diff --git a/src/modules/ekf2/EKF/ekf.cpp b/src/modules/ekf2/EKF/ekf.cpp index 4cc769f253..4e3b7ed479 100644 --- a/src/modules/ekf2/EKF/ekf.cpp +++ b/src/modules/ekf2/EKF/ekf.cpp @@ -204,8 +204,6 @@ bool Ekf::initialiseFilter() _time_last_hgt_fuse = _imu_sample_delayed.time_us; _time_last_hor_pos_fuse = _imu_sample_delayed.time_us; _time_last_hor_vel_fuse = _imu_sample_delayed.time_us; - _time_last_hagl_fuse = _imu_sample_delayed.time_us; - _time_last_flow_terrain_fuse = _imu_sample_delayed.time_us; // reset the output predictor state history to match the EKF initial values alignOutputFilter(); diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index 788d00f5f9..081e1e5ba7 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -285,7 +285,7 @@ public: return !_vertical_velocity_deadreckon_time_exceeded && !_control_status.flags.fake_hgt; } - bool isTerrainEstimateValid() const { return _hagl_valid; }; + bool isTerrainEstimateValid() const; bool isYawFinalAlignComplete() const { @@ -451,8 +451,6 @@ private: void updateHorizontalDeadReckoningstatus(); void updateVerticalDeadReckoningStatus(); - void updateTerrainValidity(); - struct { uint8_t velNE_counter; ///< number of horizontal position reset events (allow to wrap if count exceeds 255) uint8_t velD_counter; ///< number of vertical velocity reset events (allow to wrap if count exceeds 255) @@ -630,7 +628,6 @@ private: float _terrain_var{1e4f}; ///< variance of terrain position estimate (m**2) uint8_t _terrain_vpos_reset_counter{0}; ///< number of times _terrain_vpos has been reset uint64_t _time_last_hagl_fuse{0}; ///< last system time that a range sample was fused by the terrain estimator - bool _hagl_valid{false}; ///< true when the height above ground estimate is valid terrain_fusion_status_u _hagl_sensor_status{}; ///< Struct indicating type of sensor used to estimate height above ground // height sensor status @@ -766,7 +763,6 @@ private: void fuseFlowForTerrain(); void controlHaglFakeFusion(); - void resetHaglFake(); // reset the heading and magnetic field states using the declination and magnetometer measurements // return true if successful diff --git a/src/modules/ekf2/EKF/terrain_estimator.cpp b/src/modules/ekf2/EKF/terrain_estimator.cpp index ba5fd77e48..6406088a55 100644 --- a/src/modules/ekf2/EKF/terrain_estimator.cpp +++ b/src/modules/ekf2/EKF/terrain_estimator.cpp @@ -45,7 +45,14 @@ void Ekf::initHagl() { - resetHaglFake(); + stopHaglFlowFusion(); + stopHaglRngFusion(); + + // assume a ground clearance + _terrain_vpos = _state.pos(2) + _params.rng_gnd_clearance; + + // use the ground clearance value as our uncertainty + _terrain_var = sq(_params.rng_gnd_clearance); } void Ekf::runTerrainEstimator() @@ -66,8 +73,6 @@ void Ekf::runTerrainEstimator() if (_terrain_vpos - _state.pos(2) < _params.rng_gnd_clearance) { _terrain_vpos = _params.rng_gnd_clearance + _state.pos(2); } - - updateTerrainValidity(); } void Ekf::predictHagl() @@ -306,7 +311,7 @@ void Ekf::stopHaglFlowFusion() void Ekf::resetHaglFlow() { // TODO: use the flow data - _terrain_vpos = fmaxf(0.0f, _state.pos(2)); + _terrain_vpos = fmaxf(0.0f, _state.pos(2)); _terrain_var = 100.0f; _terrain_vpos_reset_counter++; } @@ -410,27 +415,23 @@ void Ekf::controlHaglFakeFusion() if (!_control_status.flags.in_air && !_hagl_sensor_status.flags.range_finder && !_hagl_sensor_status.flags.flow) { - resetHaglFake(); + + initHagl(); } } -void Ekf::resetHaglFake() -{ - // assume a ground clearance - _terrain_vpos = _state.pos(2) + _params.rng_gnd_clearance; - // use the ground clearance value as our uncertainty - _terrain_var = sq(_params.rng_gnd_clearance); - _time_last_hagl_fuse = _imu_sample_delayed.time_us; -} - -void Ekf::updateTerrainValidity() +bool Ekf::isTerrainEstimateValid() const { // we have been fusing range finder measurements in the last 5 seconds - const bool recent_range_fusion = isRecent(_time_last_hagl_fuse, (uint64_t)5e6); + if (_hagl_sensor_status.flags.range_finder && isRecent(_time_last_hagl_fuse, (uint64_t)5e6)) { + return true; + } // we have been fusing optical flow measurements for terrain estimation within the last 5 seconds // this can only be the case if the main filter does not fuse optical flow - const bool recent_flow_for_terrain_fusion = isRecent(_time_last_flow_terrain_fuse, (uint64_t)5e6); + if (_hagl_sensor_status.flags.flow && isRecent(_time_last_flow_terrain_fuse, (uint64_t)5e6)) { + return true; + } - _hagl_valid = (recent_range_fusion || recent_flow_for_terrain_fusion); + return false; } diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv index 3da6cb91d6..cdd1aef126 100644 --- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv +++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv @@ -1,224 +1,224 @@ 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