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ekf2: mag_fusion only set fault status flags if mag_3D updating all states 

- other parts of the system are blanket checking for any fault status
   flag
This commit is contained in:
Daniel Agar 2023-10-05 12:03:46 -04:00
parent e58ceba4b1
commit c85840c4dd
1 changed files with 17 additions and 8 deletions
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25
src/modules/ekf2/EKF/mag_fusion.cpp
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@ -80,10 +80,16 @@ bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bo
const float innov_gate = math::max(_params.mag_innov_gate, 1.f);
setEstimatorAidStatusTestRatio(aid_src_mag, innov_gate);
// the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned
_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_z = (aid_src_mag.innovation_variance[2] < aid_src_mag.observation_variance[2]);
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_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]);
} 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
_innov_check_fail_status.flags.reject_mag_x = (aid_src_mag.test_ratio[0] > 1.f);
@ -94,6 +100,7 @@ bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bo
// check innovation variances for being badly conditioned
if (innov_var.min() < R_MAG) {
// 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
if (update_all_states) {
resetQuatCov(_params.mag_heading_noise);
@ -190,11 +197,13 @@ bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bo
}
}
_fault_status.flags.bad_mag_x = !fused[0];
_fault_status.flags.bad_mag_y = !fused[1];
_fault_status.flags.bad_mag_z = !fused[2];
if (update_all_states) {
_fault_status.flags.bad_mag_x = !fused[0];
_fault_status.flags.bad_mag_y = !fused[1];
_fault_status.flags.bad_mag_z = !fused[2];
}
if (fused[0] && fused[1] && (fused[2] || _control_status.flags.synthetic_mag_z)) {
if (fused[0] && fused[1] && fused[2]) {
aid_src_mag.fused = true;
aid_src_mag.time_last_fuse = _time_delayed_us;