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[WIP] ekf2: innovation sequence monitoring and estimator aid src status consistency

This commit is contained in:
Daniel Agar 2023-08-05 20:46:27 -04:00
parent 24cee81279
commit b418980491
34 changed files with 1058 additions and 1050 deletions
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3
.vscode/settings.json vendored
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@ -128,5 +128,6 @@
"yaml.schemas": { "yaml.schemas": {
"${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml" "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
}, },
"ros.distro": "humble" "ros.distro": "humble",
"cmake.options.statusBarVisibility": "visible"
} }

9
msg/EstimatorAidSource1d.msg
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@ -10,9 +10,12 @@ uint64 time_last_fuse
float32 observation float32 observation
float32 observation_variance float32 observation_variance
float32 innovation float32 innovation #
float32 innovation_variance float32 innovation_filtered
float32 test_ratio float32 innovation_variance #
float32 test_ratio # normalized innovation squared
float32 test_ratio_filtered # signed test ratio filtered
bool innovation_rejected # true if the observation has been rejected bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused bool fused # true if the sample was successfully fused

9
msg/EstimatorAidSource2d.msg
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@ -10,9 +10,12 @@ uint64 time_last_fuse
float32[2] observation float32[2] observation
float32[2] observation_variance float32[2] observation_variance
float32[2] innovation float32[2] innovation #
float32[2] innovation_variance float32[2] innovation_filtered
float32[2] test_ratio float32[2] innovation_variance #
float32[2] test_ratio # normalized innovation squared
float32[2] test_ratio_filtered # signed test ratio filtered
bool innovation_rejected # true if the observation has been rejected bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused bool fused # true if the sample was successfully fused

3
msg/EstimatorAidSource3d.msg
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@ -11,8 +11,11 @@ float32[3] observation
float32[3] observation_variance float32[3] observation_variance
float32[3] innovation float32[3] innovation
float32[3] innovation_filtered
float32[3] innovation_variance float32[3] innovation_variance
float32[3] test_ratio float32[3] test_ratio
float32[3] test_ratio_filtered
bool innovation_rejected # true if the observation has been rejected bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused bool fused # true if the sample was successfully fused

45
src/modules/ekf2/EKF/airspeed_fusion.cpp
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@ -63,6 +63,7 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
} }
#if defined(CONFIG_EKF2_GNSS) #if defined(CONFIG_EKF2_GNSS)
// clear yaw estimator airspeed (updated later with true airspeed if airspeed fusion is active) // clear yaw estimator airspeed (updated later with true airspeed if airspeed fusion is active)
if (_control_status.flags.fixed_wing) { if (_control_status.flags.fixed_wing) {
if (_control_status.flags.in_air && !_control_status.flags.vehicle_at_rest) { if (_control_status.flags.in_air && !_control_status.flags.vehicle_at_rest) {
@ -74,6 +75,7 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
_yawEstimator.setTrueAirspeed(0.f); _yawEstimator.setTrueAirspeed(0.f);
} }
} }
#endif // CONFIG_EKF2_GNSS #endif // CONFIG_EKF2_GNSS
if (_params.arsp_thr <= 0.f) { if (_params.arsp_thr <= 0.f) {
@ -87,12 +89,18 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
updateAirspeed(airspeed_sample, _aid_src_airspeed); updateAirspeed(airspeed_sample, _aid_src_airspeed);
_innov_check_fail_status.flags.reject_airspeed = _aid_src_airspeed.innovation_rejected; // TODO: remove this redundant flag // TODO: remove this redundant flag
_innov_check_fail_status.flags.reject_airspeed = _aid_src_airspeed.innovation_rejected;
const bool continuing_conditions_passing = _control_status.flags.in_air
&& _control_status.flags.fixed_wing
&& !_control_status.flags.fake_pos;
const bool continuing_conditions_passing = _control_status.flags.in_air && _control_status.flags.fixed_wing && !_control_status.flags.fake_pos;
const bool is_airspeed_significant = airspeed_sample.true_airspeed > _params.arsp_thr; const bool is_airspeed_significant = airspeed_sample.true_airspeed > _params.arsp_thr;
const bool is_airspeed_consistent = (_aid_src_airspeed.test_ratio > 0.f && _aid_src_airspeed.test_ratio < 1.f); const bool is_airspeed_consistent = (_aid_src_airspeed.test_ratio > 0.f && _aid_src_airspeed.test_ratio < 1.f);
const bool starting_conditions_passing = continuing_conditions_passing && is_airspeed_significant
const bool starting_conditions_passing = continuing_conditions_passing
&& is_airspeed_significant
&& (is_airspeed_consistent || !_control_status.flags.wind); // if wind isn't already estimated, the states are reset when starting airspeed fusion && (is_airspeed_consistent || !_control_status.flags.wind); // if wind isn't already estimated, the states are reset when starting airspeed fusion
if (_control_status.flags.fuse_aspd) { if (_control_status.flags.fuse_aspd) {
@ -140,26 +148,22 @@ void Ekf::controlAirDataFusion(const imuSample &imu_delayed)
void Ekf::updateAirspeed(const airspeedSample &airspeed_sample, estimator_aid_source1d_s &aid_src) const void Ekf::updateAirspeed(const airspeedSample &airspeed_sample, estimator_aid_source1d_s &aid_src) const
{ {
// reset flags
resetEstimatorAidStatus(aid_src);
// Variance for true airspeed measurement - (m/sec)^2 // Variance for true airspeed measurement - (m/sec)^2
const float R = sq(math::constrain(_params.eas_noise, 0.5f, 5.0f) * const float R = sq(math::constrain(_params.eas_noise, 0.5f, 5.0f) *
math::constrain(airspeed_sample.eas2tas, 0.9f, 10.0f)); math::constrain(airspeed_sample.eas2tas, 0.9f, 10.0f));
float innov = 0.f; float innov = 0.f;
float innov_var = 0.f; float innov_var = 0.f;
sym::ComputeAirspeedInnovAndInnovVar(_state.vector(), P, airspeed_sample.true_airspeed, R, FLT_EPSILON, &innov, &innov_var); sym::ComputeAirspeedInnovAndInnovVar(_state.vector(), P, airspeed_sample.true_airspeed, R, FLT_EPSILON,
&innov, &innov_var);
aid_src.observation = airspeed_sample.true_airspeed; updateEstimatorAidStatus(aid_src,
aid_src.observation_variance = R; airspeed_sample.time_us, // sample timestamp
aid_src.innovation = innov; airspeed_sample.true_airspeed, // observation
aid_src.innovation_variance = innov_var; R, // observation variance
innov, // innovation
aid_src.timestamp_sample = airspeed_sample.time_us; innov_var, // innovation variance
math::max(_params.tas_innov_gate, 1.f)); // gate sigma
const float innov_gate = fmaxf(_params.tas_innov_gate, 1.f);
setEstimatorAidStatusTestRatio(aid_src, innov_gate);
} }
void Ekf::fuseAirspeed(const airspeedSample &airspeed_sample, estimator_aid_source1d_s &aid_src) void Ekf::fuseAirspeed(const airspeedSample &airspeed_sample, estimator_aid_source1d_s &aid_src)
@ -222,7 +226,6 @@ void Ekf::stopAirspeedFusion()
{ {
if (_control_status.flags.fuse_aspd) { if (_control_status.flags.fuse_aspd) {
ECL_INFO("stopping airspeed fusion"); ECL_INFO("stopping airspeed fusion");
resetEstimatorAidStatus(_aid_src_airspeed);
_control_status.flags.fuse_aspd = false; _control_status.flags.fuse_aspd = false;
#if defined(CONFIG_EKF2_GNSS) #if defined(CONFIG_EKF2_GNSS)
@ -236,14 +239,16 @@ void Ekf::resetWindUsingAirspeed(const airspeedSample &airspeed_sample)
constexpr float sideslip_var = sq(math::radians(15.0f)); constexpr float sideslip_var = sq(math::radians(15.0f));
const float euler_yaw = getEulerYaw(_R_to_earth); const float euler_yaw = getEulerYaw(_R_to_earth);
const float airspeed_var = sq(math::constrain(_params.eas_noise, 0.5f, 5.0f) * math::constrain(airspeed_sample.eas2tas, 0.9f, 10.0f)); const float airspeed_var = sq(math::constrain(_params.eas_noise, 0.5f, 5.0f)
* math::constrain(airspeed_sample.eas2tas, 0.9f, 10.0f));
matrix::SquareMatrix<float, State::wind_vel.dof> P_wind; matrix::SquareMatrix<float, State::wind_vel.dof> P_wind;
sym::ComputeWindInitAndCovFromAirspeed(_state.vel, euler_yaw, airspeed_sample.true_airspeed, getVelocityVariance(), getYawVar(), sideslip_var, airspeed_var, &_state.wind_vel, &P_wind); sym::ComputeWindInitAndCovFromAirspeed(_state.vel, euler_yaw, airspeed_sample.true_airspeed, getVelocityVariance(),
getYawVar(), sideslip_var, airspeed_var, &_state.wind_vel, &P_wind);
resetStateCovariance<State::wind_vel>(P_wind); resetStateCovariance<State::wind_vel>(P_wind);
ECL_INFO("reset wind using airspeed to (%.3f, %.3f)", (double)_state.wind_vel(0), (double)_state.wind_vel(1)); ECL_INFO("reset wind using airspeed to (%.3f, %.3f)", (double)_state.wind_vel(0), (double)_state.wind_vel(1));
_aid_src_airspeed.time_last_fuse = _time_delayed_us; updateEstimatorAidStatusStateReset(_aid_src_airspeed, airspeed_sample.time_us, airspeed_sample.true_airspeed, airspeed_var);
} }

12
src/modules/ekf2/EKF/aux_global_position.cpp
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@ -80,13 +80,13 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
//const float hgt = ekf.getEkfGlobalOriginAltitude() - (float)sample.altitude; //const float hgt = ekf.getEkfGlobalOriginAltitude() - (float)sample.altitude;
// relax the upper observation noise limit which prevents bad measurements perturbing the position estimate // relax the upper observation noise limit which prevents bad measurements perturbing the position estimate
float pos_noise = math::max(sample.eph, _param_ekf2_agp_noise.get()); float pos_noise = math::max(sample.eph, _param_ekf2_agp_noise.get());
const float pos_var = sq(pos_noise); const float pos_var = math::max(sq(pos_noise), sq(0.01f));
const Vector2f pos_obs_var(pos_var, pos_var); const Vector2f pos_obs_var(pos_var, pos_var);
ekf.updateHorizontalPositionAidSrcStatus(sample.time_us, ekf.updateHorizontalPositionAidStatus(aid_src,
sample.time_us,
position, // observation position, // observation
pos_obs_var, // observation variance pos_obs_var, // observation variance
math::max(_param_ekf2_agp_gate.get(), 1.f), // innovation gate math::max(_param_ekf2_agp_gate.get(), 1.f)); // innovation gate
aid_src);
} }
const bool starting_conditions = PX4_ISFINITE(sample.latitude) && PX4_ISFINITE(sample.longitude) const bool starting_conditions = PX4_ISFINITE(sample.latitude) && PX4_ISFINITE(sample.longitude)
@ -96,6 +96,7 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
switch (_state) { switch (_state) {
case State::stopped: case State::stopped:
/* FALLTHROUGH */ /* FALLTHROUGH */
case State::starting: case State::starting:
if (starting_conditions) { if (starting_conditions) {
@ -113,6 +114,7 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
} }
} }
} }
break; break;
case State::active: case State::active:
@ -123,6 +125,7 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
ekf.disableControlStatusAuxGpos(); ekf.disableControlStatusAuxGpos();
_state = State::stopped; _state = State::stopped;
} }
break; break;
default: default:
@ -133,6 +136,7 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
aid_src.timestamp = hrt_absolute_time(); aid_src.timestamp = hrt_absolute_time();
_estimator_aid_src_aux_global_position_pub.publish(aid_src); _estimator_aid_src_aux_global_position_pub.publish(aid_src);
#endif // MODULE_NAME #endif // MODULE_NAME
} else if ((_state != State::stopped) && isTimedOut(_time_last_buffer_push, imu_delayed.time_us, (uint64_t)5e6)) { } else if ((_state != State::stopped) && isTimedOut(_time_last_buffer_push, imu_delayed.time_us, (uint64_t)5e6)) {
ekf.disableControlStatusAuxGpos(); ekf.disableControlStatusAuxGpos();
_state = State::stopped; _state = State::stopped;

9
src/modules/ekf2/EKF/auxvel_fusion.cpp
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@ -40,9 +40,11 @@ void Ekf::controlAuxVelFusion()
if (_auxvel_buffer->pop_first_older_than(_time_delayed_us, &auxvel_sample_delayed)) { if (_auxvel_buffer->pop_first_older_than(_time_delayed_us, &auxvel_sample_delayed)) {
resetEstimatorAidStatus(_aid_src_aux_vel); updateVelocityAidStatus(_aid_src_aux_vel,
auxvel_sample_delayed.time_us, // sample timestamp
updateVelocityAidSrcStatus(auxvel_sample_delayed.time_us, auxvel_sample_delayed.vel, auxvel_sample_delayed.velVar, fmaxf(_params.auxvel_gate, 1.f), _aid_src_aux_vel); auxvel_sample_delayed.vel, // observation
auxvel_sample_delayed.velVar, // observation variance
math::max(_params.auxvel_gate, 1.f)); // gate sigma
if (isHorizontalAidingActive()) { if (isHorizontalAidingActive()) {
fuseVelocity(_aid_src_aux_vel); fuseVelocity(_aid_src_aux_vel);
@ -55,5 +57,4 @@ void Ekf::stopAuxVelFusion()
{ {
ECL_INFO("stopping aux vel fusion"); ECL_INFO("stopping aux vel fusion");
//_control_status.flags.aux_vel = false; //_control_status.flags.aux_vel = false;
resetEstimatorAidStatus(_aid_src_aux_vel);
} }

14
src/modules/ekf2/EKF/baro_height_control.cpp
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@ -59,8 +59,6 @@ void Ekf::controlBaroHeightFusion()
const float measurement_var = sq(_params.baro_noise); const float measurement_var = sq(_params.baro_noise);
const float innov_gate = fmaxf(_params.baro_innov_gate, 1.f);
const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var); const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var);
if (measurement_valid) { if (measurement_valid) {
@ -80,11 +78,11 @@ void Ekf::controlBaroHeightFusion()
} }
// vertical position innovation - baro measurement has opposite sign to earth z axis // vertical position innovation - baro measurement has opposite sign to earth z axis
updateVerticalPositionAidSrcStatus(baro_sample.time_us, updateVerticalPositionAidStatus(aid_src,
-(measurement - bias_est.getBias()), baro_sample.time_us,
measurement_var + bias_est.getBiasVar(), -(measurement - bias_est.getBias()), // observation
innov_gate, measurement_var + bias_est.getBiasVar(), // observation variance
aid_src); math::max(_params.baro_innov_gate, 1.f)); // gate sigma
// Compensate for positive static pressure transients (negative vertical position innovations) // Compensate for positive static pressure transients (negative vertical position innovations)
// caused by rotor wash ground interaction by applying a temporary deadzone to baro innovations. // caused by rotor wash ground interaction by applying a temporary deadzone to baro innovations.
@ -121,7 +119,6 @@ void Ekf::controlBaroHeightFusion()
&& isNewestSampleRecent(_time_last_baro_buffer_push, 2 * BARO_MAX_INTERVAL); && isNewestSampleRecent(_time_last_baro_buffer_push, 2 * BARO_MAX_INTERVAL);
if (_control_status.flags.baro_hgt) { if (_control_status.flags.baro_hgt) {
if (continuing_conditions_passing) { if (continuing_conditions_passing) {
fuseVerticalPosition(aid_src); fuseVerticalPosition(aid_src);
@ -191,7 +188,6 @@ void Ekf::stopBaroHgtFusion()
} }
_baro_b_est.setFusionInactive(); _baro_b_est.setFusionInactive();
resetEstimatorAidStatus(_aid_src_baro_hgt);
_control_status.flags.baro_hgt = false; _control_status.flags.baro_hgt = false;
} }

46
src/modules/ekf2/EKF/drag_fusion.cpp
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@ -105,12 +105,15 @@ void Ekf::fuseDrag(const dragSample &drag_sample)
bcoef_inv(1) = bcoef_inv(0); bcoef_inv(1) = bcoef_inv(0);
} }
_aid_src_drag.timestamp_sample = drag_sample.time_us;
_aid_src_drag.fused = false;
bool fused[] {false, false}; bool fused[] {false, false};
VectorState Kfusion; Vector2f observation{};
Vector2f observation_variance{R_ACC, R_ACC};
Vector2f innovation{};
Vector2f innovation_variance{NAN, NAN};
// Apply an innovation consistency check with a 5 Sigma threshold
const float innov_gate = 5.f;
// perform sequential fusion of XY specific forces // perform sequential fusion of XY specific forces
for (uint8_t axis_index = 0; axis_index < 2; axis_index++) { for (uint8_t axis_index = 0; axis_index < 2; axis_index++) {
@ -122,14 +125,14 @@ void Ekf::fuseDrag(const dragSample &drag_sample)
// parallel to the rotor disc and mass flow through the rotor disc. // parallel to the rotor disc and mass flow through the rotor disc.
const float pred_acc = -0.5f * bcoef_inv(axis_index) * rho * rel_wind_body(axis_index) * rel_wind_speed - rel_wind_body(axis_index) * mcoef_corrrected; const float pred_acc = -0.5f * bcoef_inv(axis_index) * rho * rel_wind_body(axis_index) * rel_wind_speed - rel_wind_body(axis_index) * mcoef_corrrected;
_aid_src_drag.observation[axis_index] = mea_acc; observation(axis_index) = mea_acc;
_aid_src_drag.observation_variance[axis_index] = R_ACC; innovation(axis_index) = pred_acc - mea_acc;
_aid_src_drag.innovation[axis_index] = pred_acc - mea_acc;
_aid_src_drag.innovation_variance[axis_index] = NAN; // reset VectorState Kfusion;
if (axis_index == 0) { if (axis_index == 0) {
sym::ComputeDragXInnovVarAndK(state_vector_prev, P, rho, bcoef_inv(axis_index), mcoef_corrrected, R_ACC, FLT_EPSILON, sym::ComputeDragXInnovVarAndK(state_vector_prev, P, rho, bcoef_inv(axis_index), mcoef_corrrected, R_ACC, FLT_EPSILON,
&_aid_src_drag.innovation_variance[axis_index], &Kfusion); &innovation_variance(axis_index), &Kfusion);
if (!using_bcoef_x && !using_mcoef) { if (!using_bcoef_x && !using_mcoef) {
continue; continue;
@ -137,32 +140,39 @@ void Ekf::fuseDrag(const dragSample &drag_sample)
} else if (axis_index == 1) { } else if (axis_index == 1) {
sym::ComputeDragYInnovVarAndK(state_vector_prev, P, rho, bcoef_inv(axis_index), mcoef_corrrected, R_ACC, FLT_EPSILON, sym::ComputeDragYInnovVarAndK(state_vector_prev, P, rho, bcoef_inv(axis_index), mcoef_corrrected, R_ACC, FLT_EPSILON,
&_aid_src_drag.innovation_variance[axis_index], &Kfusion); &innovation_variance(axis_index), &Kfusion);
if (!using_bcoef_y && !using_mcoef) { if (!using_bcoef_y && !using_mcoef) {
continue; continue;
} }
} }
if (_aid_src_drag.innovation_variance[axis_index] < R_ACC) { if (innovation_variance(axis_index) < R_ACC) {
// calculation is badly conditioned // calculation is badly conditioned
return; break;
} }
// Apply an innovation consistency check with a 5 Sigma threshold const float test_ratio = sq(innovation(axis_index)) / (sq(innov_gate) * innovation_variance(axis_index));
const float innov_gate = 5.f;
setEstimatorAidStatusTestRatio(_aid_src_drag, innov_gate);
if (_control_status.flags.in_air && _control_status.flags.wind && !_control_status.flags.fake_pos if (_control_status.flags.in_air && _control_status.flags.wind && !_control_status.flags.fake_pos
&& PX4_ISFINITE(_aid_src_drag.innovation_variance[axis_index]) && PX4_ISFINITE(_aid_src_drag.innovation[axis_index]) && PX4_ISFINITE(innovation_variance(axis_index)) && PX4_ISFINITE(innovation(axis_index))
&& (_aid_src_drag.test_ratio[axis_index] < 1.f) && (test_ratio < 1.f)
) { ) {
if (measurementUpdate(Kfusion, _aid_src_drag.innovation_variance[axis_index], _aid_src_drag.innovation[axis_index])) { if (measurementUpdate(Kfusion, innovation_variance(axis_index), innovation(axis_index))) {
fused[axis_index] = true; fused[axis_index] = true;
} }
} }
} }
updateEstimatorAidStatus(_aid_src_drag,
drag_sample.time_us, // sample timestamp
observation, // observation
observation_variance, // observation variance
innovation, // innovation
innovation_variance, // innovation variance
innov_gate // gate sigma
);
if (fused[0] && fused[1]) { if (fused[0] && fused[1]) {
_aid_src_drag.fused = true; _aid_src_drag.fused = true;
_aid_src_drag.time_last_fuse = _time_delayed_us; _aid_src_drag.time_last_fuse = _time_delayed_us;

48
src/modules/ekf2/EKF/ekf.cpp
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@ -127,54 +127,6 @@ void Ekf::reset()
_time_good_vert_accel = 0; _time_good_vert_accel = 0;
_clip_counter = 0; _clip_counter = 0;
#if defined(CONFIG_EKF2_BAROMETER)
resetEstimatorAidStatus(_aid_src_baro_hgt);
#endif // CONFIG_EKF2_BAROMETER
#if defined(CONFIG_EKF2_AIRSPEED)
resetEstimatorAidStatus(_aid_src_airspeed);
#endif // CONFIG_EKF2_AIRSPEED
#if defined(CONFIG_EKF2_SIDESLIP)
resetEstimatorAidStatus(_aid_src_sideslip);
#endif // CONFIG_EKF2_SIDESLIP
resetEstimatorAidStatus(_aid_src_fake_pos);
resetEstimatorAidStatus(_aid_src_fake_hgt);
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
resetEstimatorAidStatus(_aid_src_ev_hgt);
resetEstimatorAidStatus(_aid_src_ev_pos);
resetEstimatorAidStatus(_aid_src_ev_vel);
resetEstimatorAidStatus(_aid_src_ev_yaw);
#endif // CONFIG_EKF2_EXTERNAL_VISION
#if defined(CONFIG_EKF2_GNSS)
resetEstimatorAidStatus(_aid_src_gnss_hgt);
resetEstimatorAidStatus(_aid_src_gnss_pos);
resetEstimatorAidStatus(_aid_src_gnss_vel);
# if defined(CONFIG_EKF2_GNSS_YAW)
resetEstimatorAidStatus(_aid_src_gnss_yaw);
# endif // CONFIG_EKF2_GNSS_YAW
#endif // CONFIG_EKF2_GNSS
#if defined(CONFIG_EKF2_MAGNETOMETER)
resetEstimatorAidStatus(_aid_src_mag_heading);
resetEstimatorAidStatus(_aid_src_mag);
#endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_AUXVEL)
resetEstimatorAidStatus(_aid_src_aux_vel);
#endif // CONFIG_EKF2_AUXVEL
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
resetEstimatorAidStatus(_aid_src_optical_flow);
resetEstimatorAidStatus(_aid_src_terrain_optical_flow);
#endif // CONFIG_EKF2_OPTICAL_FLOW
#if defined(CONFIG_EKF2_RANGE_FINDER)
resetEstimatorAidStatus(_aid_src_rng_hgt);
#endif // CONFIG_EKF2_RANGE_FINDER
_zero_velocity_update.reset(); _zero_velocity_update.reset();
} }

245
src/modules/ekf2/EKF/ekf.h
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@ -628,8 +628,6 @@ private:
estimator_aid_source3d_s _aid_src_ev_vel{}; estimator_aid_source3d_s _aid_src_ev_vel{};
estimator_aid_source1d_s _aid_src_ev_yaw{}; estimator_aid_source1d_s _aid_src_ev_yaw{};
float _ev_yaw_pred_prev{}; ///< previous value of yaw state used by odometry fusion (m)
uint8_t _nb_ev_pos_reset_available{0}; uint8_t _nb_ev_pos_reset_available{0};
uint8_t _nb_ev_vel_reset_available{0}; uint8_t _nb_ev_vel_reset_available{0};
uint8_t _nb_ev_yaw_reset_available{0}; uint8_t _nb_ev_yaw_reset_available{0};
@ -692,9 +690,6 @@ private:
#endif // CONFIG_EKF2_BAROMETER #endif // CONFIG_EKF2_BAROMETER
#if defined(CONFIG_EKF2_MAGNETOMETER) #if defined(CONFIG_EKF2_MAGNETOMETER)
float _mag_heading_prev{}; ///< previous value of mag heading (rad)
float _mag_heading_pred_prev{}; ///< previous value of yaw state used by mag heading fusion (rad)
// used by magnetometer fusion mode selection // used by magnetometer fusion mode selection
bool _mag_bias_observable{false}; ///< true when there is enough rotation to make magnetometer bias errors observable bool _mag_bias_observable{false}; ///< true when there is enough rotation to make magnetometer bias errors observable
bool _yaw_angle_observable{false}; ///< true when there is enough horizontal acceleration to make yaw observable bool _yaw_angle_observable{false}; ///< true when there is enough horizontal acceleration to make yaw observable
@ -755,7 +750,6 @@ private:
} }
// update quaternion states and covariances using an innovation, observation variance and Jacobian vector // update quaternion states and covariances using an innovation, observation variance and Jacobian vector
bool fuseYaw(estimator_aid_source1d_s &aid_src_status);
bool fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H_YAW); bool fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H_YAW);
void computeYawInnovVarAndH(float variance, float &innovation_variance, VectorState &H_YAW) const; void computeYawInnovVarAndH(float variance, float &innovation_variance, VectorState &H_YAW) const;
@ -763,7 +757,7 @@ private:
#if defined(CONFIG_EKF2_MAGNETOMETER) #if defined(CONFIG_EKF2_MAGNETOMETER)
// ekf sequential fusion of magnetometer measurements // ekf sequential fusion of magnetometer measurements
bool fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bool update_all_states = true); bool fuseMag(VectorState &H, estimator_aid_source3d_s &aid_src_mag, bool update_all_states = false);
// fuse magnetometer declination measurement // fuse magnetometer declination measurement
// argument passed in is the declination uncertainty in radians // argument passed in is the declination uncertainty in radians
@ -823,20 +817,24 @@ private:
void resetVerticalVelocityToZero(); void resetVerticalVelocityToZero();
// horizontal and vertical position aid source // horizontal and vertical position aid source
void updateHorizontalPositionAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var, const float innov_gate, estimator_aid_source2d_s &aid_src) const; void updateHorizontalPositionAidStatus(estimator_aid_source2d_s &aid_src, const uint64_t &time_us,
void updateVerticalPositionAidSrcStatus(const uint64_t &time_us, const float obs, const float obs_var, const float innov_gate, estimator_aid_source1d_s &aid_src) const; const Vector2f &observation, const Vector2f &observation_variance, const float innovation_gate = 1.f) const;
void updateVerticalPositionAidStatus(estimator_aid_source1d_s &aid_src, const uint64_t &time_us,
const float observation, const float observation_variance, const float innovation_gate = 1.f) const;
// 2d & 3d velocity aid source // 2d & 3d velocity aid source
void updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var, const float innov_gate, estimator_aid_source2d_s &aid_src) const; void updateVelocityAidStatus(estimator_aid_source2d_s &aid_src, const uint64_t &time_us, const Vector2f &observation,
void updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector3f &obs, const Vector3f &obs_var, const float innov_gate, estimator_aid_source3d_s &aid_src) const; const Vector2f &observation_variance, float innovation_gate = 1.f) const;
void updateVelocityAidStatus(estimator_aid_source3d_s &aid_src, const uint64_t &time_us, const Vector3f &observation,
const Vector3f &observation_variance, float innovation_gate = 1.f) const;
// horizontal and vertical position fusion // horizontal and vertical position fusion
void fuseHorizontalPosition(estimator_aid_source2d_s &pos_aid_src); bool fuseHorizontalPosition(estimator_aid_source2d_s &pos_aid_src);
void fuseVerticalPosition(estimator_aid_source1d_s &hgt_aid_src); bool fuseVerticalPosition(estimator_aid_source1d_s &hgt_aid_src);
// 2d & 3d velocity fusion // 2d & 3d velocity fusion
void fuseVelocity(estimator_aid_source2d_s &vel_aid_src); bool fuseVelocity(estimator_aid_source2d_s &vel_aid_src);
void fuseVelocity(estimator_aid_source3d_s &vel_aid_src); bool fuseVelocity(estimator_aid_source3d_s &vel_aid_src);
#if defined(CONFIG_EKF2_TERRAIN) #if defined(CONFIG_EKF2_TERRAIN)
// terrain vertical position estimator // terrain vertical position estimator
@ -1149,88 +1147,179 @@ private:
bool _ev_q_error_initialized{false}; bool _ev_q_error_initialized{false};
#endif // CONFIG_EKF2_EXTERNAL_VISION #endif // CONFIG_EKF2_EXTERNAL_VISION
void resetEstimatorAidStatus(estimator_aid_source1d_s &status) const void updateEstimatorAidStatusStateReset(estimator_aid_source1d_s &status, const uint64_t &timestamp_sample,
const float &observation, const float observation_variance = {}) const
{ {
// only bother resetting if timestamp_sample is set status.timestamp_sample = timestamp_sample;
if (status.timestamp_sample != 0) {
status.timestamp_sample = 0;
// preserve status.time_last_fuse status.time_last_fuse = _time_delayed_us;
status.observation = 0; status.observation = observation;
status.observation_variance = 0; status.observation_variance = observation_variance;
status.innovation = 0; status.innovation = 0.f;
status.innovation_variance = 0; status.innovation_filtered = 0.f;
status.test_ratio = INFINITY; status.innovation_variance = 0.f;
status.innovation_rejected = true; status.test_ratio = 0.f;
status.fused = false; status.test_ratio_filtered = 0.f;
}
status.fused = true;
status.innovation_rejected = false;
} }
template <typename T> // bool innovationValid(estimator_aid_source1d_s &status) const
void resetEstimatorAidStatus(T &status) const // {
{ // return (status.time_us != 0)
// only bother resetting if timestamp_sample is set // && PX4_ISFINITE(status.observation)
if (status.timestamp_sample != 0) { // && PX4_ISFINITE(status.innovation)
status.timestamp_sample = 0; // && PX4_ISFINITE(status.innovation_variance)
// && (status.innovation_variance > 0.f)
// && (status.observation_variance > 0.f)
// && (status.innovation_variance >= aid_src.observation_variance)
// && !status.innovation_rejected;
// }
// preserve status.time_last_fuse void updateEstimatorAidStatus(estimator_aid_source1d_s &status, const uint64_t &timestamp_sample,
const float &observation, const float &observation_variance,
for (size_t i = 0; i < (sizeof(status.observation) / sizeof(status.observation[0])); i++) { const float &innovation, const float &innovation_variance,
status.observation[i] = 0; float innovation_gate = 1.f) const
status.observation_variance[i] = 0;
status.innovation[i] = 0;
status.innovation_variance[i] = 0;
status.test_ratio[i] = INFINITY;
}
status.innovation_rejected = true;
status.fused = false;
}
}
void setEstimatorAidStatusTestRatio(estimator_aid_source1d_s &status, float innovation_gate) const
{
if (PX4_ISFINITE(status.innovation)
&& PX4_ISFINITE(status.innovation_variance)
&& (status.innovation_variance > 0.f)
) {
status.test_ratio = sq(status.innovation) / (sq(innovation_gate) * status.innovation_variance);
status.innovation_rejected = (status.test_ratio > 1.f);
} else {
status.test_ratio = INFINITY;
status.innovation_rejected = true;
}
}
template <typename T>
void setEstimatorAidStatusTestRatio(T &status, float innovation_gate) const
{ {
bool innovation_rejected = false; bool innovation_rejected = false;
for (size_t i = 0; i < (sizeof(status.test_ratio) / sizeof(status.test_ratio[0])); i++) { const float dt_s = math::constrain((timestamp_sample - status.timestamp_sample) * 1e-6f, 0.001f, 1.f);
if (PX4_ISFINITE(status.innovation[i])
&& PX4_ISFINITE(status.innovation_variance[i])
&& (status.innovation_variance[i] > 0.f)
) {
status.test_ratio[i] = sq(status.innovation[i]) / (sq(innovation_gate) * status.innovation_variance[i]);
if (status.test_ratio[i] > 1.f) { static constexpr float tau = 1.f;
innovation_rejected = true; const float alpha = math::constrain(dt_s / (dt_s + tau), 0.f, 1.f);
}
const float test_ratio = sq(innovation) / (sq(innovation_gate) * innovation_variance);
// test_ratio_filtered
if (PX4_ISFINITE(status.test_ratio_filtered)) {
status.test_ratio_filtered += alpha * (matrix::sign(innovation) * test_ratio - status.test_ratio_filtered);
} else { } else {
status.test_ratio[i] = INFINITY; // otherwise, init the filtered test ratio
status.test_ratio_filtered = test_ratio;
}
status.test_ratio = test_ratio;
status.observation = observation;
status.observation_variance = observation_variance;
// innovation_filtered
if (PX4_ISFINITE(status.innovation_filtered)) {
status.innovation_filtered += alpha * (innovation - status.innovation_filtered);
} else {
// otherwise, init the filtered innovation
status.innovation_filtered = innovation;
}
status.innovation = innovation;
status.innovation_variance = innovation_variance;
if ((test_ratio > 1.f)
|| !PX4_ISFINITE(test_ratio)
|| !PX4_ISFINITE(status.innovation)
|| !PX4_ISFINITE(status.innovation_variance)
) {
innovation_rejected = true; innovation_rejected = true;
} }
}
status.timestamp_sample = timestamp_sample;
// if any of the innovations are rejected, then the overall innovation is rejected // if any of the innovations are rejected, then the overall innovation is rejected
status.innovation_rejected = innovation_rejected; status.innovation_rejected = innovation_rejected;
// reset
status.fused = false;
}
template <typename T, typename S>
void updateEstimatorAidStatusStateReset(T &status, const uint64_t &timestamp_sample,
const S &observation, const S observation_variance = {}) const
{
status.timestamp_sample = timestamp_sample;
status.time_last_fuse = _time_delayed_us;
for (size_t i = 0; i < (sizeof(status.observation) / sizeof(status.observation[0])); i++) {
status.observation[i] = observation(i);
status.observation_variance[i] = observation_variance(i);
status.innovation[i] = 0.f;
status.innovation_filtered[i] = 0.f;
status.innovation_variance[i] = 0.f;
status.test_ratio[i] = 0.f;
status.test_ratio_filtered[i] = 0.f;
}
status.fused = true;
status.innovation_rejected = false;
}
template <typename T, typename S>
void updateEstimatorAidStatus(T &status, const uint64_t &timestamp_sample,
const S &observation, const S &observation_variance,
const S &innovation, const S &innovation_variance,
float innovation_gate = 1.f) const
{
bool innovation_rejected = false;
const float dt_s = math::constrain((timestamp_sample - status.timestamp_sample) * 1e-6f, 0.001f, 1.f);
static constexpr float tau = 1.f;
const float alpha = math::constrain(dt_s / (dt_s + tau), 0.f, 1.f);
for (size_t i = 0; i < (sizeof(status.observation) / sizeof(status.observation[0])); i++) {
const float test_ratio = sq(innovation(i)) / (sq(innovation_gate) * innovation_variance(i));
// test_ratio_filtered
if (PX4_ISFINITE(status.test_ratio_filtered[i])) {
status.test_ratio_filtered[i] += alpha * (matrix::sign(innovation(i)) * test_ratio - status.test_ratio_filtered[i]);
} else {
// otherwise, init the filtered test ratio
status.test_ratio_filtered[i] = test_ratio;
}
status.test_ratio[i] = test_ratio;
status.observation[i] = observation(i);
status.observation_variance[i] = observation_variance(i);
// innovation_filtered
if (PX4_ISFINITE(status.innovation_filtered[i])) {
status.innovation_filtered[i] += alpha * (innovation(i) - status.innovation_filtered[i]);
} else {
// otherwise, init the filtered innovation
status.innovation_filtered[i] = innovation(i);
}
status.innovation[i] = innovation(i);
status.innovation_variance[i] = innovation_variance(i);
if ((test_ratio > 1.f)
|| !PX4_ISFINITE(test_ratio)
|| !PX4_ISFINITE(status.innovation[i])
|| !PX4_ISFINITE(status.innovation_variance[i])
) {
innovation_rejected = true;
}
}
status.timestamp_sample = timestamp_sample;
// if any of the innovations are rejected, then the overall innovation is rejected
status.innovation_rejected = innovation_rejected;
// reset
status.fused = false;
} }
ZeroGyroUpdate _zero_gyro_update{}; ZeroGyroUpdate _zero_gyro_update{};

3
src/modules/ekf2/EKF/ev_control.cpp
View File

@ -68,9 +68,6 @@ void Ekf::controlExternalVisionFusion()
_ev_sample_prev = ev_sample; _ev_sample_prev = ev_sample;
} }
// record corresponding yaw state for future EV delta heading innovation (logging only)
_ev_yaw_pred_prev = getEulerYaw(_state.quat_nominal);
} else if ((_control_status.flags.ev_pos || _control_status.flags.ev_vel || _control_status.flags.ev_yaw } else if ((_control_status.flags.ev_pos || _control_status.flags.ev_vel || _control_status.flags.ev_yaw
|| _control_status.flags.ev_hgt) || _control_status.flags.ev_hgt)
&& isTimedOut(_ev_sample_prev.time_us, 2 * EV_MAX_INTERVAL)) { && isTimedOut(_ev_sample_prev.time_us, 2 * EV_MAX_INTERVAL)) {

16
src/modules/ekf2/EKF/ev_height_control.cpp
View File

@ -77,19 +77,21 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool com
float measurement_var = math::max(pos_cov(2, 2), sq(_params.ev_pos_noise), sq(0.01f)); float measurement_var = math::max(pos_cov(2, 2), sq(_params.ev_pos_noise), sq(0.01f));
#if defined(CONFIG_EKF2_GNSS) #if defined(CONFIG_EKF2_GNSS)
// increase minimum variance if GPS active // increase minimum variance if GPS active
if (_control_status.flags.gps_hgt) { if (_control_status.flags.gps_hgt) {
measurement_var = math::max(measurement_var, sq(_params.gps_pos_noise)); measurement_var = math::max(measurement_var, sq(_params.gps_pos_noise));
} }
#endif // CONFIG_EKF2_GNSS #endif // CONFIG_EKF2_GNSS
const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var); const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var);
updateVerticalPositionAidSrcStatus(ev_sample.time_us, updateVerticalPositionAidStatus(aid_src,
measurement - bias_est.getBias(), ev_sample.time_us,
measurement_var + bias_est.getBiasVar(), measurement - bias_est.getBias(), // observation
math::max(_params.ev_pos_innov_gate, 1.f), measurement_var + bias_est.getBiasVar(), // observation variance
aid_src); math::max(_params.ev_pos_innov_gate, 1.f)); // gate sigma
// update the bias estimator before updating the main filter but after // update the bias estimator before updating the main filter but after
// using its current state to compute the vertical position innovation // using its current state to compute the vertical position innovation
@ -108,7 +110,6 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool com
if (_control_status.flags.ev_hgt) { if (_control_status.flags.ev_hgt) {
if (continuing_conditions_passing) { if (continuing_conditions_passing) {
if (ev_reset) { if (ev_reset) {
if (quality_sufficient) { if (quality_sufficient) {
ECL_INFO("reset to %s", AID_SRC_NAME); ECL_INFO("reset to %s", AID_SRC_NAME);
@ -145,6 +146,7 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool com
_information_events.flags.reset_hgt_to_ev = true; _information_events.flags.reset_hgt_to_ev = true;
resetVerticalPositionTo(measurement - bias_est.getBias(), measurement_var); resetVerticalPositionTo(measurement - bias_est.getBias(), measurement_var);
bias_est.setBias(-_state.pos(2) + measurement); bias_est.setBias(-_state.pos(2) + measurement);
updateEstimatorAidStatusStateReset(aid_src, ev_sample.time_us, measurement - bias_est.getBias());
// reset vertical velocity // reset vertical velocity
if (ev_sample.vel.isAllFinite() && (_params.ev_ctrl & static_cast<int32_t>(EvCtrl::VEL))) { if (ev_sample.vel.isAllFinite() && (_params.ev_ctrl & static_cast<int32_t>(EvCtrl::VEL))) {
@ -195,6 +197,7 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool com
ECL_INFO("starting %s fusion, resetting state", AID_SRC_NAME); ECL_INFO("starting %s fusion, resetting state", AID_SRC_NAME);
_information_events.flags.reset_hgt_to_ev = true; _information_events.flags.reset_hgt_to_ev = true;
resetVerticalPositionTo(measurement, measurement_var); resetVerticalPositionTo(measurement, measurement_var);
updateEstimatorAidStatusStateReset(aid_src, ev_sample.time_us, measurement, measurement_var);
_height_sensor_ref = HeightSensor::EV; _height_sensor_ref = HeightSensor::EV;
bias_est.reset(); bias_est.reset();
@ -220,7 +223,6 @@ void Ekf::stopEvHgtFusion()
} }
_ev_hgt_b_est.setFusionInactive(); _ev_hgt_b_est.setFusionInactive();
resetEstimatorAidStatus(_aid_src_ev_hgt);
_control_status.flags.ev_hgt = false; _control_status.flags.ev_hgt = false;
} }

14
src/modules/ekf2/EKF/ev_pos_control.cpp
View File

@ -126,12 +126,14 @@ void Ekf::controlEvPosFusion(const extVisionSample &ev_sample, const bool common
} }
#if defined(CONFIG_EKF2_GNSS) #if defined(CONFIG_EKF2_GNSS)
// increase minimum variance if GPS active (position reference) // increase minimum variance if GPS active (position reference)
if (_control_status.flags.gps) { if (_control_status.flags.gps) {
for (int i = 0; i < 2; i++) { for (int i = 0; i < 2; i++) {
pos_cov(i, i) = math::max(pos_cov(i, i), sq(_params.gps_pos_noise)); pos_cov(i, i) = math::max(pos_cov(i, i), sq(_params.gps_pos_noise));
} }
} }
#endif // CONFIG_EKF2_GNSS #endif // CONFIG_EKF2_GNSS
const Vector2f measurement{pos(0), pos(1)}; const Vector2f measurement{pos(0), pos(1)};
@ -155,11 +157,11 @@ void Ekf::controlEvPosFusion(const extVisionSample &ev_sample, const bool common
} }
} }
updateHorizontalPositionAidSrcStatus(ev_sample.time_us, updateHorizontalPositionAidStatus(aid_src,
ev_sample.time_us,
measurement - _ev_pos_b_est.getBias(), // observation measurement - _ev_pos_b_est.getBias(), // observation
measurement_var + _ev_pos_b_est.getBiasVar(), // observation variance measurement_var + _ev_pos_b_est.getBiasVar(), // observation variance
math::max(_params.ev_pos_innov_gate, 1.f), // innovation gate math::max(_params.ev_pos_innov_gate, 1.f)); // gate sigma
aid_src);
// update the bias estimator before updating the main filter but after // update the bias estimator before updating the main filter but after
// using its current state to compute the vertical position innovation // using its current state to compute the vertical position innovation
@ -177,7 +179,6 @@ void Ekf::controlEvPosFusion(const extVisionSample &ev_sample, const bool common
&& continuing_conditions_passing; && continuing_conditions_passing;
if (_control_status.flags.ev_pos) { if (_control_status.flags.ev_pos) {
if (continuing_conditions_passing) { if (continuing_conditions_passing) {
const bool bias_estimator_change = (bias_fusion_was_active != _ev_pos_b_est.fusionActive()); const bool bias_estimator_change = (bias_fusion_was_active != _ev_pos_b_est.fusionActive());
const bool reset = ev_reset || yaw_alignment_changed || bias_estimator_change; const bool reset = ev_reset || yaw_alignment_changed || bias_estimator_change;
@ -221,7 +222,8 @@ void Ekf::startEvPosFusion(const Vector2f &measurement, const Vector2f &measurem
_control_status.flags.ev_pos = true; _control_status.flags.ev_pos = true;
} }
void Ekf::updateEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, bool quality_sufficient, bool reset, estimator_aid_source2d_s &aid_src) void Ekf::updateEvPosFusion(const Vector2f &measurement, const Vector2f &measurement_var, bool quality_sufficient,
bool reset, estimator_aid_source2d_s &aid_src)
{ {
if (reset) { if (reset) {
@ -297,8 +299,6 @@ void Ekf::updateEvPosFusion(const Vector2f &measurement, const Vector2f &measure
void Ekf::stopEvPosFusion() void Ekf::stopEvPosFusion()
{ {
if (_control_status.flags.ev_pos) { if (_control_status.flags.ev_pos) {
resetEstimatorAidStatus(_aid_src_ev_pos);
_control_status.flags.ev_pos = false; _control_status.flags.ev_pos = false;
} }
} }

18
src/modules/ekf2/EKF/ev_vel_control.cpp
View File

@ -107,12 +107,14 @@ void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, const bool common
} }
#if defined(CONFIG_EKF2_GNSS) #if defined(CONFIG_EKF2_GNSS)
// increase minimum variance if GPS active (position reference) // increase minimum variance if GPS active (position reference)
if (_control_status.flags.gps) { if (_control_status.flags.gps) {
for (int i = 0; i < 2; i++) { for (int i = 0; i < 2; i++) {
vel_cov(i, i) = math::max(vel_cov(i, i), sq(_params.gps_vel_noise)); vel_cov(i, i) = math::max(vel_cov(i, i), sq(_params.gps_vel_noise));
} }
} }
#endif // CONFIG_EKF2_GNSS #endif // CONFIG_EKF2_GNSS
const Vector3f measurement{vel}; const Vector3f measurement{vel};
@ -125,11 +127,11 @@ void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, const bool common
const bool measurement_valid = measurement.isAllFinite() && measurement_var.isAllFinite(); const bool measurement_valid = measurement.isAllFinite() && measurement_var.isAllFinite();
updateVelocityAidSrcStatus(ev_sample.time_us, updateVelocityAidStatus(aid_src,
ev_sample.time_us, // sample timestamp
measurement, // observation measurement, // observation
measurement_var, // observation variance measurement_var, // observation variance
math::max(_params.ev_vel_innov_gate, 1.f), // innovation gate math::max(_params.ev_vel_innov_gate, 1.f)); // innovation gate
aid_src);
if (!measurement_valid) { if (!measurement_valid) {
continuing_conditions_passing = false; continuing_conditions_passing = false;
@ -140,7 +142,6 @@ void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, const bool common
&& ((Vector3f(aid_src.test_ratio).max() < 0.1f) || !isHorizontalAidingActive()); && ((Vector3f(aid_src.test_ratio).max() < 0.1f) || !isHorizontalAidingActive());
if (_control_status.flags.ev_vel) { if (_control_status.flags.ev_vel) {
if (continuing_conditions_passing) { if (continuing_conditions_passing) {
if ((ev_reset && isOnlyActiveSourceOfHorizontalAiding(_control_status.flags.ev_vel)) || yaw_alignment_changed) { if ((ev_reset && isOnlyActiveSourceOfHorizontalAiding(_control_status.flags.ev_vel)) || yaw_alignment_changed) {
@ -149,6 +150,7 @@ void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, const bool common
ECL_INFO("reset to %s", AID_SRC_NAME); ECL_INFO("reset to %s", AID_SRC_NAME);
_information_events.flags.reset_vel_to_vision = true; _information_events.flags.reset_vel_to_vision = true;
resetVelocityTo(measurement, measurement_var); resetVelocityTo(measurement, measurement_var);
updateEstimatorAidStatusStateReset(aid_src, ev_sample.time_us, measurement, measurement_var);
aid_src.time_last_fuse = _time_delayed_us; aid_src.time_last_fuse = _time_delayed_us;
} else { } else {
@ -174,7 +176,7 @@ void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, const bool common
_information_events.flags.reset_vel_to_vision = true; _information_events.flags.reset_vel_to_vision = true;
ECL_WARN("%s fusion failing, resetting", AID_SRC_NAME); ECL_WARN("%s fusion failing, resetting", AID_SRC_NAME);
resetVelocityTo(measurement, measurement_var); resetVelocityTo(measurement, measurement_var);
aid_src.time_last_fuse = _time_delayed_us; updateEstimatorAidStatusStateReset(aid_src, ev_sample.time_us, measurement, measurement_var);
if (_control_status.flags.in_air) { if (_control_status.flags.in_air) {
_nb_ev_vel_reset_available--; _nb_ev_vel_reset_available--;
@ -205,9 +207,12 @@ void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, const bool common
if (starting_conditions_passing) { if (starting_conditions_passing) {
// activate fusion, only reset if necessary // activate fusion, only reset if necessary
if (!isHorizontalAidingActive() || yaw_alignment_changed) { if (!isHorizontalAidingActive() || yaw_alignment_changed) {
ECL_INFO("starting %s fusion, resetting velocity to (%.3f, %.3f, %.3f)", AID_SRC_NAME, (double)measurement(0), (double)measurement(1), (double)measurement(2)); ECL_INFO("starting %s fusion, resetting velocity to (%.3f, %.3f, %.3f)", AID_SRC_NAME,
(double)measurement(0), (double)measurement(1), (double)measurement(2));
_information_events.flags.reset_vel_to_vision = true; _information_events.flags.reset_vel_to_vision = true;
resetVelocityTo(measurement, measurement_var); resetVelocityTo(measurement, measurement_var);
updateEstimatorAidStatusStateReset(aid_src, ev_sample.time_us, measurement, measurement_var);
} else { } else {
ECL_INFO("starting %s fusion", AID_SRC_NAME); ECL_INFO("starting %s fusion", AID_SRC_NAME);
@ -225,7 +230,6 @@ void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, const bool common
void Ekf::stopEvVelFusion() void Ekf::stopEvVelFusion()
{ {
if (_control_status.flags.ev_vel) { if (_control_status.flags.ev_vel) {
resetEstimatorAidStatus(_aid_src_ev_vel);
_control_status.flags.ev_vel = false; _control_status.flags.ev_vel = false;
} }

31
src/modules/ekf2/EKF/ev_yaw_control.cpp
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@ -43,11 +43,22 @@ void Ekf::controlEvYawFusion(const extVisionSample &ev_sample, const bool common
{ {
static constexpr const char *AID_SRC_NAME = "EV yaw"; static constexpr const char *AID_SRC_NAME = "EV yaw";
resetEstimatorAidStatus(aid_src); float obs = getEulerYaw(ev_sample.quat);
aid_src.timestamp_sample = ev_sample.time_us; float obs_var = math::max(ev_sample.orientation_var(2), _params.ev_att_noise, sq(0.01f));
aid_src.observation = getEulerYaw(ev_sample.quat);
aid_src.observation_variance = math::max(ev_sample.orientation_var(2), _params.ev_att_noise, sq(0.01f)); float innov = wrap_pi(getEulerYaw(_R_to_earth) - obs);
aid_src.innovation = wrap_pi(getEulerYaw(_R_to_earth) - aid_src.observation); float innov_var = 0.f;
VectorState H_YAW;
computeYawInnovVarAndH(obs_var, innov_var, H_YAW);
updateEstimatorAidStatus(aid_src,
ev_sample.time_us, // sample timestamp
obs, // observation
obs_var, // observation variance
innov, // innovation
innov_var, // innovation variance
math::max(_params.heading_innov_gate, 1.f)); // gate sigma
if (ev_reset) { if (ev_reset) {
_control_status.flags.ev_yaw_fault = false; _control_status.flags.ev_yaw_fault = false;
@ -65,10 +76,6 @@ void Ekf::controlEvYawFusion(const extVisionSample &ev_sample, const bool common
&& (ev_sample.pos_frame != PositionFrame::LOCAL_FRAME_NED) && (ev_sample.pos_frame != PositionFrame::LOCAL_FRAME_NED)
) { ) {
continuing_conditions_passing = false; continuing_conditions_passing = false;
// use delta yaw for innovation logging
aid_src.innovation = wrap_pi(wrap_pi(getEulerYaw(_R_to_earth) - _ev_yaw_pred_prev)
- wrap_pi(getEulerYaw(ev_sample.quat) - getEulerYaw(_ev_sample_prev.quat)));
} }
const bool starting_conditions_passing = common_starting_conditions_passing const bool starting_conditions_passing = common_starting_conditions_passing
@ -94,7 +101,7 @@ void Ekf::controlEvYawFusion(const extVisionSample &ev_sample, const bool common
} }
} else if (quality_sufficient) { } else if (quality_sufficient) {
fuseYaw(aid_src); fuseYaw(aid_src, H_YAW);
} else { } else {
aid_src.innovation_rejected = true; aid_src.innovation_rejected = true;
@ -140,7 +147,7 @@ void Ekf::controlEvYawFusion(const extVisionSample &ev_sample, const bool common
// activate fusion // activate fusion
if (ev_sample.pos_frame == PositionFrame::LOCAL_FRAME_NED) { if (ev_sample.pos_frame == PositionFrame::LOCAL_FRAME_NED) {
if (_control_status.flags.yaw_align) { if (_control_status.flags.yaw_align && fuseYaw(aid_src, H_YAW)) {
ECL_INFO("starting %s fusion", AID_SRC_NAME); ECL_INFO("starting %s fusion", AID_SRC_NAME);
} else { } else {
@ -160,6 +167,7 @@ void Ekf::controlEvYawFusion(const extVisionSample &ev_sample, const bool common
// reset yaw to EV // reset yaw to EV
resetQuatStateYaw(aid_src.observation, aid_src.observation_variance); resetQuatStateYaw(aid_src.observation, aid_src.observation_variance);
// TODO: update aid_src?
aid_src.time_last_fuse = _time_delayed_us; aid_src.time_last_fuse = _time_delayed_us;
_information_events.flags.starting_vision_yaw_fusion = true; _information_events.flags.starting_vision_yaw_fusion = true;
@ -178,7 +186,6 @@ void Ekf::stopEvYawFusion()
{ {
#if defined(CONFIG_EKF2_EXTERNAL_VISION) #if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_control_status.flags.ev_yaw) { if (_control_status.flags.ev_yaw) {
resetEstimatorAidStatus(_aid_src_ev_yaw);
_control_status.flags.ev_yaw = false; _control_status.flags.ev_yaw = false;
} }

5
src/modules/ekf2/EKF/fake_height_control.cpp
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@ -51,8 +51,7 @@ void Ekf::controlFakeHgtFusion()
const float obs_var = sq(_params.pos_noaid_noise); const float obs_var = sq(_params.pos_noaid_noise);
const float innov_gate = 3.f; const float innov_gate = 3.f;
updateVerticalPositionAidSrcStatus(_time_delayed_us, _last_known_pos(2), obs_var, innov_gate, aid_src); updateVerticalPositionAidStatus(aid_src, _time_delayed_us, _last_known_pos(2), obs_var, innov_gate);
const bool continuing_conditions_passing = !isVerticalAidingActive(); const bool continuing_conditions_passing = !isVerticalAidingActive();
const bool starting_conditions_passing = continuing_conditions_passing const bool starting_conditions_passing = continuing_conditions_passing
@ -113,7 +112,5 @@ void Ekf::stopFakeHgtFusion()
if (_control_status.flags.fake_hgt) { if (_control_status.flags.fake_hgt) {
ECL_INFO("stop fake height fusion"); ECL_INFO("stop fake height fusion");
_control_status.flags.fake_hgt = false; _control_status.flags.fake_hgt = false;
resetEstimatorAidStatus(_aid_src_fake_hgt);
} }
} }

9
src/modules/ekf2/EKF/fake_pos_control.cpp
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@ -65,8 +65,11 @@ void Ekf::controlFakePosFusion()
const float innov_gate = 3.f; const float innov_gate = 3.f;
updateHorizontalPositionAidSrcStatus(_time_delayed_us, Vector2f(_last_known_pos), obs_var, innov_gate, aid_src); updateHorizontalPositionAidStatus(aid_src,
_time_delayed_us,
Vector2f(_last_known_pos), // observation
obs_var, // observation variance
innov_gate);
const bool continuing_conditions_passing = !isHorizontalAidingActive(); const bool continuing_conditions_passing = !isHorizontalAidingActive();
const bool starting_conditions_passing = continuing_conditions_passing const bool starting_conditions_passing = continuing_conditions_passing
@ -128,7 +131,5 @@ void Ekf::stopFakePosFusion()
if (_control_status.flags.fake_pos) { if (_control_status.flags.fake_pos) {
ECL_INFO("stop fake position fusion"); ECL_INFO("stop fake position fusion");
_control_status.flags.fake_pos = false; _control_status.flags.fake_pos = false;
resetEstimatorAidStatus(_aid_src_fake_pos);
} }
} }

9
src/modules/ekf2/EKF/gnss_height_control.cpp
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@ -63,16 +63,14 @@ void Ekf::controlGnssHeightFusion(const gpsSample &gps_sample)
const float measurement = gps_sample.hgt - getEkfGlobalOriginAltitude(); const float measurement = gps_sample.hgt - getEkfGlobalOriginAltitude();
const float measurement_var = sq(noise); const float measurement_var = sq(noise);
const float innov_gate = math::max(_params.gps_pos_innov_gate, 1.f);
const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var); const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var);
// GNSS position, vertical position GNSS measurement has opposite sign to earth z axis // GNSS position, vertical position GNSS measurement has opposite sign to earth z axis
updateVerticalPositionAidSrcStatus(gps_sample.time_us, updateVerticalPositionAidStatus(aid_src,
gps_sample.time_us,
-(measurement - bias_est.getBias()), -(measurement - bias_est.getBias()),
measurement_var + bias_est.getBiasVar(), measurement_var + bias_est.getBiasVar(),
innov_gate, math::max(_params.gps_pos_innov_gate, 1.f));
aid_src);
const bool gps_checks_passing = isTimedOut(_last_gps_fail_us, (uint64_t)5e6); const bool gps_checks_passing = isTimedOut(_last_gps_fail_us, (uint64_t)5e6);
const bool gps_checks_failing = isTimedOut(_last_gps_pass_us, (uint64_t)5e6); const bool gps_checks_failing = isTimedOut(_last_gps_pass_us, (uint64_t)5e6);
@ -173,7 +171,6 @@ void Ekf::stopGpsHgtFusion()
} }
_gps_hgt_b_est.setFusionInactive(); _gps_hgt_b_est.setFusionInactive();
resetEstimatorAidStatus(_aid_src_gnss_hgt);
_control_status.flags.gps_hgt = false; _control_status.flags.gps_hgt = false;
} }

19
src/modules/ekf2/EKF/gps_control.cpp
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@ -92,13 +92,13 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
// GNSS velocity // GNSS velocity
const Vector3f velocity{gps_sample.vel}; const Vector3f velocity{gps_sample.vel};
const float vel_var = sq(math::max(gps_sample.sacc, _params.gps_vel_noise)); const float vel_var = sq(math::max(gps_sample.sacc, _params.gps_vel_noise, 0.01f));
const Vector3f vel_obs_var(vel_var, vel_var, vel_var * sq(1.5f)); const Vector3f vel_obs_var(vel_var, vel_var, vel_var * sq(1.5f));
updateVelocityAidSrcStatus(gps_sample.time_us, updateVelocityAidStatus(_aid_src_gnss_vel,
gps_sample.time_us, // sample timestamp
velocity, // observation velocity, // observation
vel_obs_var, // observation variance vel_obs_var, // observation variance
math::max(_params.gps_vel_innov_gate, 1.f), // innovation gate math::max(_params.gps_vel_innov_gate, 1.f)); // innovation gate
_aid_src_gnss_vel);
const bool gnss_vel_enabled = (_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::VEL)); const bool gnss_vel_enabled = (_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::VEL));
// GNSS position // GNSS position
@ -114,13 +114,13 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
} }
} }
const float pos_var = sq(pos_noise); const float pos_var = math::max(sq(pos_noise), sq(0.01f));
const Vector2f pos_obs_var(pos_var, pos_var); const Vector2f pos_obs_var(pos_var, pos_var);
updateHorizontalPositionAidSrcStatus(gps_sample.time_us, updateHorizontalPositionAidStatus(_aid_src_gnss_pos,
gps_sample.time_us, // sample timestamp
position, // observation position, // observation
pos_obs_var, // observation variance pos_obs_var, // observation variance
math::max(_params.gps_pos_innov_gate, 1.f), // innovation gate math::max(_params.gps_pos_innov_gate, 1.f)); // innovation gate
_aid_src_gnss_pos);
const bool gnss_pos_enabled = (_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::HPOS)); const bool gnss_pos_enabled = (_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::HPOS));
// Determine if we should use GPS aiding for velocity and horizontal position // Determine if we should use GPS aiding for velocity and horizontal position
@ -399,7 +399,6 @@ void Ekf::stopGpsYawFusion()
if (_control_status.flags.gps_yaw) { if (_control_status.flags.gps_yaw) {
_control_status.flags.gps_yaw = false; _control_status.flags.gps_yaw = false;
resetEstimatorAidStatus(_aid_src_gnss_yaw);
// Before takeoff, we do not want to continue to rely on the current heading // Before takeoff, we do not want to continue to rely on the current heading
// if we had to stop the fusion // if we had to stop the fusion
@ -418,8 +417,6 @@ void Ekf::stopGpsFusion()
{ {
if (_control_status.flags.gps) { if (_control_status.flags.gps) {
ECL_INFO("stopping GPS position and velocity fusion"); ECL_INFO("stopping GPS position and velocity fusion");
resetEstimatorAidStatus(_aid_src_gnss_pos);
resetEstimatorAidStatus(_aid_src_gnss_vel);
_control_status.flags.gps = false; _control_status.flags.gps = false;
} }

21
src/modules/ekf2/EKF/gps_yaw_fusion.cpp
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@ -50,11 +50,6 @@ void Ekf::updateGpsYaw(const gpsSample &gps_sample)
{ {
if (PX4_ISFINITE(gps_sample.yaw)) { if (PX4_ISFINITE(gps_sample.yaw)) {
auto &gnss_yaw = _aid_src_gnss_yaw;
resetEstimatorAidStatus(gnss_yaw);
// initially populate for estimator_aid_src_gnss_yaw logging
// calculate the observed yaw angle of antenna array, converting a from body to antenna yaw measurement // calculate the observed yaw angle of antenna array, converting a from body to antenna yaw measurement
const float measured_hdg = wrap_pi(gps_sample.yaw + _gps_yaw_offset); const float measured_hdg = wrap_pi(gps_sample.yaw + _gps_yaw_offset);
@ -68,15 +63,13 @@ void Ekf::updateGpsYaw(const gpsSample &gps_sample)
sym::ComputeGnssYawPredInnovVarAndH(_state.vector(), P, _gps_yaw_offset, R_YAW, FLT_EPSILON, &heading_pred, &heading_innov_var, &H); sym::ComputeGnssYawPredInnovVarAndH(_state.vector(), P, _gps_yaw_offset, R_YAW, FLT_EPSILON, &heading_pred, &heading_innov_var, &H);
} }
gnss_yaw.observation = measured_hdg; updateEstimatorAidStatus(_aid_src_gnss_yaw,
gnss_yaw.observation_variance = R_YAW; gps_sample.time_us, // sample timestamp
gnss_yaw.innovation = wrap_pi(heading_pred - measured_hdg); measured_hdg, // observation
gnss_yaw.innovation_variance = heading_innov_var; R_YAW, // observation variance
wrap_pi(heading_pred - measured_hdg), // innovation
gnss_yaw.timestamp_sample = gps_sample.time_us; heading_innov_var, // innovation variance
math::max(_params.heading_innov_gate, 1.f)); // gate sigma
const float innov_gate = math::max(_params.heading_innov_gate, 1.0f);
setEstimatorAidStatusTestRatio(gnss_yaw, innov_gate);
} }
} }

22
src/modules/ekf2/EKF/gravity_fusion.cpp
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@ -55,7 +55,7 @@ void Ekf::controlGravityFusion(const imuSample &imu)
// get raw accelerometer reading at delayed horizon and expected measurement noise (gaussian) // get raw accelerometer reading at delayed horizon and expected measurement noise (gaussian)
const Vector3f measurement = imu.delta_vel / imu.delta_vel_dt - getAccelBias(); const Vector3f measurement = imu.delta_vel / imu.delta_vel_dt - getAccelBias();
const float measurement_var = sq(_params.gravity_noise); const float measurement_var = math::max(sq(_params.gravity_noise), sq(0.01f));
// calculate kalman gains and innovation variances // calculate kalman gains and innovation variances
Vector3f innovation; // innovation of the last gravity fusion observation (m/s**2) Vector3f innovation; // innovation of the last gravity fusion observation (m/s**2)
@ -66,19 +66,13 @@ void Ekf::controlGravityFusion(const imuSample &imu)
&innovation, &innovation_variance, &Kx, &Ky, &Kz); &innovation, &innovation_variance, &Kx, &Ky, &Kz);
// fill estimator aid source status // fill estimator aid source status
resetEstimatorAidStatus(_aid_src_gravity); updateEstimatorAidStatus(_aid_src_gravity,
_aid_src_gravity.timestamp_sample = imu.time_us; imu.time_us, // sample timestamp
measurement.copyTo(_aid_src_gravity.observation); measurement, // observation
Vector3f{measurement_var, measurement_var, measurement_var}, // observation variance
for (auto &var : _aid_src_gravity.observation_variance) { innovation, // innovation
var = measurement_var; innovation_variance // innovation variance
} );
innovation.copyTo(_aid_src_gravity.innovation);
innovation_variance.copyTo(_aid_src_gravity.innovation_variance);
float innovation_gate = 1.f;
setEstimatorAidStatusTestRatio(_aid_src_gravity, innovation_gate);
const bool accel_clipping = imu.delta_vel_clipping[0] || imu.delta_vel_clipping[1] || imu.delta_vel_clipping[2]; const bool accel_clipping = imu.delta_vel_clipping[0] || imu.delta_vel_clipping[1] || imu.delta_vel_clipping[2];

35
src/modules/ekf2/EKF/mag_3d_control.cpp
View File

@ -38,12 +38,36 @@
#include "ekf.h" #include "ekf.h"
#include "python/ekf_derivation/generated/compute_mag_innov_innov_var_and_hx.h"
void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_starting_conditions_passing, void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_starting_conditions_passing,
estimator_aid_source3d_s &aid_src) estimator_aid_source3d_s &aid_src)
{ {
static constexpr const char *AID_SRC_NAME = "mag"; static constexpr const char *AID_SRC_NAME = "mag";
resetEstimatorAidStatus(aid_src); // XYZ Measurement uncertainty. Need to consider timing errors for fast rotations
const float R_MAG = math::max(sq(_params.mag_noise), sq(0.01f));
// calculate intermediate variables used for X axis innovation variance, observation Jacobians and Kalman gains
const auto state_vector = _state.vector();
Vector3f innov;
Vector3f innov_var;
VectorState H;
sym::ComputeMagInnovInnovVarAndHx(state_vector, P, mag_sample.mag, R_MAG, FLT_EPSILON, &innov, &innov_var, &H);
// do not use the synthesized measurement for the magnetomter Z component for 3D fusion
if (_control_status.flags.synthetic_mag_z) {
innov(2) = 0.0f;
}
updateEstimatorAidStatus(aid_src,
mag_sample.time_us, // sample timestamp
mag_sample.mag, // observation
Vector3f(R_MAG, R_MAG, R_MAG), // observation variance
innov, // innovation
innov_var, // innovation variance
math::max(_params.mag_innov_gate, 1.f)); // gate sigma
const bool wmm_updated = (_wmm_gps_time_last_set > aid_src.time_last_fuse); const bool wmm_updated = (_wmm_gps_time_last_set > aid_src.time_last_fuse);
@ -105,14 +129,14 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star
// states for the first few observations. // states for the first few observations.
fuseDeclination(0.02f); fuseDeclination(0.02f);
_mag_decl_cov_reset = true; _mag_decl_cov_reset = true;
fuseMag(mag_sample.mag, aid_src, false); fuseMag(H, aid_src);
} else { } else {
// The normal sequence is to fuse the magnetometer data first before fusing // The normal sequence is to fuse the magnetometer data first before fusing
// declination angle at a higher uncertainty to allow some learning of // declination angle at a higher uncertainty to allow some learning of
// declination angle over time. // declination angle over time.
const bool update_all_states = _control_status.flags.mag_3D; const bool update_all_states = _control_status.flags.mag_3D;
fuseMag(mag_sample.mag, aid_src, update_all_states); fuseMag(H, aid_src, update_all_states);
if (_control_status.flags.mag_dec) { if (_control_status.flags.mag_dec) {
fuseDeclination(0.5f); fuseDeclination(0.5f);
@ -127,7 +151,7 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star
// Data seems good, attempt a reset (mag states only unless mag_3D currently active) // Data seems good, attempt a reset (mag states only unless mag_3D currently active)
ECL_WARN("%s fusion failing, resetting", AID_SRC_NAME); ECL_WARN("%s fusion failing, resetting", AID_SRC_NAME);
resetMagStates(_mag_lpf.getState(), _control_status.flags.mag_hdg || _control_status.flags.mag_3D); resetMagStates(_mag_lpf.getState(), _control_status.flags.mag_hdg || _control_status.flags.mag_3D);
aid_src.time_last_fuse = _time_delayed_us; updateEstimatorAidStatusStateReset(aid_src, mag_sample.time_us, _mag_lpf.getState());
if (_control_status.flags.in_air) { if (_control_status.flags.in_air) {
_nb_mag_3d_reset_available--; _nb_mag_3d_reset_available--;
@ -174,6 +198,7 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star
bool reset_heading = !_control_status.flags.yaw_align; bool reset_heading = !_control_status.flags.yaw_align;
resetMagStates(_mag_lpf.getState(), reset_heading); resetMagStates(_mag_lpf.getState(), reset_heading);
updateEstimatorAidStatusStateReset(aid_src, mag_sample.time_us, _mag_lpf.getState());
if (reset_heading) { if (reset_heading) {
_control_status.flags.yaw_align = true; _control_status.flags.yaw_align = true;
@ -181,7 +206,7 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star
} else { } else {
ECL_INFO("starting %s fusion", AID_SRC_NAME); ECL_INFO("starting %s fusion", AID_SRC_NAME);
fuseMag(mag_sample.mag, aid_src, false); fuseMag(H, aid_src);
} }
aid_src.time_last_fuse = _time_delayed_us; aid_src.time_last_fuse = _time_delayed_us;

53
src/modules/ekf2/EKF/mag_fusion.cpp
View File

@ -51,46 +51,15 @@
#include <mathlib/mathlib.h> #include <mathlib/mathlib.h>
bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bool update_all_states) bool Ekf::fuseMag(VectorState& H, estimator_aid_source3d_s &aid_src_mag, bool update_all_states)
{ {
// XYZ Measurement uncertainty. Need to consider timing errors for fast rotations
const float R_MAG = math::max(sq(_params.mag_noise), sq(0.01f));
// calculate intermediate variables used for X axis innovation variance, observation Jacobians and Kalman gains // calculate intermediate variables used for X axis innovation variance, observation Jacobians and Kalman gains
Vector3f mag_innov;
Vector3f innov_var;
// Observation jacobian and Kalman gain vectors // the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned
VectorState H;
const auto state_vector = _state.vector();
sym::ComputeMagInnovInnovVarAndHx(state_vector, P, mag, R_MAG, FLT_EPSILON, &mag_innov, &innov_var, &H);
// do not use the synthesized measurement for the magnetomter Z component for 3D fusion
if (_control_status.flags.synthetic_mag_z) {
mag_innov(2) = 0.0f;
}
for (int i = 0; i < 3; i++) {
aid_src_mag.observation[i] = mag(i) - _state.mag_B(i);
aid_src_mag.observation_variance[i] = R_MAG;
aid_src_mag.innovation[i] = mag_innov(i);
aid_src_mag.innovation_variance[i] = innov_var(i);
}
const float innov_gate = math::max(_params.mag_innov_gate, 1.f);
setEstimatorAidStatusTestRatio(aid_src_mag, innov_gate);
if (update_all_states) {
_fault_status.flags.bad_mag_x = (aid_src_mag.innovation_variance[0] < aid_src_mag.observation_variance[0]); _fault_status.flags.bad_mag_x = (aid_src_mag.innovation_variance[0] < aid_src_mag.observation_variance[0]);
_fault_status.flags.bad_mag_y = (aid_src_mag.innovation_variance[1] < aid_src_mag.observation_variance[1]); _fault_status.flags.bad_mag_y = (aid_src_mag.innovation_variance[1] < aid_src_mag.observation_variance[1]);
_fault_status.flags.bad_mag_z = (aid_src_mag.innovation_variance[2] < aid_src_mag.observation_variance[2]); _fault_status.flags.bad_mag_z = (aid_src_mag.innovation_variance[2] < aid_src_mag.observation_variance[2]);
} else {
_fault_status.flags.bad_mag_x = false;
_fault_status.flags.bad_mag_y = false;
_fault_status.flags.bad_mag_z = false;
}
// Perform an innovation consistency check and report the result // Perform an innovation consistency check and report the result
_innov_check_fail_status.flags.reject_mag_x = (aid_src_mag.test_ratio[0] > 1.f); _innov_check_fail_status.flags.reject_mag_x = (aid_src_mag.test_ratio[0] > 1.f);
_innov_check_fail_status.flags.reject_mag_y = (aid_src_mag.test_ratio[1] > 1.f); _innov_check_fail_status.flags.reject_mag_y = (aid_src_mag.test_ratio[1] > 1.f);
@ -99,7 +68,8 @@ bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bo
const char *numerical_error_covariance_reset_string = "numerical error - covariance reset"; const char *numerical_error_covariance_reset_string = "numerical error - covariance reset";
// check innovation variances for being badly conditioned // check innovation variances for being badly conditioned
if (innov_var.min() < R_MAG) { for (uint8_t index = 0; index < 3; index++) {
if (aid_src_mag.innovation_variance[index] < aid_src_mag.observation_variance[index]) {
// the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned // the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned
// we need to re-initialise covariances and abort this fusion step // we need to re-initialise covariances and abort this fusion step
if (update_all_states) { if (update_all_states) {
@ -111,12 +81,15 @@ bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bo
ECL_ERR("mag %s", numerical_error_covariance_reset_string); ECL_ERR("mag %s", numerical_error_covariance_reset_string);
return false; return false;
} }
}
// if any axis fails, abort the mag fusion // if any axis fails, abort the mag fusion
if (aid_src_mag.innovation_rejected) { if (aid_src_mag.innovation_rejected) {
return false; return false;
} }
const auto state_vector = _state.vector();
bool fused[3] {false, false, false}; bool fused[3] {false, false, false};
// update the states and covariance using sequential fusion of the magnetometer components // update the states and covariance using sequential fusion of the magnetometer components
@ -127,12 +100,12 @@ bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bo
} else if (index == 1) { } else if (index == 1) {
// recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes) // recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes)
sym::ComputeMagYInnovVarAndH(state_vector, P, R_MAG, FLT_EPSILON, &aid_src_mag.innovation_variance[index], &H); sym::ComputeMagYInnovVarAndH(state_vector, P, aid_src_mag.observation_variance[index], FLT_EPSILON, &aid_src_mag.innovation_variance[index], &H);
// recalculate innovation using the updated state // recalculate innovation using the updated state
aid_src_mag.innovation[index] = _state.quat_nominal.rotateVectorInverse(_state.mag_I)(index) + _state.mag_B(index) - mag(index); aid_src_mag.innovation[index] = _state.quat_nominal.rotateVectorInverse(_state.mag_I)(index) + _state.mag_B(index) - aid_src_mag.observation[index];
if (aid_src_mag.innovation_variance[index] < R_MAG) { if (aid_src_mag.innovation_variance[index] < aid_src_mag.observation_variance[index]) {
// the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned // the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned
_fault_status.flags.bad_mag_y = true; _fault_status.flags.bad_mag_y = true;
@ -155,12 +128,12 @@ bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bo
} }
// recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes) // recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes)
sym::ComputeMagZInnovVarAndH(state_vector, P, R_MAG, FLT_EPSILON, &aid_src_mag.innovation_variance[index], &H); sym::ComputeMagZInnovVarAndH(state_vector, P, aid_src_mag.observation_variance[index], FLT_EPSILON, &aid_src_mag.innovation_variance[index], &H);
// recalculate innovation using the updated state // recalculate innovation using the updated state
aid_src_mag.innovation[index] = _state.quat_nominal.rotateVectorInverse(_state.mag_I)(index) + _state.mag_B(index) - mag(index); aid_src_mag.innovation[index] = _state.quat_nominal.rotateVectorInverse(_state.mag_I)(index) + _state.mag_B(index) - aid_src_mag.observation[index];
if (aid_src_mag.innovation_variance[index] < R_MAG) { if (aid_src_mag.innovation_variance[index] < aid_src_mag.observation_variance[index]) {
// the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned // the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned
_fault_status.flags.bad_mag_z = true; _fault_status.flags.bad_mag_z = true;

33
src/modules/ekf2/EKF/mag_heading_control.cpp
View File

@ -61,19 +61,24 @@ void Ekf::controlMagHeadingFusion(const magSample &mag_sample, const bool common
const float declination = getMagDeclination(); const float declination = getMagDeclination();
const float measured_hdg = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + declination; const float measured_hdg = -atan2f(mag_earth_pred(1), mag_earth_pred(0)) + declination;
resetEstimatorAidStatus(aid_src); float obs_var = math::max(sq(_params.mag_heading_noise), sq(0.01f));
aid_src.observation = measured_hdg; float innov_var = 0.f;
aid_src.observation_variance = math::max(sq(_params.mag_heading_noise), sq(0.01f));
VectorState H_YAW;
computeYawInnovVarAndH(obs_var, innov_var, H_YAW);
updateEstimatorAidStatus(aid_src,
mag_sample.time_us, // sample timestamp
measured_hdg, // observation
obs_var, // observation variance
wrap_pi(getEulerYaw(_R_to_earth) - aid_src.observation), // innovation
innov_var, // innovation variance
math::max(_params.heading_innov_gate, 1.f)); // gate sigma
if (_control_status.flags.yaw_align) { if (_control_status.flags.yaw_align) {
// mag heading
aid_src.innovation = wrap_pi(getEulerYaw(_R_to_earth) - aid_src.observation);
_mag_heading_innov_lpf.update(aid_src.innovation); _mag_heading_innov_lpf.update(aid_src.innovation);
} else { } else {
// mag heading delta (logging only)
aid_src.innovation = wrap_pi(wrap_pi(getEulerYaw(_R_to_earth) - _mag_heading_pred_prev)
- wrap_pi(measured_hdg - _mag_heading_prev));
_mag_heading_innov_lpf.reset(0.f); _mag_heading_innov_lpf.reset(0.f);
} }
@ -115,10 +120,9 @@ void Ekf::controlMagHeadingFusion(const magSample &mag_sample, const bool common
} }
resetMagHeading(_mag_lpf.getState()); resetMagHeading(_mag_lpf.getState());
aid_src.time_last_fuse = _time_delayed_us; updateEstimatorAidStatusStateReset(aid_src, mag_sample.time_us, getEulerYaw(_R_to_earth), obs_var);
} else { } else {
VectorState H_YAW;
computeYawInnovVarAndH(aid_src.observation_variance, aid_src.innovation_variance, H_YAW); computeYawInnovVarAndH(aid_src.observation_variance, aid_src.innovation_variance, H_YAW);
if ((aid_src.innovation_variance - aid_src.observation_variance) > sq(_params.mag_heading_noise / 2.f)) { if ((aid_src.innovation_variance - aid_src.observation_variance) > sq(_params.mag_heading_noise / 2.f)) {
@ -174,20 +178,20 @@ void Ekf::controlMagHeadingFusion(const magSample &mag_sample, const bool common
if (!_control_status.flags.yaw_align) { if (!_control_status.flags.yaw_align) {
// reset heading // reset heading
resetMagHeading(_mag_lpf.getState()); resetMagHeading(_mag_lpf.getState());
updateEstimatorAidStatusStateReset(aid_src, mag_sample.time_us, getEulerYaw(_R_to_earth), obs_var);
_control_status.flags.yaw_align = true; _control_status.flags.yaw_align = true;
} }
_control_status.flags.mag_hdg = true; _control_status.flags.mag_hdg = true;
aid_src.time_last_fuse = _time_delayed_us; aid_src.time_last_fuse = _time_delayed_us;
aid_src.fused = true;
aid_src.innovation_rejected = false;
_nb_mag_heading_reset_available = 1; _nb_mag_heading_reset_available = 1;
} }
} }
// record corresponding mag heading and yaw state for future mag heading delta heading innovation (logging only)
_mag_heading_prev = measured_hdg;
_mag_heading_pred_prev = getEulerYaw(_state.quat_nominal);
_mag_heading_last_declination = getMagDeclination(); _mag_heading_last_declination = getMagDeclination();
} }
@ -195,7 +199,6 @@ void Ekf::stopMagHdgFusion()
{ {
if (_control_status.flags.mag_hdg) { if (_control_status.flags.mag_hdg) {
ECL_INFO("stopping mag heading fusion"); ECL_INFO("stopping mag heading fusion");
resetEstimatorAidStatus(_aid_src_mag_heading);
_control_status.flags.mag_hdg = false; _control_status.flags.mag_hdg = false;

40
src/modules/ekf2/EKF/optflow_fusion.cpp
View File

@ -50,9 +50,6 @@
void Ekf::updateOptFlow(estimator_aid_source2d_s &aid_src) void Ekf::updateOptFlow(estimator_aid_source2d_s &aid_src)
{ {
resetEstimatorAidStatus(aid_src);
aid_src.timestamp_sample = _flow_sample_delayed.time_us;
const Vector2f vel_body = predictFlowVelBody(); const Vector2f vel_body = predictFlowVelBody();
const float range = predictFlowRange(); const float range = predictFlowRange();
@ -66,24 +63,26 @@ void Ekf::updateOptFlow(estimator_aid_source2d_s &aid_src)
_flow_vel_body(1) = opt_flow_rate(0) * range; _flow_vel_body(1) = opt_flow_rate(0) * range;
_flow_vel_ne = Vector2f(_R_to_earth * Vector3f(_flow_vel_body(0), _flow_vel_body(1), 0.f)); _flow_vel_ne = Vector2f(_R_to_earth * Vector3f(_flow_vel_body(0), _flow_vel_body(1), 0.f));
aid_src.observation[0] = opt_flow_rate(0); // flow around the X axis Vector2f innovation{
aid_src.observation[1] = opt_flow_rate(1); // flow around the Y axis (vel_body(1) / range) - opt_flow_rate(0),
(-vel_body(0) / range) - opt_flow_rate(1)
aid_src.innovation[0] = (vel_body(1) / range) - aid_src.observation[0]; };
aid_src.innovation[1] = (-vel_body(0) / range) - aid_src.observation[1];
// calculate the optical flow observation variance // calculate the optical flow observation variance
const float R_LOS = calcOptFlowMeasVar(_flow_sample_delayed); const float R_LOS = calcOptFlowMeasVar(_flow_sample_delayed);
aid_src.observation_variance[0] = R_LOS;
aid_src.observation_variance[1] = R_LOS;
Vector2f innov_var; Vector2f innov_var;
VectorState H; VectorState H;
sym::ComputeFlowXyInnovVarAndHx(_state.vector(), P, range, R_LOS, FLT_EPSILON, &innov_var, &H); sym::ComputeFlowXyInnovVarAndHx(_state.vector(), P, range, R_LOS, FLT_EPSILON, &innov_var, &H);
innov_var.copyTo(aid_src.innovation_variance);
// run the innovation consistency check and record result // run the innovation consistency check and record result
setEstimatorAidStatusTestRatio(aid_src, math::max(_params.flow_innov_gate, 1.f)); updateEstimatorAidStatus(aid_src,
_flow_sample_delayed.time_us, // sample timestamp
opt_flow_rate, // observation
Vector2f{R_LOS, R_LOS}, // observation variance
innovation, // innovation
innov_var, // innovation variance
_params.flow_innov_gate); // gate sigma
} }
void Ekf::fuseOptFlow() void Ekf::fuseOptFlow()
@ -99,19 +98,24 @@ void Ekf::fuseOptFlow()
Vector2f innov_var; Vector2f innov_var;
VectorState H; VectorState H;
sym::ComputeFlowXyInnovVarAndHx(state_vector, P, range, R_LOS, FLT_EPSILON, &innov_var, &H); sym::ComputeFlowXyInnovVarAndHx(state_vector, P, range, R_LOS, FLT_EPSILON, &innov_var, &H);
innov_var.copyTo(_aid_src_optical_flow.innovation_variance);
if ((_aid_src_optical_flow.innovation_variance[0] < R_LOS) // TODO: do we recompute the filtered test ratio?
|| (_aid_src_optical_flow.innovation_variance[1] < R_LOS)) {
// updateEstimatorAidStatus(_aid_src_optical_flow,
// _flow_sample_delayed.time_us, // sample timestamp
// opt_flow_rate, // observation
// Vector2f{R_LOS, R_LOS}, // observation variance
// innovation, // innovation
// innov_var, // innovation variance
// _params.flow_innov_gate); // gate sigma
if ((innov_var(0) < R_LOS) || (innov_var(1) < R_LOS)) {
// we need to reinitialise the covariance matrix and abort this fusion step // we need to reinitialise the covariance matrix and abort this fusion step
ECL_ERR("Opt flow error - covariance reset"); ECL_ERR("Opt flow error - covariance reset");
initialiseCovariance(); initialiseCovariance();
return; return;
} }
// run the innovation consistency check and record result
setEstimatorAidStatusTestRatio(_aid_src_optical_flow, math::max(_params.flow_innov_gate, 1.f));
_innov_check_fail_status.flags.reject_optflow_X = (_aid_src_optical_flow.test_ratio[0] > 1.f); _innov_check_fail_status.flags.reject_optflow_X = (_aid_src_optical_flow.test_ratio[0] > 1.f);
_innov_check_fail_status.flags.reject_optflow_Y = (_aid_src_optical_flow.test_ratio[1] > 1.f); _innov_check_fail_status.flags.reject_optflow_Y = (_aid_src_optical_flow.test_ratio[1] > 1.f);

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

@ -160,8 +160,6 @@ void Ekf::stopFlowFusion()
if (_control_status.flags.opt_flow) { if (_control_status.flags.opt_flow) {
ECL_INFO("stopping optical flow fusion"); ECL_INFO("stopping optical flow fusion");
_control_status.flags.opt_flow = false; _control_status.flags.opt_flow = false;
resetEstimatorAidStatus(_aid_src_optical_flow);
} }
} }

28
src/modules/ekf2/EKF/range_height_control.cpp
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@ -70,7 +70,8 @@ void Ekf::controlRangeHeightFusion()
const float var = sq(_params.range_noise) + dist_dependant_var; const float var = sq(_params.range_noise) + dist_dependant_var;
_rng_consistency_check.setGate(_params.range_kin_consistency_gate); _rng_consistency_check.setGate(_params.range_kin_consistency_gate);
_rng_consistency_check.update(_range_sensor.getDistBottom(), math::max(var, 0.001f), _state.vel(2), P(State::vel.idx + 2, State::vel.idx + 2), horizontal_motion, _time_delayed_us); _rng_consistency_check.update(_range_sensor.getDistBottom(), math::max(var, 0.001f), _state.vel(2),
P(State::vel.idx + 2, State::vel.idx + 2), horizontal_motion, _time_delayed_us);
} }
} else { } else {
@ -101,16 +102,14 @@ void Ekf::controlRangeHeightFusion()
const float measurement = math::max(_range_sensor.getDistBottom(), _params.rng_gnd_clearance); const float measurement = math::max(_range_sensor.getDistBottom(), _params.rng_gnd_clearance);
const float measurement_var = sq(_params.range_noise) + sq(_params.range_noise_scaler * _range_sensor.getDistBottom()); const float measurement_var = sq(_params.range_noise) + sq(_params.range_noise_scaler * _range_sensor.getDistBottom());
const float innov_gate = math::max(_params.range_innov_gate, 1.f);
const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var); const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var);
// vertical position innovation - baro measurement has opposite sign to earth z axis // vertical position innovation - baro measurement has opposite sign to earth z axis
updateVerticalPositionAidSrcStatus(_range_sensor.getSampleAddress()->time_us, updateVerticalPositionAidStatus(aid_src,
_range_sensor.getSampleAddress()->time_us,
-(measurement - bias_est.getBias()), -(measurement - bias_est.getBias()),
measurement_var + bias_est.getBiasVar(), measurement_var + bias_est.getBiasVar(),
innov_gate, math::max(_params.range_innov_gate, 1.f));
aid_src);
// update the bias estimator before updating the main filter but after // update the bias estimator before updating the main filter but after
// using its current state to compute the vertical position innovation // using its current state to compute the vertical position innovation
@ -121,8 +120,10 @@ void Ekf::controlRangeHeightFusion()
} }
// determine if we should use height aiding // determine if we should use height aiding
const bool do_conditional_range_aid = (_params.rng_ctrl == static_cast<int32_t>(RngCtrl::CONDITIONAL)) && isConditionalRangeAidSuitable(); const bool do_conditional_range_aid = (_params.rng_ctrl == static_cast<int32_t>(RngCtrl::CONDITIONAL))
const bool continuing_conditions_passing = ((_params.rng_ctrl == static_cast<int32_t>(RngCtrl::ENABLED)) || do_conditional_range_aid) && isConditionalRangeAidSuitable();
const bool continuing_conditions_passing = ((_params.rng_ctrl == static_cast<int32_t>(RngCtrl::ENABLED))
|| do_conditional_range_aid)
&& measurement_valid && measurement_valid
&& _range_sensor.isDataHealthy(); && _range_sensor.isDataHealthy();
@ -165,13 +166,17 @@ void Ekf::controlRangeHeightFusion()
} else { } else {
if (starting_conditions_passing) { if (starting_conditions_passing) {
if ((_params.height_sensor_ref == static_cast<int32_t>(HeightSensor::RANGE)) && (_params.rng_ctrl == static_cast<int32_t>(RngCtrl::CONDITIONAL))) { if ((_params.height_sensor_ref == static_cast<int32_t>(HeightSensor::RANGE))
&& (_params.rng_ctrl == static_cast<int32_t>(RngCtrl::CONDITIONAL))
) {
// Range finder is used while hovering to stabilize the height estimate. Don't reset but use it as height reference. // Range finder is used while hovering to stabilize the height estimate. Don't reset but use it as height reference.
ECL_INFO("starting conditional %s height fusion", HGT_SRC_NAME); ECL_INFO("starting conditional %s height fusion", HGT_SRC_NAME);
_height_sensor_ref = HeightSensor::RANGE; _height_sensor_ref = HeightSensor::RANGE;
bias_est.setBias(_state.pos(2) + measurement); bias_est.setBias(_state.pos(2) + measurement);
} else if ((_params.height_sensor_ref == static_cast<int32_t>(HeightSensor::RANGE)) && (_params.rng_ctrl != static_cast<int32_t>(RngCtrl::CONDITIONAL))) { } else if ((_params.height_sensor_ref == static_cast<int32_t>(HeightSensor::RANGE))
&& (_params.rng_ctrl != static_cast<int32_t>(RngCtrl::CONDITIONAL))
) {
// Range finder is the primary height source, the ground is now the datum used // Range finder is the primary height source, the ground is now the datum used
// to compute the local vertical position // to compute the local vertical position
ECL_INFO("starting %s height fusion, resetting height", HGT_SRC_NAME); ECL_INFO("starting %s height fusion, resetting height", HGT_SRC_NAME);
@ -203,6 +208,7 @@ void Ekf::controlRangeHeightFusion()
bool Ekf::isConditionalRangeAidSuitable() bool Ekf::isConditionalRangeAidSuitable()
{ {
#if defined(CONFIG_EKF2_TERRAIN) #if defined(CONFIG_EKF2_TERRAIN)
if (_control_status.flags.in_air if (_control_status.flags.in_air
&& _range_sensor.isHealthy() && _range_sensor.isHealthy()
&& isTerrainEstimateValid()) { && isTerrainEstimateValid()) {
@ -236,6 +242,7 @@ bool Ekf::isConditionalRangeAidSuitable()
return is_in_range && is_hagl_stable && is_below_max_speed; return is_in_range && is_hagl_stable && is_below_max_speed;
} }
#endif // CONFIG_EKF2_TERRAIN #endif // CONFIG_EKF2_TERRAIN
return false; return false;
@ -250,7 +257,6 @@ void Ekf::stopRngHgtFusion()
} }
_rng_hgt_b_est.setFusionInactive(); _rng_hgt_b_est.setFusionInactive();
resetEstimatorAidStatus(_aid_src_rng_hgt);
_control_status.flags.rng_hgt = false; _control_status.flags.rng_hgt = false;
} }

28
src/modules/ekf2/EKF/sideslip_fusion.cpp
View File

@ -76,26 +76,22 @@ void Ekf::controlBetaFusion(const imuSample &imu_delayed)
} }
} }
void Ekf::updateSideslip(estimator_aid_source1d_s &sideslip) const void Ekf::updateSideslip(estimator_aid_source1d_s &aid_src) const
{ {
// reset flags float observation = 0.f;
resetEstimatorAidStatus(sideslip); const float R = math::max(sq(_params.beta_noise), sq(0.01f)); // observation noise variance
const float R = sq(_params.beta_noise); // observation noise variance float innov;
float innov_var;
float innov = 0.f;
float innov_var = 0.f;
sym::ComputeSideslipInnovAndInnovVar(_state.vector(), P, R, FLT_EPSILON, &innov, &innov_var); sym::ComputeSideslipInnovAndInnovVar(_state.vector(), P, R, FLT_EPSILON, &innov, &innov_var);
sideslip.observation = 0.f; updateEstimatorAidStatus(aid_src,
sideslip.observation_variance = R; _time_delayed_us, // sample timestamp
sideslip.innovation = innov; observation, // observation
sideslip.innovation_variance = innov_var; R, // observation variance
innov, // innovation
sideslip.timestamp_sample = _time_delayed_us; innov_var, // innovation variance
math::max(_params.beta_innov_gate, 1.f)); // gate sigma
const float innov_gate = fmaxf(_params.beta_innov_gate, 1.f);
setEstimatorAidStatusTestRatio(sideslip, innov_gate);
} }
void Ekf::fuseSideslip(estimator_aid_source1d_s &sideslip) void Ekf::fuseSideslip(estimator_aid_source1d_s &sideslip)

52
src/modules/ekf2/EKF/terrain_estimator.cpp
View File

@ -205,8 +205,6 @@ void Ekf::stopHaglRngFusion()
ECL_INFO("stopping HAGL range fusion"); ECL_INFO("stopping HAGL range fusion");
// reset flags // reset flags
resetEstimatorAidStatus(_aid_src_terrain_range_finder);
_innov_check_fail_status.flags.reject_hagl = false; _innov_check_fail_status.flags.reject_hagl = false;
_hagl_sensor_status.flags.range_finder = false; _hagl_sensor_status.flags.range_finder = false;
@ -233,18 +231,13 @@ void Ekf::updateHaglRng(estimator_aid_source1d_s &aid_src) const
// perform an innovation consistency check and only fuse data if it passes // perform an innovation consistency check and only fuse data if it passes
const float innov_gate = fmaxf(_params.range_innov_gate, 1.0f); const float innov_gate = fmaxf(_params.range_innov_gate, 1.0f);
updateEstimatorAidStatus(aid_src,
aid_src.timestamp_sample = _time_delayed_us; // TODO _time_delayed_us, // sample timestamp
meas_hagl, // observation
aid_src.observation = meas_hagl; obs_variance, // observation variance
aid_src.observation_variance = obs_variance; hagl_innov, // innovation
hagl_innov_var, // innovation variance
aid_src.innovation = hagl_innov; innov_gate); // gate sigma
aid_src.innovation_variance = hagl_innov_var;
setEstimatorAidStatusTestRatio(aid_src, innov_gate);
aid_src.fused = false;
} }
void Ekf::fuseHaglRng(estimator_aid_source1d_s &aid_src) void Ekf::fuseHaglRng(estimator_aid_source1d_s &aid_src)
@ -329,7 +322,6 @@ void Ekf::stopHaglFlowFusion()
ECL_INFO("stopping HAGL flow fusion"); ECL_INFO("stopping HAGL flow fusion");
_hagl_sensor_status.flags.flow = false; _hagl_sensor_status.flags.flow = false;
resetEstimatorAidStatus(_aid_src_terrain_optical_flow);
} }
} }
@ -345,31 +337,15 @@ void Ekf::resetHaglFlow()
void Ekf::fuseFlowForTerrain(estimator_aid_source2d_s &flow) void Ekf::fuseFlowForTerrain(estimator_aid_source2d_s &flow)
{ {
flow.fused = true; if ((flow.innovation_variance[0] < flow.observation_variance[0])
|| (flow.innovation_variance[1] < flow.observation_variance[1])
const float R_LOS = flow.observation_variance[0]; ) {
// calculate the height above the ground of the optical flow camera. Since earth frame is NED
// a positive offset in earth frame leads to a smaller height above the ground.
float range = predictFlowRange();
const float state = _terrain_vpos; // linearize both axes using the same state value
Vector2f innov_var;
float H;
sym::TerrEstComputeFlowXyInnovVarAndHx(state, _terrain_var, _state.quat_nominal, _state.vel, _state.pos(2), R_LOS, FLT_EPSILON, &innov_var, &H);
innov_var.copyTo(flow.innovation_variance);
if ((flow.innovation_variance[0] < R_LOS)
|| (flow.innovation_variance[1] < R_LOS)) {
// we need to reinitialise the covariance matrix and abort this fusion step // we need to reinitialise the covariance matrix and abort this fusion step
ECL_ERR("Opt flow error - covariance reset"); ECL_ERR("Opt flow error - covariance reset");
_terrain_var = 100.0f; _terrain_var = 100.0f;
return; return;
} }
// run the innovation consistency check and record result
setEstimatorAidStatusTestRatio(flow, math::max(_params.flow_innov_gate, 1.f));
_innov_check_fail_status.flags.reject_optflow_X = (flow.test_ratio[0] > 1.f); _innov_check_fail_status.flags.reject_optflow_X = (flow.test_ratio[0] > 1.f);
_innov_check_fail_status.flags.reject_optflow_Y = (flow.test_ratio[1] > 1.f); _innov_check_fail_status.flags.reject_optflow_Y = (flow.test_ratio[1] > 1.f);
@ -378,6 +354,8 @@ void Ekf::fuseFlowForTerrain(estimator_aid_source2d_s &flow)
return; return;
} }
float H = 0.f;
// fuse observation axes sequentially // fuse observation axes sequentially
for (uint8_t index = 0; index <= 1; index++) { for (uint8_t index = 0; index <= 1; index++) {
if (index == 0) { if (index == 0) {
@ -385,14 +363,14 @@ void Ekf::fuseFlowForTerrain(estimator_aid_source2d_s &flow)
} else if (index == 1) { } else if (index == 1) {
// recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes) // recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes)
sym::TerrEstComputeFlowYInnovVarAndH(state, _terrain_var, _state.quat_nominal, _state.vel, _state.pos(2), R_LOS, FLT_EPSILON, &flow.innovation_variance[1], &H); sym::TerrEstComputeFlowYInnovVarAndH(_terrain_vpos, _terrain_var, _state.quat_nominal, _state.vel, _state.pos(2), flow.observation_variance[1], FLT_EPSILON, &flow.innovation_variance[1], &H);
// recalculate the innovation using the updated state // recalculate the innovation using the updated state
const Vector2f vel_body = predictFlowVelBody(); const Vector2f vel_body = predictFlowVelBody();
range = predictFlowRange(); float range = predictFlowRange();
flow.innovation[1] = (-vel_body(0) / range) - flow.observation[1]; flow.innovation[1] = (-vel_body(0) / range) - flow.observation[1];
if (flow.innovation_variance[1] < R_LOS) { if (flow.innovation_variance[1] < flow.observation_variance[1]) {
// we need to reinitialise the covariance matrix and abort this fusion step // we need to reinitialise the covariance matrix and abort this fusion step
ECL_ERR("Opt flow error - covariance reset"); ECL_ERR("Opt flow error - covariance reset");
_terrain_var = 100.0f; _terrain_var = 100.0f;

136
src/modules/ekf2/EKF/vel_pos_fusion.cpp
View File

@ -43,100 +43,78 @@
#include <mathlib/mathlib.h> #include <mathlib/mathlib.h>
#include "ekf.h" #include "ekf.h"
void Ekf::updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var, // TODO: void Ekf::updateYawAidSrcStatus(const uint64_t &time_us, const float &obs, const float &obs_var,
const float innov_gate, estimator_aid_source2d_s &aid_src) const // const float innov_gate, estimator_aid_source1d_s &aid_src) const
void Ekf::updateVelocityAidStatus(estimator_aid_source2d_s &aid_src, const uint64_t &time_us,
const Vector2f &observation, const Vector2f &observation_variance, float innovation_gate) const
{ {
resetEstimatorAidStatus(aid_src); Vector2f innovation = Vector2f(_state.vel.xy()) - observation;
Vector2f innovation_variance = Vector2f(getStateVariance<State::vel>()) + observation_variance;
for (int i = 0; i < 2; i++) { updateEstimatorAidStatus(aid_src, time_us,
aid_src.observation[i] = obs(i); observation, observation_variance,
aid_src.innovation[i] = _state.vel(i) - aid_src.observation[i]; innovation, innovation_variance,
innovation_gate);
aid_src.observation_variance[i] = math::max(sq(0.01f), obs_var(i));
const int state_index = State::vel.idx + i;
aid_src.innovation_variance[i] = P(state_index, state_index) + aid_src.observation_variance[i];
} }
setEstimatorAidStatusTestRatio(aid_src, innov_gate); void Ekf::updateVelocityAidStatus(estimator_aid_source3d_s &aid_src, const uint64_t &time_us,
const Vector3f &observation, const Vector3f &observation_variance, float innovation_gate) const
aid_src.timestamp_sample = time_us;
}
void Ekf::updateVelocityAidSrcStatus(const uint64_t &time_us, const Vector3f &obs, const Vector3f &obs_var,
const float innov_gate, estimator_aid_source3d_s &aid_src) const
{ {
resetEstimatorAidStatus(aid_src); Vector3f innovation = _state.vel - observation;
Vector3f innovation_variance = getStateVariance<State::vel>() + observation_variance;
for (int i = 0; i < 3; i++) { updateEstimatorAidStatus(aid_src, time_us,
aid_src.observation[i] = obs(i); observation, observation_variance,
aid_src.innovation[i] = _state.vel(i) - aid_src.observation[i]; innovation, innovation_variance,
innovation_gate);
aid_src.observation_variance[i] = math::max(sq(0.01f), obs_var(i));
const int state_index = State::vel.idx + i;
aid_src.innovation_variance[i] = P(state_index, state_index) + aid_src.observation_variance[i];
}
setEstimatorAidStatusTestRatio(aid_src, innov_gate);
// vz special case if there is bad vertical acceleration data, then don't reject measurement, // vz special case if there is bad vertical acceleration data, then don't reject measurement,
// but limit innovation to prevent spikes that could destabilise the filter // but limit innovation to prevent spikes that could destabilise the filter
if (_fault_status.flags.bad_acc_vertical && aid_src.innovation_rejected) { if (_fault_status.flags.bad_acc_vertical && aid_src.innovation_rejected) {
const float innov_limit = innov_gate * sqrtf(aid_src.innovation_variance[2]); const float innov_limit = innovation_gate * sqrtf(aid_src.innovation_variance[2]);
aid_src.innovation[2] = math::constrain(aid_src.innovation[2], -innov_limit, innov_limit); aid_src.innovation[2] = math::constrain(aid_src.innovation[2], -innov_limit, innov_limit);
aid_src.innovation_rejected = false; aid_src.innovation_rejected = false;
} }
aid_src.timestamp_sample = time_us;
} }
void Ekf::updateVerticalPositionAidSrcStatus(const uint64_t &time_us, const float obs, const float obs_var, void Ekf::updateVerticalPositionAidStatus(estimator_aid_source1d_s &aid_src, const uint64_t &time_us,
const float innov_gate, estimator_aid_source1d_s &aid_src) const const float observation, const float observation_variance, const float innovation_gate) const
{ {
resetEstimatorAidStatus(aid_src); float innovation = _state.pos(2) - observation;
float innovation_variance = getStateVariance<State::pos>()(2) + observation_variance;
aid_src.observation = obs; updateEstimatorAidStatus(aid_src, time_us,
aid_src.innovation = _state.pos(2) - aid_src.observation; observation, observation_variance,
innovation, innovation_variance,
aid_src.observation_variance = math::max(sq(0.01f), obs_var); innovation_gate);
aid_src.innovation_variance = P(State::pos.idx + 2, State::pos.idx + 2) + aid_src.observation_variance;
setEstimatorAidStatusTestRatio(aid_src, innov_gate);
// z special case if there is bad vertical acceleration data, then don't reject measurement, // z special case if there is bad vertical acceleration data, then don't reject measurement,
// but limit innovation to prevent spikes that could destabilise the filter // but limit innovation to prevent spikes that could destabilise the filter
if (_fault_status.flags.bad_acc_vertical && aid_src.innovation_rejected) { if (_fault_status.flags.bad_acc_vertical && aid_src.innovation_rejected) {
const float innov_limit = innov_gate * sqrtf(aid_src.innovation_variance); const float innov_limit = innovation_gate * sqrtf(aid_src.innovation_variance);
aid_src.innovation = math::constrain(aid_src.innovation, -innov_limit, innov_limit); aid_src.innovation = math::constrain(aid_src.innovation, -innov_limit, innov_limit);
aid_src.innovation_rejected = false; aid_src.innovation_rejected = false;
} }
aid_src.timestamp_sample = time_us;
} }
void Ekf::updateHorizontalPositionAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var, void Ekf::updateHorizontalPositionAidStatus(estimator_aid_source2d_s &aid_src, const uint64_t &time_us,
const float innov_gate, estimator_aid_source2d_s &aid_src) const const Vector2f &observation, const Vector2f &observation_variance, const float innov_gate) const
{ {
resetEstimatorAidStatus(aid_src); Vector2f innovation = Vector2f(_state.pos) - observation;
Vector2f innovation_variance = Vector2f(getStateVariance<State::pos>()) + observation_variance;
for (int i = 0; i < 2; i++) { updateEstimatorAidStatus(aid_src, time_us,
aid_src.observation[i] = obs(i); observation, observation_variance,
aid_src.innovation[i] = _state.pos(i) - aid_src.observation[i]; innovation, innovation_variance,
innov_gate);
aid_src.observation_variance[i] = math::max(sq(0.01f), obs_var(i));
const int state_index = State::pos.idx + i;
aid_src.innovation_variance[i] = P(state_index, state_index) + aid_src.observation_variance[i];
} }
setEstimatorAidStatusTestRatio(aid_src, innov_gate); bool Ekf::fuseVelocity(estimator_aid_source2d_s &aid_src)
aid_src.timestamp_sample = time_us;
}
void Ekf::fuseVelocity(estimator_aid_source2d_s &aid_src)
{ {
if (!aid_src.innovation_rejected) {
// vx, vy // vx, vy
if (fuseVelPosHeight(aid_src.innovation[0], aid_src.innovation_variance[0], State::vel.idx) if (!aid_src.innovation_rejected
&& fuseVelPosHeight(aid_src.innovation[0], aid_src.innovation_variance[0], State::vel.idx + 0)
&& fuseVelPosHeight(aid_src.innovation[1], aid_src.innovation_variance[1], State::vel.idx + 1) && fuseVelPosHeight(aid_src.innovation[1], aid_src.innovation_variance[1], State::vel.idx + 1)
) { ) {
aid_src.fused = true; aid_src.fused = true;
@ -145,14 +123,15 @@ void Ekf::fuseVelocity(estimator_aid_source2d_s &aid_src)
} else { } else {
aid_src.fused = false; aid_src.fused = false;
} }
}
return aid_src.fused;
} }
void Ekf::fuseVelocity(estimator_aid_source3d_s &aid_src) bool Ekf::fuseVelocity(estimator_aid_source3d_s &aid_src)
{ {
if (!aid_src.innovation_rejected) {
// vx, vy, vz // vx, vy, vz
if (fuseVelPosHeight(aid_src.innovation[0], aid_src.innovation_variance[0], State::vel.idx) if (!aid_src.innovation_rejected
&& fuseVelPosHeight(aid_src.innovation[0], aid_src.innovation_variance[0], State::vel.idx + 0)
&& fuseVelPosHeight(aid_src.innovation[1], aid_src.innovation_variance[1], State::vel.idx + 1) && fuseVelPosHeight(aid_src.innovation[1], aid_src.innovation_variance[1], State::vel.idx + 1)
&& fuseVelPosHeight(aid_src.innovation[2], aid_src.innovation_variance[2], State::vel.idx + 2) && fuseVelPosHeight(aid_src.innovation[2], aid_src.innovation_variance[2], State::vel.idx + 2)
) { ) {
@ -162,14 +141,15 @@ void Ekf::fuseVelocity(estimator_aid_source3d_s &aid_src)
} else { } else {
aid_src.fused = false; aid_src.fused = false;
} }
}
return aid_src.fused;
} }
void Ekf::fuseHorizontalPosition(estimator_aid_source2d_s &aid_src) bool Ekf::fuseHorizontalPosition(estimator_aid_source2d_s &aid_src)
{ {
// x & y // x & y
if (!aid_src.innovation_rejected) { if (!aid_src.innovation_rejected
if (fuseVelPosHeight(aid_src.innovation[0], aid_src.innovation_variance[0], State::pos.idx) && fuseVelPosHeight(aid_src.innovation[0], aid_src.innovation_variance[0], State::pos.idx + 0)
&& fuseVelPosHeight(aid_src.innovation[1], aid_src.innovation_variance[1], State::pos.idx + 1) && fuseVelPosHeight(aid_src.innovation[1], aid_src.innovation_variance[1], State::pos.idx + 1)
) { ) {
aid_src.fused = true; aid_src.fused = true;
@ -178,18 +158,24 @@ void Ekf::fuseHorizontalPosition(estimator_aid_source2d_s &aid_src)
} else { } else {
aid_src.fused = false; aid_src.fused = false;
} }
}
return aid_src.fused;
} }
void Ekf::fuseVerticalPosition(estimator_aid_source1d_s &aid_src) bool Ekf::fuseVerticalPosition(estimator_aid_source1d_s &aid_src)
{ {
// z // z
if (!aid_src.innovation_rejected) { if (!aid_src.innovation_rejected
if (fuseVelPosHeight(aid_src.innovation, aid_src.innovation_variance, State::pos.idx + 2)) { && fuseVelPosHeight(aid_src.innovation, aid_src.innovation_variance, State::pos.idx + 2)
) {
aid_src.fused = true; aid_src.fused = true;
aid_src.time_last_fuse = _time_delayed_us; aid_src.time_last_fuse = _time_delayed_us;
} else {
aid_src.fused = false;
} }
}
return aid_src.fused;
} }
// Helper function that fuses a single velocity or position measurement // Helper function that fuses a single velocity or position measurement

25
src/modules/ekf2/EKF/yaw_fusion.cpp
View File

@ -38,23 +38,8 @@
#include <mathlib/mathlib.h> #include <mathlib/mathlib.h>
// update quaternion states and covariances using the yaw innovation and yaw observation variance
bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status)
{
VectorState H_YAW;
computeYawInnovVarAndH(aid_src_status.observation_variance, aid_src_status.innovation_variance, H_YAW);
return fuseYaw(aid_src_status, H_YAW);
}
bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H_YAW) bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H_YAW)
{ {
// define the innovation gate size
float gate_sigma = math::max(_params.heading_innov_gate, 1.f);
// innovation test ratio
setEstimatorAidStatusTestRatio(aid_src_status, gate_sigma);
// check if the innovation variance calculation is badly conditioned // check if the innovation variance calculation is badly conditioned
if (aid_src_status.innovation_variance >= aid_src_status.observation_variance) { if (aid_src_status.innovation_variance >= aid_src_status.observation_variance) {
// the innovation variance contribution from the state covariances is not negative, no fault // the innovation variance contribution from the state covariances is not negative, no fault
@ -84,7 +69,7 @@ bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H
Kfusion(row) *= heading_innov_var_inv; Kfusion(row) *= heading_innov_var_inv;
} }
// set the magnetometer unhealthy if the test fails // set the heading unhealthy if the test fails
if (aid_src_status.innovation_rejected) { if (aid_src_status.innovation_rejected) {
_innov_check_fail_status.flags.reject_yaw = true; _innov_check_fail_status.flags.reject_yaw = true;
@ -98,7 +83,8 @@ bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H
// constrain the innovation to the maximum set by the gate // constrain the innovation to the maximum set by the gate
// we need to delay this forced fusion to avoid starting it // we need to delay this forced fusion to avoid starting it
// immediately after touchdown, when the drone is still armed // immediately after touchdown, when the drone is still armed
float gate_limit = sqrtf((sq(gate_sigma) * aid_src_status.innovation_variance)); const float gate_sigma = math::max(_params.heading_innov_gate, 1.f);
const float gate_limit = sqrtf((sq(gate_sigma) * aid_src_status.innovation_variance));
aid_src_status.innovation = math::constrain(aid_src_status.innovation, -gate_limit, gate_limit); aid_src_status.innovation = math::constrain(aid_src_status.innovation, -gate_limit, gate_limit);
// also reset the yaw gyro variance to converge faster and avoid // also reset the yaw gyro variance to converge faster and avoid
@ -123,13 +109,10 @@ bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H
_fault_status.flags.bad_hdg = false; _fault_status.flags.bad_hdg = false;
return true; return true;
} else {
_fault_status.flags.bad_hdg = true;
} }
// otherwise // otherwise
aid_src_status.fused = false; _fault_status.flags.bad_hdg = true;
return false; return false;
} }

610
src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
View File

@ -66,326 +66,326 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
6390000,0.7,0.0014,-0.014,0.71,0.0024,0.0048,-0.05,0.0029,0.00018,-3.7e+02,-0.0015,-0.0057,5e-05,0,0,-3.6e-05,0.37,0.0037,0.026,0,0,0,0,0,0.0014,0.0014,0.018,0.23,0.23,2.3,0.19,0.19,0.29,0.00015,0.00015,6.3e-06,0.04,0.04,0.04,0,0,0,0,0,0,0,0 6390000,0.7,0.0014,-0.014,0.71,0.0024,0.0048,-0.05,0.0029,0.00018,-3.7e+02,-0.0015,-0.0057,5e-05,0,0,-3.6e-05,0.37,0.0037,0.026,0,0,0,0,0,0.0014,0.0014,0.018,0.23,0.23,2.3,0.19,0.19,0.29,0.00015,0.00015,6.3e-06,0.04,0.04,0.04,0,0,0,0,0,0,0,0
6490000,0.7,0.0014,-0.014,0.71,0.0022,0.0056,-0.052,0.0031,0.00072,-3.7e+02,-0.0015,-0.0057,5e-05,0,0,-8.5e-05,0.37,0.0037,0.026,0,0,0,0,0,0.0014,0.0014,0.018,0.24,0.24,1.5,0.23,0.23,0.26,0.00015,0.00015,6.3e-06,0.04,0.04,0.04,0,0,0,0,0,0,0,0 6490000,0.7,0.0014,-0.014,0.71,0.0022,0.0056,-0.052,0.0031,0.00072,-3.7e+02,-0.0015,-0.0057,5e-05,0,0,-8.5e-05,0.37,0.0037,0.026,0,0,0,0,0,0.0014,0.0014,0.018,0.24,0.24,1.5,0.23,0.23,0.26,0.00015,0.00015,6.3e-06,0.04,0.04,0.04,0,0,0,0,0,0,0,0
6590000,0.7,0.0014,-0.014,0.71,0.0017,0.0057,-0.099,0.0034,0.0013,-3.7e+02,-0.0015,-0.0057,5e-05,0,0,9.5e-05,0.37,0.0037,0.026,0,0,0,0,0,0.0014,0.0014,0.018,0.25,0.25,1.1,0.28,0.28,0.23,0.00015,0.00015,6.3e-06,0.04,0.04,0.04,0,0,0,0,0,0,0,0 6590000,0.7,0.0014,-0.014,0.71,0.0017,0.0057,-0.099,0.0034,0.0013,-3.7e+02,-0.0015,-0.0057,5e-05,0,0,9.5e-05,0.37,0.0037,0.026,0,0,0,0,0,0.0014,0.0014,0.018,0.25,0.25,1.1,0.28,0.28,0.23,0.00015,0.00015,6.3e-06,0.04,0.04,0.04,0,0,0,0,0,0,0,0
6690000,0.7,0.0014,-0.014,0.71,0.0021,0.0068,-0.076,0.0036,0.0019,-3.7e+02,-0.0015,-0.0057,5e-05,0,0,-0.00022,0.37,0.0037,0.026,0,0,0,0,0,0.0014,0.0014,0.018,0.26,0.26,0.78,0.33,0.33,0.21,0.00015,0.00015,6.3e-06,0.04,0.04,0.04,0,0,0,0,0,0,0,0 6690000,0.7,0.0014,-0.014,0.71,0.0021,0.0068,-0.076,0.0035,0.0019,-3.7e+02,-0.0015,-0.0057,5e-05,0,0,-0.00022,0.37,0.0037,0.026,0,0,0,0,0,0.0014,0.0014,0.018,0.26,0.26,0.78,0.33,0.33,0.21,0.00015,0.00015,6.3e-06,0.04,0.04,0.04,0,0,0,0,0,0,0,0
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18790000,0.71,5.9e-05,-0.012,0.71,0.012,6.6e-05,0.0035,0.0037,-0.00091,-3.7e+02,-0.0014,-0.006,4.2e-05,-0.0018,0.0057,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00049,0.00049,0.019,0.03,0.03,0.013,0.045,0.045,0.045,4.3e-06,4.3e-06,6.3e-06,0.031,0.031,0.00072,0,0,0,0,0,0,0,0 18790000,0.71,7.1e-05,-0.012,0.71,0.012,8.2e-05,0.0035,0.0037,-0.0009,-3.7e+02,-0.0014,-0.006,4.2e-05,-0.0018,0.0057,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00049,0.00049,0.019,0.03,0.03,0.013,0.045,0.045,0.045,4.3e-06,4.3e-06,6.3e-06,0.031,0.031,0.00072,0,0,0,0,0,0,0,0
18890000,0.71,8.5e-05,-0.012,0.71,0.013,0.00056,0.0042,0.005,-0.00084,-3.7e+02,-0.0014,-0.006,4.2e-05,-0.0018,0.0057,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00049,0.00049,0.019,0.033,0.033,0.013,0.051,0.051,0.045,4.3e-06,4.3e-06,6.3e-06,0.031,0.031,0.0007,0,0,0,0,0,0,0,0 18890000,0.71,9.7e-05,-0.012,0.71,0.013,0.00058,0.0042,0.005,-0.00084,-3.7e+02,-0.0014,-0.006,4.2e-05,-0.0018,0.0057,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00049,0.00049,0.019,0.033,0.033,0.013,0.051,0.051,0.045,4.3e-06,4.3e-06,6.3e-06,0.031,0.031,0.0007,0,0,0,0,0,0,0,0
18990000,0.71,7.3e-05,-0.012,0.71,0.014,0.0015,0.0028,0.0063,-0.0007,-3.7e+02,-0.0014,-0.006,4.2e-05,-0.0018,0.0056,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00048,0.00048,0.019,0.029,0.029,0.012,0.045,0.045,0.044,3.9e-06,3.9e-06,6.3e-06,0.031,0.031,0.00066,0,0,0,0,0,0,0,0 18990000,0.71,8.5e-05,-0.012,0.71,0.014,0.0015,0.0028,0.0063,-0.0007,-3.7e+02,-0.0014,-0.006,4.2e-05,-0.0018,0.0056,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00048,0.00048,0.019,0.029,0.029,0.012,0.045,0.045,0.044,3.9e-06,3.9e-06,6.3e-06,0.031,0.031,0.00066,0,0,0,0,0,0,0,0
19090000,0.71,5.8e-05,-0.012,0.71,0.015,0.0021,0.0058,0.0078,-0.0005,-3.7e+02,-0.0014,-0.006,4.2e-05,-0.0018,0.0056,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00048,0.00048,0.019,0.032,0.032,0.012,0.051,0.051,0.044,3.9e-06,3.9e-06,6.3e-06,0.031,0.031,0.00065,0,0,0,0,0,0,0,0 19090000,0.71,6.9e-05,-0.012,0.71,0.015,0.0021,0.0058,0.0078,-0.00049,-3.7e+02,-0.0014,-0.006,4.2e-05,-0.0018,0.0056,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00048,0.00048,0.019,0.032,0.032,0.012,0.051,0.051,0.044,3.9e-06,3.9e-06,6.3e-06,0.031,0.031,0.00065,0,0,0,0,0,0,0,0
19190000,0.71,6.1e-05,-0.012,0.71,0.015,0.0021,0.0059,0.0086,-0.00045,-3.7e+02,-0.0014,-0.006,4.2e-05,-0.0019,0.0056,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00047,0.00047,0.019,0.028,0.028,0.012,0.045,0.045,0.044,3.6e-06,3.6e-06,6.3e-06,0.03,0.03,0.00062,0,0,0,0,0,0,0,0 19190000,0.71,7.3e-05,-0.012,0.71,0.015,0.0021,0.0059,0.0086,-0.00044,-3.7e+02,-0.0014,-0.006,4.2e-05,-0.0019,0.0056,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00047,0.00047,0.019,0.028,0.028,0.012,0.045,0.045,0.044,3.6e-06,3.6e-06,6.3e-06,0.03,0.03,0.00062,0,0,0,0,0,0,0,0
19290000,0.71,8.3e-05,-0.012,0.71,0.015,0.0013,0.0086,0.01,-0.00026,-3.7e+02,-0.0014,-0.006,4.2e-05,-0.0019,0.0056,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00047,0.00047,0.019,0.031,0.031,0.012,0.05,0.05,0.044,3.6e-06,3.6e-06,6.3e-06,0.03,0.03,0.0006,0,0,0,0,0,0,0,0 19290000,0.71,9.5e-05,-0.012,0.71,0.015,0.0013,0.0086,0.01,-0.00026,-3.7e+02,-0.0014,-0.006,4.2e-05,-0.0019,0.0056,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00047,0.00047,0.019,0.031,0.031,0.012,0.05,0.05,0.044,3.6e-06,3.6e-06,6.3e-06,0.03,0.03,0.0006,0,0,0,0,0,0,0,0
19390000,0.71,9.6e-05,-0.012,0.71,0.013,0.00039,0.012,0.008,-0.00028,-3.7e+02,-0.0014,-0.006,4.2e-05,-0.0019,0.006,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00046,0.00046,0.019,0.027,0.027,0.012,0.044,0.044,0.043,3.3e-06,3.3e-06,6.3e-06,0.03,0.03,0.00058,0,0,0,0,0,0,0,0 19390000,0.71,0.00011,-0.012,0.71,0.013,0.0004,0.012,0.008,-0.00027,-3.7e+02,-0.0014,-0.006,4.2e-05,-0.0019,0.006,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00046,0.00046,0.019,0.027,0.027,0.012,0.044,0.044,0.043,3.3e-06,3.3e-06,6.3e-06,0.03,0.03,0.00058,0,0,0,0,0,0,0,0
19490000,0.71,0.00012,-0.012,0.71,0.012,-0.00032,0.0088,0.0092,-0.00028,-3.7e+02,-0.0014,-0.006,4.2e-05,-0.0019,0.006,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00046,0.00046,0.019,0.03,0.03,0.011,0.05,0.05,0.043,3.3e-06,3.3e-06,6.3e-06,0.03,0.03,0.00056,0,0,0,0,0,0,0,0 19490000,0.71,0.00013,-0.012,0.71,0.012,-0.00031,0.0088,0.0092,-0.00027,-3.7e+02,-0.0014,-0.006,4.2e-05,-0.0019,0.006,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00046,0.00046,0.019,0.03,0.03,0.011,0.05,0.05,0.043,3.3e-06,3.3e-06,6.3e-06,0.03,0.03,0.00056,0,0,0,0,0,0,0,0
19590000,0.71,0.00017,-0.012,0.71,0.0096,-0.0013,0.0081,0.0075,-0.00029,-3.7e+02,-0.0014,-0.006,4.3e-05,-0.0019,0.0063,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00045,0.00045,0.019,0.027,0.027,0.011,0.044,0.044,0.042,3e-06,3e-06,6.3e-06,0.03,0.03,0.00054,0,0,0,0,0,0,0,0 19590000,0.71,0.00018,-0.012,0.71,0.0096,-0.0013,0.0081,0.0075,-0.00029,-3.7e+02,-0.0014,-0.006,4.3e-05,-0.0019,0.0063,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00045,0.00045,0.019,0.027,0.027,0.011,0.044,0.044,0.042,3e-06,3e-06,6.3e-06,0.03,0.03,0.00054,0,0,0,0,0,0,0,0
19690000,0.71,0.00017,-0.012,0.71,0.01,-0.0035,0.0096,0.0084,-0.00054,-3.7e+02,-0.0014,-0.006,4.3e-05,-0.0019,0.0063,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00045,0.00045,0.019,0.029,0.029,0.011,0.05,0.05,0.042,3e-06,3e-06,6.3e-06,0.03,0.03,0.00052,0,0,0,0,0,0,0,0 19690000,0.71,0.00018,-0.012,0.71,0.01,-0.0035,0.0096,0.0084,-0.00054,-3.7e+02,-0.0014,-0.006,4.3e-05,-0.0019,0.0063,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00045,0.00045,0.019,0.029,0.029,0.011,0.05,0.05,0.042,3e-06,3e-06,6.3e-06,0.03,0.03,0.00052,0,0,0,0,0,0,0,0
19790000,0.71,0.00024,-0.012,0.71,0.0077,-0.0044,0.01,0.0068,-0.00044,-3.7e+02,-0.0014,-0.006,4.3e-05,-0.0019,0.0065,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00044,0.00044,0.019,0.026,0.026,0.011,0.044,0.044,0.042,2.7e-06,2.7e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 19790000,0.71,0.00025,-0.012,0.71,0.0077,-0.0044,0.01,0.0068,-0.00043,-3.7e+02,-0.0014,-0.006,4.3e-05,-0.0019,0.0065,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00044,0.00044,0.019,0.026,0.026,0.011,0.044,0.044,0.042,2.7e-06,2.7e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19890000,0.71,0.00019,-0.012,0.71,0.0064,-0.0047,0.011,0.0075,-0.0009,-3.7e+02,-0.0014,-0.006,4.3e-05,-0.0019,0.0065,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00044,0.00044,0.019,0.029,0.029,0.011,0.05,0.05,0.042,2.7e-06,2.7e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 19890000,0.71,0.0002,-0.012,0.71,0.0065,-0.0047,0.011,0.0075,-0.0009,-3.7e+02,-0.0014,-0.006,4.3e-05,-0.0019,0.0065,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00044,0.00044,0.019,0.029,0.029,0.011,0.05,0.05,0.042,2.7e-06,2.7e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19990000,0.71,0.00018,-0.012,0.71,0.004,-0.0054,0.014,0.0061,-0.00075,-3.7e+02,-0.0014,-0.006,4.3e-05,-0.0018,0.0067,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00043,0.00043,0.019,0.026,0.026,0.01,0.044,0.044,0.041,2.5e-06,2.5e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 19990000,0.71,0.00019,-0.012,0.71,0.004,-0.0054,0.014,0.0061,-0.00075,-3.7e+02,-0.0014,-0.006,4.3e-05,-0.0018,0.0067,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00043,0.00043,0.019,0.026,0.025,0.01,0.044,0.044,0.041,2.5e-06,2.5e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20090000,0.71,0.00018,-0.012,0.71,0.0038,-0.0073,0.014,0.0065,-0.0014,-3.7e+02,-0.0014,-0.006,4.3e-05,-0.0018,0.0067,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00043,0.00043,0.019,0.028,0.028,0.01,0.049,0.049,0.042,2.5e-06,2.5e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 20090000,0.71,0.00019,-0.012,0.71,0.0038,-0.0073,0.014,0.0065,-0.0014,-3.7e+02,-0.0014,-0.006,4.3e-05,-0.0018,0.0067,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00043,0.00043,0.019,0.028,0.028,0.01,0.049,0.049,0.042,2.5e-06,2.5e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20190000,0.71,0.00028,-0.012,0.71,0.0014,-0.008,0.017,0.0042,-0.0011,-3.7e+02,-0.0014,-0.006,4.4e-05,-0.0017,0.007,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00042,0.00042,0.019,0.025,0.025,0.01,0.044,0.044,0.041,2.3e-06,2.3e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 20190000,0.71,0.00029,-0.012,0.71,0.0015,-0.008,0.017,0.0042,-0.0011,-3.7e+02,-0.0014,-0.006,4.4e-05,-0.0017,0.007,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00042,0.00042,0.019,0.025,0.025,0.01,0.044,0.044,0.041,2.3e-06,2.3e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20290000,0.71,0.00024,-0.012,0.71,0.00031,-0.0096,0.015,0.0043,-0.002,-3.7e+02,-0.0014,-0.006,4.4e-05,-0.0017,0.007,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00043,0.00043,0.019,0.027,0.027,0.0099,0.049,0.049,0.041,2.3e-06,2.3e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 20290000,0.71,0.00025,-0.012,0.71,0.00033,-0.0096,0.015,0.0043,-0.002,-3.7e+02,-0.0014,-0.006,4.4e-05,-0.0017,0.007,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00043,0.00043,0.019,0.027,0.027,0.0099,0.049,0.049,0.041,2.3e-06,2.3e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20390000,0.71,0.00026,-0.012,0.71,-0.0021,-0.01,0.017,0.0024,-0.0015,-3.7e+02,-0.0014,-0.006,4.4e-05,-0.0016,0.0072,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00042,0.00042,0.019,0.024,0.024,0.0097,0.044,0.044,0.041,2.1e-06,2.1e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 20390000,0.71,0.00027,-0.012,0.71,-0.0021,-0.01,0.017,0.0024,-0.0015,-3.7e+02,-0.0014,-0.006,4.4e-05,-0.0016,0.0072,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00042,0.00042,0.019,0.024,0.024,0.0097,0.044,0.044,0.041,2.1e-06,2.1e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20490000,0.71,0.00032,-0.012,0.71,-0.0026,-0.011,0.016,0.0022,-0.0026,-3.7e+02,-0.0014,-0.006,4.4e-05,-0.0016,0.0072,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00042,0.00042,0.019,0.026,0.026,0.0096,0.049,0.049,0.041,2.1e-06,2.1e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 20490000,0.71,0.00033,-0.012,0.71,-0.0026,-0.011,0.016,0.0022,-0.0026,-3.7e+02,-0.0014,-0.006,4.4e-05,-0.0016,0.0072,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00042,0.00042,0.019,0.026,0.026,0.0096,0.049,0.049,0.041,2.1e-06,2.1e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20590000,0.71,0.00034,-0.012,0.71,-0.0023,-0.011,0.013,0.0019,-0.0021,-3.7e+02,-0.0014,-0.006,4.4e-05,-0.0014,0.0072,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00041,0.00041,0.019,0.024,0.024,0.0094,0.044,0.044,0.04,1.9e-06,1.9e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 20590000,0.71,0.00035,-0.012,0.71,-0.0022,-0.011,0.013,0.0019,-0.0021,-3.7e+02,-0.0014,-0.006,4.4e-05,-0.0014,0.0072,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00041,0.00041,0.019,0.024,0.024,0.0094,0.044,0.044,0.04,1.9e-06,1.9e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
20690000,0.71,0.00037,-0.012,0.71,-0.0022,-0.012,0.015,0.0016,-0.0032,-3.7e+02,-0.0014,-0.006,4.4e-05,-0.0014,0.0072,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00041,0.00041,0.019,0.026,0.026,0.0093,0.049,0.049,0.04,1.9e-06,2e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 20690000,0.71,0.00038,-0.012,0.71,-0.0022,-0.012,0.015,0.0016,-0.0032,-3.7e+02,-0.0014,-0.006,4.4e-05,-0.0014,0.0072,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00041,0.00041,0.019,0.026,0.026,0.0093,0.049,0.049,0.04,1.9e-06,2e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
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src/modules/ekf2/test/change_indication/iris_gps.csv
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18590000,0.98,-0.007,-0.011,0.19,0.0065,-0.0074,0.026,0.0055,-0.0024,0.031,-0.0015,-0.006,2.8e-05,0.0095,0.0043,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00049,0.00049,0.019,0.031,0.031,0.0087,0.045,0.045,0.035,4.9e-06,4.9e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 18590000,0.98,-0.007,-0.011,0.19,0.0066,-0.0074,0.026,0.0055,-0.0024,0.031,-0.0015,-0.006,2.8e-05,0.0095,0.0043,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00049,0.00049,0.019,0.031,0.031,0.0087,0.045,0.045,0.035,4.9e-06,4.9e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
18690000,0.98,-0.007,-0.011,0.19,0.0066,-0.0064,0.024,0.0062,-0.0031,0.029,-0.0015,-0.006,2.8e-05,0.0097,0.0041,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.0005,0.0005,0.019,0.034,0.034,0.0087,0.051,0.051,0.035,4.9e-06,4.9e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 18690000,0.98,-0.007,-0.011,0.19,0.0066,-0.0063,0.024,0.0062,-0.0031,0.029,-0.0015,-0.006,2.8e-05,0.0097,0.0041,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.0005,0.0005,0.019,0.034,0.034,0.0087,0.051,0.051,0.035,4.9e-06,4.9e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
18790000,0.98,-0.007,-0.011,0.19,0.0056,-0.006,0.024,0.0062,-0.0025,0.027,-0.0015,-0.006,2.8e-05,0.01,0.004,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00048,0.00048,0.019,0.03,0.03,0.0087,0.045,0.045,0.035,4.4e-06,4.4e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 18790000,0.98,-0.0069,-0.011,0.19,0.0056,-0.006,0.024,0.0062,-0.0025,0.027,-0.0015,-0.006,2.8e-05,0.01,0.004,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00048,0.00048,0.019,0.03,0.03,0.0087,0.045,0.045,0.035,4.4e-06,4.4e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
18890000,0.98,-0.0069,-0.011,0.19,0.0043,-0.0057,0.021,0.0067,-0.0032,0.023,-0.0015,-0.006,2.8e-05,0.01,0.0037,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00049,0.00048,0.019,0.033,0.033,0.0087,0.051,0.051,0.035,4.4e-06,4.4e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 18890000,0.98,-0.0069,-0.011,0.19,0.0043,-0.0057,0.021,0.0067,-0.0032,0.023,-0.0015,-0.006,2.8e-05,0.01,0.0037,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00049,0.00048,0.019,0.033,0.033,0.0087,0.051,0.051,0.035,4.4e-06,4.4e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
18990000,0.98,-0.0069,-0.011,0.19,0.0026,-0.0058,0.022,0.0055,-0.0025,0.026,-0.0015,-0.006,2.8e-05,0.01,0.0039,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00047,0.00047,0.019,0.029,0.029,0.0086,0.045,0.045,0.035,4e-06,4e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 18990000,0.98,-0.0069,-0.011,0.19,0.0026,-0.0058,0.022,0.0055,-0.0025,0.026,-0.0015,-0.006,2.8e-05,0.01,0.0039,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00047,0.00047,0.019,0.029,0.029,0.0086,0.045,0.045,0.035,4e-06,4e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19090000,0.98,-0.007,-0.011,0.19,0.0006,-0.0063,0.023,0.0057,-0.0031,0.022,-0.0015,-0.006,2.8e-05,0.011,0.0036,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00048,0.00047,0.019,0.032,0.032,0.0087,0.051,0.051,0.036,4e-06,4e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 19090000,0.98,-0.007,-0.011,0.19,0.00063,-0.0063,0.023,0.0057,-0.0031,0.022,-0.0015,-0.006,2.8e-05,0.011,0.0036,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00048,0.00047,0.019,0.032,0.032,0.0087,0.051,0.051,0.036,4e-06,4e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19190000,0.98,-0.0069,-0.011,0.19,-0.00087,-0.0059,0.022,0.0048,-0.0025,0.022,-0.0015,-0.006,2.8e-05,0.011,0.0036,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00046,0.00046,0.019,0.028,0.028,0.0086,0.045,0.045,0.036,3.7e-06,3.7e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 19190000,0.98,-0.0069,-0.011,0.19,-0.00085,-0.0059,0.022,0.0048,-0.0025,0.022,-0.0015,-0.006,2.8e-05,0.011,0.0036,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00046,0.00046,0.019,0.028,0.028,0.0086,0.045,0.045,0.036,3.7e-06,3.7e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19290000,0.98,-0.0068,-0.011,0.19,-0.0017,-0.0058,0.023,0.0047,-0.0031,0.021,-0.0015,-0.006,2.8e-05,0.011,0.0035,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00046,0.00046,0.019,0.031,0.031,0.0087,0.05,0.051,0.036,3.7e-06,3.7e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 19290000,0.98,-0.0068,-0.011,0.19,-0.0017,-0.0058,0.023,0.0047,-0.0031,0.021,-0.0015,-0.006,2.8e-05,0.011,0.0035,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00046,0.00046,0.019,0.031,0.031,0.0087,0.05,0.05,0.036,3.7e-06,3.7e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19390000,0.98,-0.0069,-0.011,0.19,-0.0022,-0.0023,0.024,0.004,-0.0012,0.019,-0.0015,-0.006,2.9e-05,0.011,0.0036,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00045,0.00045,0.019,0.028,0.028,0.0086,0.045,0.045,0.036,3.3e-06,3.3e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 19390000,0.98,-0.0069,-0.011,0.19,-0.0022,-0.0023,0.024,0.004,-0.0012,0.019,-0.0015,-0.006,2.9e-05,0.011,0.0036,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00045,0.00045,0.019,0.028,0.028,0.0086,0.045,0.045,0.036,3.3e-06,3.3e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19490000,0.98,-0.007,-0.011,0.19,-0.003,-0.0023,0.023,0.0038,-0.0014,0.019,-0.0015,-0.006,2.9e-05,0.011,0.0035,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00045,0.00045,0.019,0.03,0.03,0.0087,0.05,0.05,0.036,3.3e-06,3.3e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 19490000,0.98,-0.0069,-0.011,0.19,-0.003,-0.0023,0.023,0.0038,-0.0014,0.019,-0.0015,-0.006,2.9e-05,0.011,0.0035,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00045,0.00045,0.019,0.03,0.03,0.0087,0.05,0.05,0.036,3.3e-06,3.3e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19590000,0.98,-0.0069,-0.011,0.19,-0.0041,-0.0052,0.025,0.0044,-0.0024,0.019,-0.0015,-0.006,2.9e-05,0.012,0.0032,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00044,0.00044,0.019,0.027,0.027,0.0086,0.044,0.044,0.036,3e-06,3e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 19590000,0.98,-0.0069,-0.011,0.19,-0.0041,-0.0052,0.025,0.0044,-0.0024,0.019,-0.0015,-0.006,2.9e-05,0.012,0.0032,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00044,0.00044,0.019,0.027,0.027,0.0086,0.044,0.044,0.036,3e-06,3e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19690000,0.98,-0.0069,-0.011,0.19,-0.0058,-0.0037,0.023,0.0039,-0.0028,0.019,-0.0015,-0.006,2.9e-05,0.012,0.0031,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00044,0.00044,0.019,0.03,0.03,0.0086,0.05,0.05,0.036,3e-06,3e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0 19690000,0.98,-0.0069,-0.011,0.19,-0.0057,-0.0037,0.023,0.0039,-0.0028,0.019,-0.0015,-0.006,2.9e-05,0.012,0.0031,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00045,0.00044,0.019,0.03,0.03,0.0086,0.05,0.05,0.036,3e-06,3e-06,6.3e-06,0.03,0.03,0.0005,0,0,0,0,0,0,0,0
19790000,0.98,-0.007,-0.011,0.19,-0.0058,-0.0023,0.022,0.0063,-0.0023,0.014,-0.0015,-0.006,2.9e-05,0.012,0.0028,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00043,0.00043,0.019,0.026,0.026,0.0086,0.044,0.044,0.036,2.8e-06,2.8e-06,6.3e-06,0.029,0.03,0.0005,0,0,0,0,0,0,0,0 19790000,0.98,-0.007,-0.011,0.19,-0.0058,-0.0023,0.022,0.0063,-0.0023,0.014,-0.0015,-0.006,2.9e-05,0.012,0.0028,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00043,0.00043,0.019,0.026,0.026,0.0086,0.044,0.044,0.036,2.8e-06,2.8e-06,6.3e-06,0.029,0.03,0.0005,0,0,0,0,0,0,0,0
19890000,0.98,-0.0071,-0.011,0.19,-0.0058,-0.002,0.022,0.0057,-0.0025,0.013,-0.0015,-0.006,2.9e-05,0.013,0.0027,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00044,0.00043,0.019,0.029,0.029,0.0086,0.05,0.05,0.036,2.8e-06,2.8e-06,6.3e-06,0.029,0.03,0.0005,0,0,0,0,0,0,0,0 19890000,0.98,-0.007,-0.011,0.19,-0.0058,-0.002,0.022,0.0057,-0.0025,0.013,-0.0015,-0.006,2.9e-05,0.013,0.0027,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00044,0.00043,0.019,0.029,0.029,0.0086,0.05,0.05,0.036,2.8e-06,2.8e-06,6.3e-06,0.029,0.03,0.0005,0,0,0,0,0,0,0,0
19990000,0.98,-0.0071,-0.011,0.19,-0.0055,-0.0019,0.019,0.0061,-0.00092,0.0097,-0.0015,-0.0059,2.9e-05,0.013,0.0026,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00043,0.00042,0.019,0.026,0.026,0.0085,0.044,0.044,0.036,2.5e-06,2.5e-06,6.3e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0 19990000,0.98,-0.0071,-0.011,0.19,-0.0055,-0.002,0.019,0.0061,-0.00093,0.0097,-0.0015,-0.0059,2.9e-05,0.013,0.0026,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00043,0.00042,0.019,0.026,0.026,0.0085,0.044,0.044,0.036,2.5e-06,2.5e-06,6.3e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0
20090000,0.98,-0.0071,-0.011,0.19,-0.005,-0.0042,0.019,0.0055,-0.0012,0.013,-0.0015,-0.0059,2.9e-05,0.013,0.0026,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00043,0.00042,0.019,0.028,0.028,0.0086,0.05,0.05,0.036,2.5e-06,2.5e-06,6.3e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0 20090000,0.98,-0.0071,-0.011,0.19,-0.005,-0.0042,0.019,0.0055,-0.0012,0.013,-0.0015,-0.0059,2.9e-05,0.013,0.0026,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00043,0.00042,0.019,0.028,0.028,0.0086,0.05,0.05,0.036,2.5e-06,2.5e-06,6.3e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0
20190000,0.98,-0.0071,-0.011,0.19,-0.0039,-0.0016,0.02,0.0065,-0.00092,0.013,-0.0015,-0.0059,2.9e-05,0.013,0.0025,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00042,0.00041,0.019,0.025,0.025,0.0085,0.044,0.044,0.036,2.3e-06,2.3e-06,6.3e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0 20190000,0.98,-0.0071,-0.011,0.19,-0.0039,-0.0016,0.02,0.0065,-0.00092,0.013,-0.0015,-0.0059,2.9e-05,0.013,0.0025,-0.13,0.37,0.0037,0.026,0,0,0,0,0,0.00042,0.00041,0.019,0.025,0.025,0.0085,0.044,0.044,0.036,2.3e-06,2.3e-06,6.3e-06,0.029,0.029,0.0005,0,0,0,0,0,0,0,0
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