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EKF: add flt_mag_align_complete to control_status flags 

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
This commit is contained in:
CarlOlsson 2019-01-04 14:15:32 +01:00 committed by Lorenz Meier
parent b920910483
commit d223680197
4 changed files with 18 additions and 18 deletions
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1
EKF/common.h
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@ -448,6 +448,7 @@ union filter_control_status_u {
uint32_t gnd_effect : 1; ///< 20 - true when protection from ground effect induced static pressure rise is active
uint32_t rng_stuck : 1; ///< 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
uint32_t gps_yaw : 1; ///< 22 - true when yaw (not ground course) data from a GPS receiver is being fused
uint32_t flt_mag_align_complete : 1; ///< 23 - true when the in-flight mag field alignment has been completed
} flags;
uint32_t value;
};

26
EKF/control.cpp
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@ -1349,7 +1349,7 @@ void Ekf::controlMagFusion()
// Also reset the flight alignment flag so that the mag fields will be re-initialised next time we achieve flight altitude
if (!_control_status.flags.in_air) {
_last_on_ground_posD = _state.pos(2);
_flt_mag_align_complete = false;
_control_status.flags.flt_mag_align_complete = false;
_num_bad_flight_yaw_events = 0;
}
@ -1359,7 +1359,7 @@ void Ekf::controlMagFusion()
// We need to reset the yaw angle after climbing away from the ground to enable
// recovery from ground level magnetic interference.
if (!_flt_mag_align_complete) {
if (!_control_status.flags.flt_mag_align_complete) {
// Check if height has increased sufficiently to be away from ground magnetic anomalies
// and request a yaw reset if not already requested.
_mag_yaw_reset_req |= (_last_on_ground_posD - _state.pos(2)) > 1.5f;
@ -1368,7 +1368,7 @@ void Ekf::controlMagFusion()
// perform a yaw reset if requested by other functions
if (_mag_yaw_reset_req) {
if (!_mag_use_inhibit ) {
_flt_mag_align_complete = resetMagHeading(_mag_sample_delayed.mag) && _control_status.flags.in_air;
_control_status.flags.flt_mag_align_complete = resetMagHeading(_mag_sample_delayed.mag) && _control_status.flags.in_air;
}
_mag_yaw_reset_req = false;
}
@ -1426,16 +1426,16 @@ void Ekf::controlMagFusion()
// decide whether 3-axis magnetomer fusion can be used
bool use_3D_fusion = _control_status.flags.tilt_align && // Use of 3D fusion requires valid tilt estimates
_control_status.flags.in_air && // don't use when on the ground becasue of magnetic anomalies
(_flt_mag_align_complete || height_achieved) && // once in-flight field alignment has been performed, ignore relative height
(_control_status.flags.flt_mag_align_complete || height_achieved) && // once in-flight field alignment has been performed, ignore relative height
((_imu_sample_delayed.time_us - _time_last_movement) < 2 * 1000 * 1000); // Using 3-axis fusion for a minimum period after to allow for false negatives
// perform switch-over
if (use_3D_fusion) {
if (!_control_status.flags.mag_3D) {
if (!_flt_mag_align_complete) {
if (!_control_status.flags.flt_mag_align_complete) {
// If we are flying a vehicle that flies forward, eg plane, then we can use the GPS course to check and correct the heading
if (_control_status.flags.fixed_wing && _control_status.flags.in_air) {
_flt_mag_align_complete = realignYawGPS();
_control_status.flags.flt_mag_align_complete = realignYawGPS();
if (_velpos_reset_request) {
resetVelocity();
@ -1444,10 +1444,10 @@ void Ekf::controlMagFusion()
}
} else {
_flt_mag_align_complete = resetMagHeading(_mag_sample_delayed.mag);
_control_status.flags.flt_mag_align_complete = resetMagHeading(_mag_sample_delayed.mag);
}
_control_status.flags.yaw_align = _control_status.flags.yaw_align || _flt_mag_align_complete;
_control_status.flags.yaw_align = _control_status.flags.yaw_align || _control_status.flags.flt_mag_align_complete;
} else {
// reset the mag field covariances
@ -1462,7 +1462,7 @@ void Ekf::controlMagFusion()
}
// only use one type of mag fusion at the same time
_control_status.flags.mag_3D = _flt_mag_align_complete;
_control_status.flags.mag_3D = _control_status.flags.flt_mag_align_complete;
_control_status.flags.mag_hdg = !_control_status.flags.mag_3D;
} else {
@ -1510,13 +1510,13 @@ void Ekf::controlMagFusion()
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_3D) {
// if transitioning into 3-axis fusion mode, we need to initialise the yaw angle and field states
if (!_control_status.flags.mag_3D || !_flt_mag_align_complete) {
_flt_mag_align_complete = resetMagHeading(_mag_sample_delayed.mag);
_control_status.flags.yaw_align = _control_status.flags.yaw_align || _flt_mag_align_complete;
if (!_control_status.flags.mag_3D || !_control_status.flags.flt_mag_align_complete) {
_control_status.flags.flt_mag_align_complete = resetMagHeading(_mag_sample_delayed.mag);
_control_status.flags.yaw_align = _control_status.flags.yaw_align || _control_status.flags.flt_mag_align_complete;
}
// use 3-axis mag fusion if reset was successful
_control_status.flags.mag_3D = _flt_mag_align_complete;
_control_status.flags.mag_3D = _control_status.flags.flt_mag_align_complete;
_control_status.flags.mag_hdg = false;
} else {

1
EKF/ekf.h
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@ -411,7 +411,6 @@ private:
// Variables used to control activation of post takeoff functionality
float _last_on_ground_posD{0.0f}; ///< last vertical position when the in_air status was false (m)
bool _flt_mag_align_complete{false}; ///< true when the in-flight mag field alignment has been completed
bool _flt_mag_align_converging{false}; ///< true when the in-flight mag field post alignment convergence is being performd
uint64_t _flt_mag_align_start_time{0}; ///< time that inflight magnetic field alignment started (uSec)
uint64_t _time_last_movement{0}; ///< last system time that sufficient movement to use 3-axis magnetometer fusion was detected (uSec)

8
EKF/ekf_helper.cpp
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@ -429,7 +429,7 @@ bool Ekf::realignYawGPS()
ECL_WARN("EKF bad yaw corrected using GPS course");
// declare the magnetomer as failed if a bad yaw has occurred more than once
if (_flt_mag_align_complete && (_num_bad_flight_yaw_events >= 2) && !_control_status.flags.mag_fault) {
if (_control_status.flags.flt_mag_align_complete && (_num_bad_flight_yaw_events >= 2) && !_control_status.flags.mag_fault) {
ECL_WARN("EKF stopping magnetometer use");
_control_status.flags.mag_fault = true;
}
@ -448,11 +448,11 @@ bool Ekf::realignYawGPS()
Eulerf euler321(_state.quat_nominal);
// apply yaw correction
if (!_flt_mag_align_complete) {
if (!_control_status.flags.flt_mag_align_complete) {
// This is our first flight aligment so we can assume that the recent change in velocity has occurred due to a
// forward direction takeoff or launch and therefore the inertial and GPS ground course discrepancy is due to yaw error
euler321(2) += courseYawError;
_flt_mag_align_complete = true;
_control_status.flags.flt_mag_align_complete = true;
} else if (_control_status.flags.wind) {
// we have previously aligned yaw in-flight and have wind estimates so set the yaw such that the vehicle nose is
@ -765,7 +765,7 @@ bool Ekf::resetMagHeading(Vector3f &mag_init)
void Ekf::calcMagDeclination()
{
// set source of magnetic declination for internal use
if (_flt_mag_align_complete) {
if (_control_status.flags.flt_mag_align_complete) {
// Use value consistent with earth field state
_mag_declination = atan2f(_state.mag_I(1), _state.mag_I(0));