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ekf2: fix computation of tilt and yaw variances add them to logging 

Co-authored-by: bresch <bresch@users.noreply.github.com>
This commit is contained in:
Mathieu Bresciani 2024-01-24 18:14:15 +01:00 committed by GitHub
parent da28d9a7f2
commit cb396a6339
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GPG Key ID: B5690EEEBB952194
6 changed files with 272 additions and 258 deletions
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3
msg/VehicleLocalPosition.msg
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@ -38,11 +38,14 @@ float32 ay # East velocity derivative in NED earth-fixed frame, (metres/s
float32 az # Down velocity derivative in NED earth-fixed frame, (metres/sec^2) float32 az # Down velocity derivative in NED earth-fixed frame, (metres/sec^2)
float32 heading # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians) float32 heading # Euler yaw angle transforming the tangent plane relative to NED earth-fixed frame, -PI..+PI, (radians)
float32 heading_var
float32 unaided_heading # Same as heading but generated by integrating corrected gyro data only float32 unaided_heading # Same as heading but generated by integrating corrected gyro data only
float32 delta_heading # Heading delta caused by latest heading reset [rad] float32 delta_heading # Heading delta caused by latest heading reset [rad]
uint8 heading_reset_counter # Index of latest heading reset uint8 heading_reset_counter # Index of latest heading reset
bool heading_good_for_control bool heading_good_for_control
float32 tilt_var
# Position of reference point (local NED frame origin) in global (GPS / WGS84) frame # Position of reference point (local NED frame origin) in global (GPS / WGS84) frame
bool xy_global # true if position (x, y) has a valid global reference (ref_lat, ref_lon) bool xy_global # true if position (x, y) has a valid global reference (ref_lat, ref_lon)
bool z_global # true if z has a valid global reference (ref_alt) bool z_global # true if z has a valid global reference (ref_alt)

6
src/modules/ekf2/EKF/ekf.h
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@ -255,7 +255,9 @@ public:
matrix::Vector<float, State::size> covariances_diagonal() const { return P.diag(); } matrix::Vector<float, State::size> covariances_diagonal() const { return P.diag(); }
matrix::Vector<float, State::quat_nominal.dof> getQuaternionVariance() const { return getStateVariance<State::quat_nominal>(); } matrix::Vector<float, State::quat_nominal.dof> getQuaternionVariance() const { return getStateVariance<State::quat_nominal>(); }
float getTiltVariance() const { return getStateVariance<State::quat_nominal>()(0) + getStateVariance<State::quat_nominal>()(1); }; matrix::Vector3f getRotVarNed() const;
float getYawVar() const;
float getTiltVariance() const;
Vector3f getVelocityVariance() const { return getStateVariance<State::vel>(); }; Vector3f getVelocityVariance() const { return getStateVariance<State::vel>(); };
@ -410,8 +412,6 @@ public:
// return a bitmask integer that describes which state estimates can be used for flight control // return a bitmask integer that describes which state estimates can be used for flight control
void get_ekf_soln_status(uint16_t *status) const; void get_ekf_soln_status(uint16_t *status) const;
float getYawVar() const;
HeightSensor getHeightSensorRef() const { return _height_sensor_ref; } HeightSensor getHeightSensorRef() const { return _height_sensor_ref; }
#if defined(CONFIG_EKF2_AIRSPEED) #if defined(CONFIG_EKF2_AIRSPEED)

19
src/modules/ekf2/EKF/ekf_helper.cpp
View File

@ -849,11 +849,21 @@ void Ekf::updateVerticalDeadReckoningStatus()
} }
} }
Vector3f Ekf::getRotVarNed() const
{
const matrix::SquareMatrix3f rot_cov_body = getStateCovariance<State::quat_nominal>();
return matrix::SquareMatrix<float, State::quat_nominal.dof>(_R_to_earth * rot_cov_body * _R_to_earth.T()).diag();
}
float Ekf::getYawVar() const float Ekf::getYawVar() const
{ {
const matrix::SquareMatrix3f rot_cov = diag(getQuaternionVariance()); return getRotVarNed()(2);
const auto rot_var_ned = matrix::SquareMatrix<float, State::quat_nominal.dof>(_R_to_earth * rot_cov * _R_to_earth.T()).diag(); }
return rot_var_ned(2);
float Ekf::getTiltVariance() const
{
const Vector3f rot_var_ned = getRotVarNed();
return rot_var_ned(0) + rot_var_ned(1);
} }
#if defined(CONFIG_EKF2_BAROMETER) #if defined(CONFIG_EKF2_BAROMETER)
@ -887,8 +897,7 @@ void Ekf::resetQuatStateYaw(float yaw, float yaw_variance)
const Quatf quat_before_reset = _state.quat_nominal; const Quatf quat_before_reset = _state.quat_nominal;
// save a copy of covariance in NED frame to restore it after the quat reset // save a copy of covariance in NED frame to restore it after the quat reset
const matrix::SquareMatrix3f rot_cov = diag(getQuaternionVariance()); Vector3f rot_var_ned_before_reset = getRotVarNed();
Vector3f rot_var_ned_before_reset = matrix::SquareMatrix3f(_R_to_earth * rot_cov * _R_to_earth.T()).diag();
// update the yaw angle variance // update the yaw angle variance
if (PX4_ISFINITE(yaw_variance) && (yaw_variance > FLT_EPSILON)) { if (PX4_ISFINITE(yaw_variance) && (yaw_variance > FLT_EPSILON)) {

2
src/modules/ekf2/EKF2.cpp
View File

@ -1579,8 +1579,10 @@ void EKF2::PublishLocalPosition(const hrt_abstime &timestamp)
lpos.heading = Eulerf(_ekf.getQuaternion()).psi(); lpos.heading = Eulerf(_ekf.getQuaternion()).psi();
lpos.unaided_heading = _ekf.getUnaidedYaw(); lpos.unaided_heading = _ekf.getUnaidedYaw();
lpos.heading_var = _ekf.getYawVar();
lpos.delta_heading = Eulerf(delta_q_reset).psi(); lpos.delta_heading = Eulerf(delta_q_reset).psi();
lpos.heading_good_for_control = _ekf.isYawFinalAlignComplete(); lpos.heading_good_for_control = _ekf.isYawFinalAlignComplete();
lpos.tilt_var = _ekf.getTiltVariance();
#if defined(CONFIG_EKF2_TERRAIN) #if defined(CONFIG_EKF2_TERRAIN)
// Distance to bottom surface (ground) in meters, must be positive // Distance to bottom surface (ground) in meters, must be positive

312
src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
View File

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188
src/modules/ekf2/test/change_indication/iris_gps.csv
View File

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@ -227,15 +227,15 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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