics/ekf2_innovations.h>
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#include <matrix/matrix/math.hpp>
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#include "InnovationLpf.hpp"
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using matrix::Vector2f;
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class PreFlightChecker
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{
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public:
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PreFlightChecker() = default;
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~PreFlightChecker() = default;
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/*
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* Reset all the internal states of the class to their default value
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*/
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void reset();
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/*
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* Update the internal states
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* @param dt the sampling time
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* @param innov the ekf2_innovation_s struct containing the current innovations
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*/
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void update(float dt, const ekf2_innovations_s &innov);
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/*
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* If set to true, the checker will use a less conservative heading innovation check
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*/
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void setVehicleCanObserveHeadingInFlight(bool val) { _can_observe_heading_in_flight = val; }
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void setUsingGpsAiding(bool val) { _is_using_gps_aiding = val; }
|
||||
void setUsingFlowAiding(bool val) { _is_using_flow_aiding = val; }
|
||||
void setUsingEvPosAiding(bool val) { _is_using_ev_pos_aiding = val; }
|
||||
|
||||
bool hasHeadingFailed() const { return _has_heading_failed; }
|
||||
bool hasHorizVelFailed() const { return _has_horiz_vel_failed; }
|
||||
bool hasVertVelFailed() const { return _has_vert_vel_failed; }
|
||||
bool hasHeightFailed() const { return _has_height_failed; }
|
||||
|
||||
/*
|
||||
* Overall state of the pre fligh checks
|
||||
* @return true if any of the check failed
|
||||
*/
|
||||
bool hasFailed() const { return hasHorizFailed() || hasVertFailed(); }
|
||||
|
||||
/*
|
||||
* Horizontal checks overall result
|
||||
* @return true if one of the horizontal checks failed
|
||||
*/
|
||||
bool hasHorizFailed() const { return _has_heading_failed || _has_horiz_vel_failed; }
|
||||
|
||||
/*
|
||||
* Vertical checks overall result
|
||||
* @return true if one of the vertical checks failed
|
||||
*/
|
||||
bool hasVertFailed() const { return _has_vert_vel_failed || _has_height_failed; }
|
||||
|
||||
/*
|
||||
* Check if the innovation fails the test
|
||||
* To pass the test, the following conditions should be true:
|
||||
* innov <= test_limit
|
||||
* innov_lpf <= 2 * test_limit
|
||||
* @param innov the current unfiltered innovation
|
||||
* @param innov_lpf the low-pass filtered innovation
|
||||
* @param test_limit the magnitude test limit
|
||||
* @return true if the check failed the test, false otherwise
|
||||
*/
|
||||
static bool checkInnovFailed(float innov, float innov_lpf, float test_limit);
|
||||
|
||||
/*
|
||||
* Check if the a innovation of a 2D vector fails the test
|
||||
* To pass the test, the following conditions should be true:
|
||||
* innov <= test_limit
|
||||
* innov_lpf <= 2 * test_limit
|
||||
* @param innov the current unfiltered innovation
|
||||
* @param innov_lpf the low-pass filtered innovation
|
||||
* @param test_limit the magnitude test limit
|
||||
* @return true if the check failed the test, false otherwise
|
||||
*/
|
||||
static bool checkInnov2DFailed(const Vector2f &innov, const Vector2f &innov_lpf, float test_limit);
|
||||
|
||||
/*
|
||||
* Packs the boolean flags into a bit field
|
||||
*/
|
||||
static uint8_t prefltFailBoolToBitMask(bool heading_failed, bool horiz_vel_failed, bool vert_vel_failed,
|
||||
bool height_failed);
|
||||
|
||||
static constexpr float sq(float var) { return var * var; }
|
||||
|
||||
private:
|
||||
bool preFlightCheckHeadingFailed(const ekf2_innovations_s &innov, float alpha);
|
||||
float selectHeadingTestLimit();
|
||||
|
||||
bool preFlightCheckHorizVelFailed(const ekf2_innovations_s &innov, float alpha);
|
||||
bool preFlightCheckVertVelFailed(const ekf2_innovations_s &innov, float alpha);
|
||||
bool preFlightCheckHeightFailed(const ekf2_innovations_s &innov, float alpha);
|
||||
|
||||
void resetPreFlightChecks();
|
||||
|
||||
bool _has_heading_failed{};
|
||||
bool _has_horiz_vel_failed{};
|
||||
bool _has_vert_vel_failed{};
|
||||
bool _has_height_failed{};
|
||||
|
||||
bool _can_observe_heading_in_flight{};
|
||||
bool _is_using_gps_aiding{};
|
||||
bool _is_using_flow_aiding{};
|
||||
bool _is_using_ev_pos_aiding{};
|
||||
|
||||
// Low-pass filters for innovation pre-flight checks
|
||||
InnovationLpf _filter_vel_n_innov; ///< Preflight low pass filter N axis velocity innovations (m/sec)
|
||||
InnovationLpf _filter_vel_e_innov; ///< Preflight low pass filter E axis velocity innovations (m/sec)
|
||||
InnovationLpf _filter_vel_d_innov; ///< Preflight low pass filter D axis velocity innovations (m/sec)
|
||||
InnovationLpf _filter_hgt_innov; ///< Preflight low pass filter height innovation (m)
|
||||
InnovationLpf _filter_heading_innov; ///< Preflight low pass filter heading innovation magntitude (rad)
|
||||
InnovationLpf _filter_flow_x_innov; ///< Preflight low pass filter optical flow innovation (rad)
|
||||
InnovationLpf _filter_flow_y_innov; ///< Preflight low pass filter optical flow innovation (rad)
|
||||
|
||||
// Preflight low pass filter time constant inverse (1/sec)
|
||||
static constexpr float _innov_lpf_tau_inv = 0.2f;
|
||||
// Maximum permissible velocity innovation to pass pre-flight checks (m/sec)
|
||||
static constexpr float _vel_innov_test_lim = 0.5f;
|
||||
// Maximum permissible height innovation to pass pre-flight checks (m)
|
||||
static constexpr float _hgt_innov_test_lim = 1.5f;
|
||||
// Maximum permissible yaw innovation to pass pre-flight checks when aiding inertial nav using NE frame observations (rad)
|
||||
static constexpr float _nav_heading_innov_test_lim = 0.25f;
|
||||
// Maximum permissible yaw innovation to pass pre-flight checks when not aiding inertial nav using NE frame observations (rad)
|
||||
static constexpr float _heading_innov_test_lim = 0.52f;
|
||||
// Maximum permissible flow innovation to pass pre-flight checks
|
||||
static constexpr float _flow_innov_test_lim = 0.1f;
|
||||
// Preflight velocity innovation spike limit (m/sec)
|
||||
static constexpr float _vel_innov_spike_lim = 2.0f * _vel_innov_test_lim;
|
||||
// Preflight position innovation spike limit (m)
|
||||
static constexpr float _hgt_innov_spike_lim = 2.0f * _hgt_innov_test_lim;
|
||||
// Preflight flow innovation spike limit (rad)
|
||||
static constexpr float _flow_innov_spike_lim = 2.0f * _flow_innov_test_lim;
|
||||
};
|
||||
|
|
@ -0,0 +1,108 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2019 PX4 Development Team. All rights reserved.
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without
|
||||
* modification, are permitted provided that the following conditions
|
||||
* are met:
|
||||
*
|
||||
* 1. Redistributions of source code must retain the above copyright
|
||||
* notice, this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright
|
||||
* notice, this list of conditions and the following disclaimer in
|
||||
* the documentation and/or other materials provided with the
|
||||
* distribution.
|
||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
* POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
****************************************************************************/
|
||||
|
||||
/**
|
||||
* Test code for PreFlightChecker class
|
||||
* Run this test only using make tests TESTFILTER=PreFlightChecker
|
||||
*/
|
||||
|
||||
#include <gtest/gtest.h>
|
||||
|
||||
#include "PreFlightChecker.hpp"
|
||||
|
||||
class PreFlightCheckerTest : public ::testing::Test
|
||||
{
|
||||
};
|
||||
|
||||
TEST_F(PreFlightCheckerTest, testInnovFailed)
|
||||
{
|
||||
const float test_limit = 1.0; ///< is the limit for innovation_lpf, the limit for innovation is 2*test_limit
|
||||
const float innovations[9] = {0.0, 1.5, 2.5, -1.5, -2.5, 1.5, -1.5, -2.5, -2.5};
|
||||
const float innovations_lpf[9] = {0.0, 0.9, 0.9, -0.9, -0.9, 1.1, -1.1, -1.1, 1.1};
|
||||
const bool expected_result[9] = {false, false, true, false, true, true, true, true, true};
|
||||
|
||||
for (int i = 0; i < 9; i++) {
|
||||
EXPECT_EQ(PreFlightChecker::checkInnovFailed(innovations[i], innovations_lpf[i], test_limit), expected_result[i]);
|
||||
}
|
||||
|
||||
// Smaller test limit, all the checks should fail except the first
|
||||
EXPECT_FALSE(PreFlightChecker::checkInnovFailed(innovations[0], innovations_lpf[0], 0.0));
|
||||
|
||||
for (int i = 1; i < 9; i++) {
|
||||
EXPECT_TRUE(PreFlightChecker::checkInnovFailed(innovations[i], innovations_lpf[i], 0.0));
|
||||
}
|
||||
|
||||
// Larger test limit, none of the checks should fail
|
||||
for (int i = 0; i < 9; i++) {
|
||||
EXPECT_FALSE(PreFlightChecker::checkInnovFailed(innovations[i], innovations_lpf[i], 2.0));
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(PreFlightCheckerTest, testInnov2dFailed)
|
||||
{
|
||||
const float test_limit = 1.0;
|
||||
Vector2f innovations[4] = {{0.0, 0.0}, {0.0, 0.0}, {0.0, -2.5}, {1.5, -1.5}};
|
||||
Vector2f innovations_lpf[4] = {{0.0, 0.0}, {1.1, 0.0}, {0.5, 0.5}, {1.0, -1.0}};
|
||||
const bool expected_result[4] = {false, true, true, true};
|
||||
|
||||
for (int i = 0; i < 4; i++) {
|
||||
EXPECT_EQ(PreFlightChecker::checkInnov2DFailed(innovations[i], innovations_lpf[i], test_limit), expected_result[i]);
|
||||
}
|
||||
|
||||
// Smaller test limit, all the checks should fail except the first
|
||||
EXPECT_FALSE(PreFlightChecker::checkInnov2DFailed(innovations[0], innovations_lpf[0], 0.0));
|
||||
|
||||
for (int i = 1; i < 4; i++) {
|
||||
EXPECT_TRUE(PreFlightChecker::checkInnov2DFailed(innovations[i], innovations_lpf[i], 0.0));
|
||||
}
|
||||
|
||||
// Larger test limit, none of the checks should fail
|
||||
for (int i = 0; i < 4; i++) {
|
||||
EXPECT_FALSE(PreFlightChecker::checkInnov2DFailed(innovations[i], innovations_lpf[i], 1.42));
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(PreFlightCheckerTest, testBitMask)
|
||||
{
|
||||
PreFlightChecker preflt_checker;
|
||||
|
||||
const bool heading_failed = true;
|
||||
const bool horiz_vel_failed = true;
|
||||
const bool down_vel_failed = false;
|
||||
const bool height_failed = true;
|
||||
|
||||
int bitmask = PreFlightChecker::prefltFailBoolToBitMask(heading_failed, horiz_vel_failed, down_vel_failed,
|
||||
height_failed);
|
||||
|
||||
EXPECT_EQ(bitmask, 0b1011);
|
||||
}
|
||||
|
|
@ -78,6 +78,8 @@
|
|||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/wind_estimate.h>
|
||||
|
||||
#include "Utility/PreFlightChecker.hpp"
|
||||
|
||||
// defines used to specify the mask position for use of different accuracy metrics in the GPS blending algorithm
|
||||
#define BLEND_MASK_USE_SPD_ACC 1
|
||||
#define BLEND_MASK_USE_HPOS_ACC 2
|
||||
|
|
@ -116,6 +118,12 @@ public:
|
|||
private:
|
||||
int getRangeSubIndex(); ///< get subscription index of first downward-facing range sensor
|
||||
|
||||
PreFlightChecker _preflt_checker;
|
||||
void runPreFlightChecks(float dt, const filter_control_status_u &control_status,
|
||||
const vehicle_status_s &vehicle_status,
|
||||
const ekf2_innovations_s &innov);
|
||||
void resetPreFlightChecks();
|
||||
|
||||
template<typename Param>
|
||||
void update_mag_bias(Param &mag_bias_param, int axis_index);
|
||||
|
||||
|
|
@ -200,27 +208,6 @@ private:
|
|||
// Used to control saving of mag declination to be used on next startup
|
||||
bool _mag_decl_saved = false; ///< true when the magnetic declination has been saved
|
||||
|
||||
// Used to filter velocity innovations during pre-flight checks
|
||||
bool _preflt_horiz_fail = false; ///< true if preflight horizontal innovation checks are failed
|
||||
bool _preflt_vert_fail = false; ///< true if preflight vertical innovation checks are failed
|
||||
bool _preflt_fail = false; ///< true if any preflight innovation checks are failed
|
||||
Vector2f _vel_ne_innov_lpf = {}; ///< Preflight low pass filtered NE axis velocity innovations (m/sec)
|
||||
float _vel_d_innov_lpf = {}; ///< Preflight low pass filtered D axis velocity innovations (m/sec)
|
||||
float _hgt_innov_lpf = 0.0f; ///< Preflight low pass filtered height innovation (m)
|
||||
float _yaw_innov_magnitude_lpf = 0.0f; ///< Preflight low pass filtered yaw innovation magntitude (rad)
|
||||
|
||||
static constexpr float _innov_lpf_tau_inv = 0.2f; ///< Preflight low pass filter time constant inverse (1/sec)
|
||||
static constexpr float _vel_innov_test_lim =
|
||||
0.5f; ///< Maximum permissible velocity innovation to pass pre-flight checks (m/sec)
|
||||
static constexpr float _hgt_innov_test_lim =
|
||||
1.5f; ///< Maximum permissible height innovation to pass pre-flight checks (m)
|
||||
static constexpr float _nav_yaw_innov_test_lim =
|
||||
0.25f; ///< Maximum permissible yaw innovation to pass pre-flight checks when aiding inertial nav using NE frame observations (rad)
|
||||
static constexpr float _yaw_innov_test_lim =
|
||||
0.52f; ///< Maximum permissible yaw innovation to pass pre-flight checks when not aiding inertial nav using NE frame observations (rad)
|
||||
const float _vel_innov_spike_lim = 2.0f * _vel_innov_test_lim; ///< preflight velocity innovation spike limit (m/sec)
|
||||
const float _hgt_innov_spike_lim = 2.0f * _hgt_innov_test_lim; ///< preflight position innovation spike limit (m)
|
||||
|
||||
// set pose/velocity as invalid if standard deviation is bigger than max_std_dev
|
||||
// TODO: the user should be allowed to set these values by a parameter
|
||||
static constexpr float ep_max_std_dev = 100.0f; ///< Maximum permissible standard deviation for estimated position
|
||||
|
|
@ -1303,10 +1290,10 @@ void Ekf2::Run()
|
|||
lpos.az = vel_deriv[2];
|
||||
|
||||
// TODO: better status reporting
|
||||
lpos.xy_valid = _ekf.local_position_is_valid() && !_preflt_horiz_fail;
|
||||
lpos.z_valid = !_preflt_vert_fail;
|
||||
lpos.v_xy_valid = _ekf.local_position_is_valid() && !_preflt_horiz_fail;
|
||||
lpos.v_z_valid = !_preflt_vert_fail;
|
||||
lpos.xy_valid = _ekf.local_position_is_valid() && !_preflt_checker.hasHorizFailed();
|
||||
lpos.z_valid = !_preflt_checker.hasVertFailed();
|
||||
lpos.v_xy_valid = _ekf.local_position_is_valid() && !_preflt_checker.hasHorizFailed();
|
||||
lpos.v_z_valid = !_preflt_checker.hasVertFailed();
|
||||
|
||||
// Position of local NED origin in GPS / WGS84 frame
|
||||
map_projection_reference_s ekf_origin;
|
||||
|
|
@ -1470,7 +1457,7 @@ void Ekf2::Run()
|
|||
_vehicle_visual_odometry_aligned_pub.publish(aligned_ev_odom);
|
||||
}
|
||||
|
||||
if (_ekf.global_position_is_valid() && !_preflt_fail) {
|
||||
if (_ekf.global_position_is_valid() && !_preflt_checker.hasFailed()) {
|
||||
// generate and publish global position data
|
||||
vehicle_global_position_s &global_pos = _vehicle_global_position_pub.get();
|
||||
|
||||
|
|
@ -1552,7 +1539,10 @@ void Ekf2::Run()
|
|||
status.time_slip = _last_time_slip_us / 1e6f;
|
||||
status.health_flags = 0.0f; // unused
|
||||
status.timeout_flags = 0.0f; // unused
|
||||
status.pre_flt_fail = _preflt_fail;
|
||||
status.pre_flt_fail_innov_heading = _preflt_checker.hasHeadingFailed();
|
||||
status.pre_flt_fail_innov_vel_horiz = _preflt_checker.hasHorizVelFailed();
|
||||
status.pre_flt_fail_innov_vel_vert = _preflt_checker.hasVertVelFailed();
|
||||
status.pre_flt_fail_innov_height = _preflt_checker.hasHeightFailed();
|
||||
|
||||
_estimator_status_pub.publish(status);
|
||||
|
||||
|
|
@ -1673,64 +1663,11 @@ void Ekf2::Run()
|
|||
|
||||
// calculate noise filtered velocity innovations which are used for pre-flight checking
|
||||
if (_vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY) {
|
||||
// calculate coefficients for LPF applied to innovation sequences
|
||||
float alpha = constrain(sensors.accelerometer_integral_dt / 1.e6f * _innov_lpf_tau_inv, 0.0f, 1.0f);
|
||||
float beta = 1.0f - alpha;
|
||||
|
||||
// filter the velocity and innvovations
|
||||
_vel_ne_innov_lpf(0) = beta * _vel_ne_innov_lpf(0) + alpha * constrain(innovations.vel_pos_innov[0],
|
||||
-_vel_innov_spike_lim, _vel_innov_spike_lim);
|
||||
_vel_ne_innov_lpf(1) = beta * _vel_ne_innov_lpf(1) + alpha * constrain(innovations.vel_pos_innov[1],
|
||||
-_vel_innov_spike_lim, _vel_innov_spike_lim);
|
||||
_vel_d_innov_lpf = beta * _vel_d_innov_lpf + alpha * constrain(innovations.vel_pos_innov[2],
|
||||
-_vel_innov_spike_lim, _vel_innov_spike_lim);
|
||||
|
||||
// set the max allowed yaw innovaton depending on whether we are not aiding navigation using
|
||||
// observations in the NE reference frame.
|
||||
bool doing_ne_aiding = control_status.flags.gps || control_status.flags.ev_pos;
|
||||
|
||||
float yaw_test_limit;
|
||||
|
||||
if (doing_ne_aiding && (_vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)) {
|
||||
// use a smaller tolerance when doing NE inertial frame aiding as a rotary wing
|
||||
// vehicle which cannot use GPS course to realign heading in flight
|
||||
yaw_test_limit = _nav_yaw_innov_test_lim;
|
||||
float dt_seconds = sensors.accelerometer_integral_dt * 1e-6f;
|
||||
runPreFlightChecks(dt_seconds, control_status, _vehicle_status, innovations);
|
||||
|
||||
} else {
|
||||
// use a larger tolerance when not doing NE inertial frame aiding or
|
||||
// if a fixed wing vehicle which can realign heading using GPS course
|
||||
yaw_test_limit = _yaw_innov_test_lim;
|
||||
}
|
||||
|
||||
// filter the yaw innovations
|
||||
_yaw_innov_magnitude_lpf = beta * _yaw_innov_magnitude_lpf + alpha * constrain(innovations.heading_innov,
|
||||
-2.0f * yaw_test_limit, 2.0f * yaw_test_limit);
|
||||
|
||||
_hgt_innov_lpf = beta * _hgt_innov_lpf + alpha * constrain(innovations.vel_pos_innov[5], -_hgt_innov_spike_lim,
|
||||
_hgt_innov_spike_lim);
|
||||
|
||||
// check the yaw and horizontal velocity innovations
|
||||
float vel_ne_innov_length = sqrtf(innovations.vel_pos_innov[0] * innovations.vel_pos_innov[0] +
|
||||
innovations.vel_pos_innov[1] * innovations.vel_pos_innov[1]);
|
||||
_preflt_horiz_fail = (_vel_ne_innov_lpf.norm() > _vel_innov_test_lim)
|
||||
|| (vel_ne_innov_length > 2.0f * _vel_innov_test_lim)
|
||||
|| (_yaw_innov_magnitude_lpf > yaw_test_limit);
|
||||
|
||||
// check the vertical velocity and position innovations
|
||||
_preflt_vert_fail = (fabsf(_vel_d_innov_lpf) > _vel_innov_test_lim)
|
||||
|| (fabsf(innovations.vel_pos_innov[2]) > 2.0f * _vel_innov_test_lim)
|
||||
|| (fabsf(_hgt_innov_lpf) > _hgt_innov_test_lim);
|
||||
|
||||
// master pass-fail status
|
||||
_preflt_fail = _preflt_horiz_fail || _preflt_vert_fail;
|
||||
|
||||
} else {
|
||||
_vel_ne_innov_lpf.zero();
|
||||
_vel_d_innov_lpf = 0.0f;
|
||||
_hgt_innov_lpf = 0.0f;
|
||||
_preflt_horiz_fail = false;
|
||||
_preflt_vert_fail = false;
|
||||
_preflt_fail = false;
|
||||
resetPreFlightChecks();
|
||||
}
|
||||
|
||||
_estimator_innovations_pub.publish(innovations);
|
||||
|
|
@ -1742,6 +1679,26 @@ void Ekf2::Run()
|
|||
}
|
||||
}
|
||||
|
||||
void Ekf2::runPreFlightChecks(const float dt,
|
||||
const filter_control_status_u &control_status,
|
||||
const vehicle_status_s &vehicle_status,
|
||||
const ekf2_innovations_s &innov)
|
||||
{
|
||||
const bool can_observe_heading_in_flight = (vehicle_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROTARY_WING);
|
||||
|
||||
_preflt_checker.setVehicleCanObserveHeadingInFlight(can_observe_heading_in_flight);
|
||||
_preflt_checker.setUsingGpsAiding(control_status.flags.gps);
|
||||
_preflt_checker.setUsingFlowAiding(control_status.flags.opt_flow);
|
||||
_preflt_checker.setUsingEvPosAiding(control_status.flags.ev_pos);
|
||||
|
||||
_preflt_checker.update(dt, innov);
|
||||
}
|
||||
|
||||
void Ekf2::resetPreFlightChecks()
|
||||
{
|
||||
_preflt_checker.reset();
|
||||
}
|
||||
|
||||
int Ekf2::getRangeSubIndex()
|
||||
{
|
||||
for (unsigned i = 0; i < ORB_MULTI_MAX_INSTANCES; i++) {
|
||||
|
|
|
|||
Loading…
Reference in New Issue