forked from Archive/PX4-Autopilot
EKF: misc improvements to handling of accel clipping
This commit is contained in:
parent
9c89fa3b29
commit
c566318db5
|
@ -354,7 +354,7 @@ struct parameters {
|
|||
float bcoef_y{25.0f}; ///< ballistic coefficient along the Y-axis (kg/m**2)
|
||||
|
||||
// control of accel error detection and mitigation (IMU clipping)
|
||||
float vert_innov_test_lim{4.5f}; ///< Number of standard deviations allowed before the combined vertical velocity and position test is declared as failed
|
||||
float vert_innov_test_lim{3.0f}; ///< Number of standard deviations allowed before the combined vertical velocity and position test is declared as failed
|
||||
int bad_acc_reset_delay_us{500000}; ///< Continuous time that the vertical position and velocity innovation test must fail before the states are reset (uSec)
|
||||
|
||||
// auxiliary velocity fusion
|
||||
|
|
|
@ -893,8 +893,8 @@ void Ekf::checkVerticalAccelerationHealth()
|
|||
{
|
||||
// Check for IMU accelerometer vibration induced clipping as evidenced by the vertical
|
||||
// innovations being positive and not stale.
|
||||
// Clipping causes the average accel reading to move towards zero which makes the INS
|
||||
// think it is falling and produces positive vertical innovations
|
||||
// Clipping usually causes the average accel reading to move towards zero which makes the INS
|
||||
// think it is falling and produces positive vertical innovations.
|
||||
// Don't use stale innovation data.
|
||||
bool is_inertial_nav_falling = false;
|
||||
bool are_vertical_pos_and_vel_independant = false;
|
||||
|
@ -905,13 +905,8 @@ void Ekf::checkVerticalAccelerationHealth()
|
|||
const bool using_gps_for_both = _control_status.flags.gps_hgt && _control_status.flags.gps;
|
||||
const bool using_ev_for_both = _control_status.flags.ev_hgt && _control_status.flags.ev_vel;
|
||||
are_vertical_pos_and_vel_independant = !(using_gps_for_both || using_ev_for_both);
|
||||
if (are_vertical_pos_and_vel_independant) {
|
||||
if (_vert_pos_innov_ratio > 0.0f && _vert_vel_innov_ratio > 0.0f) {
|
||||
is_inertial_nav_falling = _vert_pos_innov_ratio * _vert_vel_innov_ratio > 0.5f * sq(_params.vert_innov_test_lim);
|
||||
}
|
||||
} else {
|
||||
is_inertial_nav_falling = _vert_vel_innov_ratio > _params.vert_innov_test_lim || _vert_pos_innov_ratio > _params.vert_innov_test_lim;
|
||||
}
|
||||
is_inertial_nav_falling |= _vert_vel_innov_ratio > _params.vert_innov_test_lim && _vert_pos_innov_ratio > 0.0f;
|
||||
is_inertial_nav_falling |= _vert_pos_innov_ratio > _params.vert_innov_test_lim && _vert_vel_innov_ratio > 0.0f;
|
||||
} else {
|
||||
// only height sensing available
|
||||
is_inertial_nav_falling = _vert_pos_innov_ratio > _params.vert_innov_test_lim;
|
||||
|
|
|
@ -152,7 +152,7 @@ void Ekf::predictCovariance()
|
|||
|
||||
// When on ground, only consider an accel bias observable if aligned with the gravity vector
|
||||
const bool is_bias_observable = (fabsf(_R_to_earth(2, index)) > 0.8f) || _control_status.flags.in_air;
|
||||
const bool do_inhibit_axis = do_inhibit_all_axes || !is_bias_observable;
|
||||
const bool do_inhibit_axis = do_inhibit_all_axes || !is_bias_observable || _imu_sample_delayed.delta_vel_clipping[index];
|
||||
|
||||
if (do_inhibit_axis) {
|
||||
// store the bias state variances to be reinstated later
|
||||
|
|
Loading…
Reference in New Issue