dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

ekf: use same gate for innov and innov sequence monitoring

This commit is contained in:
bresch 2022-03-16 15:45:59 +01:00 committed by Mathieu Bresciani
parent f96287b80a
commit b1ea2e4e15
2 changed files with 3 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/modules/ekf2/EKF/range_finder_consistency_check.cpp
View File

@ -50,13 +50,13 @@ void RangeFinderConsistencyCheck::update(float dist_bottom, float dist_bottom_va
const float vel_bottom = (dist_bottom - _dist_bottom_prev) / dt;
const float innov = -vel_bottom - vz; // vel_bottom is +up while vz is +down
const float vel_bottom_var = 2.f * dist_bottom_var / (dt * dt);
const float vel_bottom_var = 2.f * dist_bottom_var / (dt * dt); // Variance of the time derivative of a random variable: var(dz/dt) = 2*var(z) / dt^2
const float innov_var = vel_bottom_var + vz_var;
const float normalized_innov_sq = (innov * innov) / innov_var;
_vel_bottom_test_ratio = normalized_innov_sq / (_vel_bottom_gate * _vel_bottom_gate);
_vel_bottom_signed_test_ratio_lpf.setParameters(dt, _vel_bottom_signed_test_ratio_tau);
const float signed_test_ratio = matrix::sign(innov) * normalized_innov_sq / (_vel_bottom_signed_gate * _vel_bottom_signed_gate);
const float signed_test_ratio = matrix::sign(innov) * _vel_bottom_test_ratio;
_vel_bottom_signed_test_ratio_lpf.update(signed_test_ratio);
_time_last_update_s = time_s;

3
src/modules/ekf2/EKF/range_finder_consistency_check.hpp
View File

@ -61,6 +61,5 @@ private:
AlphaFilter<float> _vel_bottom_signed_test_ratio_lpf{}; // average signed test ratio used to detect a bias in the data
static constexpr float _vel_bottom_signed_test_ratio_tau = 2.f;
static constexpr float _vel_bottom_gate = 3.f;
static constexpr float _vel_bottom_signed_gate = 0.1f;
static constexpr float _vel_bottom_gate = 0.1f;
};