diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp index 2ab26658c3..34d26273e7 100644 --- a/src/modules/ekf2/EKF/control.cpp +++ b/src/modules/ekf2/EKF/control.cpp @@ -68,11 +68,9 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed) // monitor the tilt alignment if (!_control_status.flags.tilt_align) { // whilst we are aligning the tilt, monitor the variances - const Vector3f angle_err_var_vec = getQuaternionVariance(); - - // Once the tilt variances have reduced to equivalent of 3deg uncertainty + // Once the tilt variances have reduced to equivalent of 3 deg uncertainty // and declare the tilt alignment complete - if ((angle_err_var_vec(0) + angle_err_var_vec(1)) < sq(math::radians(3.0f))) { + if (getTiltVariance() < sq(math::radians(3.f))) { _control_status.flags.tilt_align = true; // send alignment status message to the console diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index 5fd528b594..2e133059c9 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -255,7 +255,10 @@ public: matrix::Vector covariances_diagonal() const { return P.diag(); } matrix::Vector getQuaternionVariance() const { return getStateVariance(); } + float getTiltVariance() const { return getStateVariance()(0) + getStateVariance()(1); }; + Vector3f getVelocityVariance() const { return getStateVariance(); }; + Vector3f getPositionVariance() const { return getStateVariance(); } // get the ekf WGS-84 origin position and height and the system time it was last set diff --git a/src/modules/ekf2/EKF/fake_pos_control.cpp b/src/modules/ekf2/EKF/fake_pos_control.cpp index 4962cd55fc..cb3d246f23 100644 --- a/src/modules/ekf2/EKF/fake_pos_control.cpp +++ b/src/modules/ekf2/EKF/fake_pos_control.cpp @@ -43,7 +43,7 @@ void Ekf::controlFakePosFusion() auto &aid_src = _aid_src_fake_pos; // If we aren't doing any aiding, fake position measurements at the last known position to constrain drift - // During intial tilt aligment, fake position is used to perform a "quasi-stationary" leveling of the EKF + // During initial tilt alignment, fake position is used to perform a "quasi-stationary" leveling of the EKF const bool fake_pos_data_ready = !isHorizontalAidingActive() && isTimedOut(aid_src.time_last_fuse, (uint64_t)2e5); // Fuse fake position at a limited rate @@ -68,7 +68,10 @@ void Ekf::controlFakePosFusion() updateHorizontalPositionAidSrcStatus(_time_delayed_us, Vector2f(_last_known_pos), obs_var, innov_gate, aid_src); - const bool continuing_conditions_passing = !isHorizontalAidingActive(); + const bool continuing_conditions_passing = !isHorizontalAidingActive() + && ((getTiltVariance() > sq(math::radians(3.f))) || _control_status.flags.vehicle_at_rest) + && (!(_params.imu_ctrl & static_cast(ImuCtrl::GravityVector)) || _control_status.flags.vehicle_at_rest); + const bool starting_conditions_passing = continuing_conditions_passing && _horizontal_deadreckon_time_exceeded; @@ -77,8 +80,8 @@ void Ekf::controlFakePosFusion() // always protect against extreme values that could result in a NaN if ((aid_src.test_ratio[0] < sq(100.0f / innov_gate)) - && (aid_src.test_ratio[1] < sq(100.0f / innov_gate)) - ) { + && (aid_src.test_ratio[1] < sq(100.0f / innov_gate)) + ) { fuseHorizontalPosition(aid_src); } diff --git a/src/modules/ekf2/EKF/gravity_fusion.cpp b/src/modules/ekf2/EKF/gravity_fusion.cpp index 13ae1112c6..fdc947b871 100644 --- a/src/modules/ekf2/EKF/gravity_fusion.cpp +++ b/src/modules/ekf2/EKF/gravity_fusion.cpp @@ -46,16 +46,21 @@ void Ekf::controlGravityFusion(const imuSample &imu) { - // fuse gravity observation if our overall acceleration isn't too big - const float gravity_scale = _accel_vec_filt.norm() / CONSTANTS_ONE_G; - - _control_status.flags.gravity_vector = (_params.imu_ctrl & static_cast(ImuCtrl::GravityVector)) - && (((gravity_scale >= 0.9f && gravity_scale <= 1.1f)) || _control_status.flags.vehicle_at_rest) - && !isHorizontalAidingActive(); - // get raw accelerometer reading at delayed horizon and expected measurement noise (gaussian) - const Vector3f measurement = imu.delta_vel / imu.delta_vel_dt - getAccelBias(); - const float measurement_var = sq(_params.gravity_noise); + const Vector3f measurement = imu.delta_vel / imu.delta_vel_dt - _state.accel_bias; + const float measurement_var = math::max(sq(_params.gravity_noise), sq(0.01f)); + + const float accel_lpf_norm_sq = _accel_vec_filt.norm_squared(); + const float accel_norm_sq = measurement.norm_squared(); + const float upper_accel_limit = CONSTANTS_ONE_G * 1.1f; + const float lower_accel_limit = CONSTANTS_ONE_G * 0.9f; + const bool accel_lpf_norm_good = (accel_lpf_norm_sq > sq(lower_accel_limit)) && (accel_lpf_norm_sq < sq(upper_accel_limit)); + const bool accel_norm_good = (accel_norm_sq > sq(lower_accel_limit)) && (accel_norm_sq < sq(upper_accel_limit)); + + // fuse gravity observation if our overall acceleration isn't too big + _control_status.flags.gravity_vector = (_params.imu_ctrl & static_cast(ImuCtrl::GravityVector)) + && ((accel_lpf_norm_good && accel_norm_good) || _control_status.flags.vehicle_at_rest) + && !isHorizontalAidingActive(); // calculate kalman gains and innovation variances Vector3f innovation; // innovation of the last gravity fusion observation (m/s**2) diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp index 07318add69..0b78bd3901 100644 --- a/src/modules/ekf2/EKF2.cpp +++ b/src/modules/ekf2/EKF2.cpp @@ -250,6 +250,7 @@ bool EKF2::multi_init(int imu, int mag) _estimator_states_pub.advertise(); _estimator_status_flags_pub.advertise(); _estimator_status_pub.advertise(); + #if defined(CONFIG_EKF2_GNSS) _yaw_est_pub.advertise(); #endif // CONFIG_EKF2_GNSS @@ -313,6 +314,14 @@ bool EKF2::multi_init(int imu, int mag) # endif // CONFIG_EKF2_GNSS_YAW #endif // CONFIG_EKF2_GNSS +#if defined(CONFIG_EKF2_GRAVITY_FUSION) + + if (_param_ekf2_imu_ctrl.get() & static_cast(ImuCtrl::GravityVector)) { + _estimator_aid_src_gravity_pub.advertise(); + } + +#endif // CONFIG_EKF2_GRAVITY_FUSION + #if defined(CONFIG_EKF2_RANGE_FINDER) // RNG advertise diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c index cc8adcca56..4b797bafdc 100644 --- a/src/modules/ekf2/ekf2_params.c +++ b/src/modules/ekf2/ekf2_params.c @@ -62,7 +62,7 @@ PARAM_DEFINE_INT32(EKF2_PREDICT_US, 10000); * @bit 1 Accel Bias * @bit 2 Gravity vector fusion */ -PARAM_DEFINE_INT32(EKF2_IMU_CTRL, 3); +PARAM_DEFINE_INT32(EKF2_IMU_CTRL, 7); /** * Magnetometer measurement delay relative to IMU measurements @@ -829,7 +829,7 @@ PARAM_DEFINE_FLOAT(EKF2_EVA_NOISE, 0.1f); * @unit m/s^2 * @decimal 2 */ -PARAM_DEFINE_FLOAT(EKF2_GRAV_NOISE, 1.0f); +PARAM_DEFINE_FLOAT(EKF2_GRAV_NOISE, 5.0f); /** * Optical flow aiding 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 9f5396bb74..b5e0523917 100644 --- 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@@ void LoggedTopics::add_default_topics() add_optional_topic_multi("estimator_aid_src_gnss_pos", 0, MAX_ESTIMATOR_INSTANCES); add_optional_topic_multi("estimator_aid_src_gnss_vel", 0, MAX_ESTIMATOR_INSTANCES); add_optional_topic_multi("estimator_aid_src_gnss_yaw", 0, MAX_ESTIMATOR_INSTANCES); + add_optional_topic_multi("estimator_aid_src_gravity", 0, MAX_ESTIMATOR_INSTANCES); add_optional_topic_multi("estimator_aid_src_mag_heading", 0, MAX_ESTIMATOR_INSTANCES); add_optional_topic_multi("estimator_aid_src_mag", 0, MAX_ESTIMATOR_INSTANCES); add_optional_topic_multi("estimator_aid_src_optical_flow", 0, MAX_ESTIMATOR_INSTANCES);