WIP: ekf2 mag decl cleanup

src/modules/ekf2/EKF/covariance.cpp

@@ -293,15 +293,18 @@ void Ekf::resetQuatCov(const Vector3f &rot_var_ned)
 }
 
 #if defined(CONFIG_EKF2_MAGNETOMETER)
-void Ekf::resetMagCov()
+void Ekf::resetMagCov(float mag_noise)
 {
-	if (_mag_decl_cov_reset) {
+	if (PX4_ISFINITE(mag_noise) && (mag_noise > 0.f)) {
 		ECL_INFO("reset mag covariance");
-		_mag_decl_cov_reset = false;
-	}
+		P.uncorrelateCovarianceSetVariance<State::mag_I.dof>(State::mag_I.idx, sq(mag_noise));
+		P.uncorrelateCovarianceSetVariance<State::mag_B.dof>(State::mag_B.idx, sq(mag_noise));
 
-	P.uncorrelateCovarianceSetVariance<State::mag_I.dof>(State::mag_I.idx, sq(_params.mag_noise));
-	P.uncorrelateCovarianceSetVariance<State::mag_B.dof>(State::mag_B.idx, sq(_params.mag_noise));
+	} else {
+		ECL_INFO("clearing mag covariance");
+		P.uncorrelateCovarianceSetVariance<State::mag_I.dof>(State::mag_I.idx, 0.f);
+		P.uncorrelateCovarianceSetVariance<State::mag_B.dof>(State::mag_B.idx, 0.f);
+	}
 }
 #endif // CONFIG_EKF2_MAGNETOMETER
 

src/modules/ekf2/EKF/ekf.h

@@ -707,7 +707,6 @@ private:
 	uint64_t _time_yaw_started{0};		///< last system time in usec that a yaw rotation manoeuvre was detected
 	AlphaFilter<float> _mag_heading_innov_lpf{0.1f};
 	float _mag_heading_last_declination{}; ///< last magnetic field declination used for heading fusion (rad)
-	bool _mag_decl_cov_reset{false};	///< true after the fuseDeclination() function has been used to modify the earth field covariances after a magnetic field reset event.
 	uint8_t _nb_mag_heading_reset_available{0};
 	uint8_t _nb_mag_3d_reset_available{0};
 	uint32_t _min_mag_health_time_us{1'000'000}; ///< magnetometer is marked as healthy only after this amount of time
@@ -1104,7 +1103,7 @@ private:
 	void resetQuatCov(const Vector3f &euler_noise_ned);
 
 #if defined(CONFIG_EKF2_MAGNETOMETER)
-	void resetMagCov();
+	void resetMagCov(float mag_noise = NAN);
 #endif // CONFIG_EKF2_MAGNETOMETER
 
 #if defined(CONFIG_EKF2_WIND)

src/modules/ekf2/EKF/mag_3d_control.cpp

@@ -97,16 +97,6 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star
 				resetMagStates(_mag_lpf.getState(), _control_status.flags.mag_hdg || _control_status.flags.mag_3D);
 				aid_src.time_last_fuse = _time_delayed_us;
 
-			} else {
-				if (!_mag_decl_cov_reset) {
-					// After any magnetic field covariance reset event the earth field state
-					// covariances need to be corrected to incorporate knowledge of the declination
-					// before fusing magnetometer data to prevent rapid rotation of the earth field
-					// states for the first few observations.
-					fuseDeclination(0.02f);
-					_mag_decl_cov_reset = true;
-					fuseMag(mag_sample.mag, aid_src, false);
-
 			} else {
 				// The normal sequence is to fuse the magnetometer data first before fusing
 				// declination angle at a higher uncertainty to allow some learning of
@@ -118,7 +108,6 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star
 					fuseDeclination(0.5f);
 				}
 			}
-			}
 
 			const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.reset_timeout_max);
 
@@ -157,16 +146,18 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star
 	} else {
 		if (starting_conditions_passing) {
 
-			_control_status.flags.mag = true;
-
 			// activate fusion, reset mag states and initialize variance if first init or in flight reset
-			if (!_control_status.flags.yaw_align
+			bool reset_mag_states = !_control_status.flags.yaw_align
 						|| wmm_updated
-			    || !_mag_decl_cov_reset
 						|| !_state.mag_I.longerThan(0.f)
 						|| (getStateVariance<State::mag_I>().min() < kMagVarianceMin)
-			    || (getStateVariance<State::mag_B>().min() < kMagVarianceMin)
-			   ) {
+						|| (getStateVariance<State::mag_B>().min() < kMagVarianceMin);
+
+			if (!reset_mag_states && fuseMag(mag_sample.mag, aid_src, false)) {
+				ECL_INFO("starting %s fusion", AID_SRC_NAME);
+				_control_status.flags.mag = true;
+
+			} else {
 				ECL_INFO("starting %s fusion, resetting states", AID_SRC_NAME);
 
 				bool reset_heading = !_control_status.flags.yaw_align;
@@ -177,16 +168,15 @@ void Ekf::controlMag3DFusion(const magSample &mag_sample, const bool common_star
 					_control_status.flags.yaw_align = true;
 				}
 
-			} else {
-				ECL_INFO("starting %s fusion", AID_SRC_NAME);
-				fuseMag(mag_sample.mag, aid_src, false);
+				_control_status.flags.mag = true;
+				aid_src.time_last_fuse = _time_delayed_us;
 			}
 
-			aid_src.time_last_fuse = _time_delayed_us;
-
+			if (_control_status.flags.mag) {
 				_nb_mag_3d_reset_available = 2;
 			}
 		}
+	}
 }
 
 void Ekf::stopMagFusion()

src/modules/ekf2/EKF/mag_control.cpp

@@ -63,11 +63,17 @@ void Ekf::controlMagFusion()
 	}
 
 	// stop mag (require a reset before using again) if there was an external yaw reset (yaw estimator, GPS yaw, etc)
-	if (_mag_decl_cov_reset && (_state_reset_status.reset_count.quat != _state_reset_count_prev.quat)) {
+	if (_state_reset_status.reset_count.quat != _state_reset_count_prev.quat) {
+
+		if (_information_events.flags.yaw_aligned_to_imu_gps
+		    || _control_status.flags.gps_yaw
+		    || _control_status.flags.ev_yaw
+		   ) {
 			ECL_INFO("yaw reset, stopping mag fusion to force reinitialization");
 			stopMagFusion();
 			resetMagCov();
 		}
+	}
 
 	magSample mag_sample;
 
@@ -145,7 +151,8 @@ void Ekf::resetMagStates(const Vector3f &mag, bool reset_heading)
 	const Vector3f mag_B_before_reset = _state.mag_B;
 
 	// reset covariances to default
-	resetMagCov();
+	const float R_MAG = math::max(sq(_params.mag_noise), sq(0.01f));
+	resetMagCov(R_MAG);
 
 	// if world magnetic model (inclination, declination, strength) available then use it to reset mag states
 	if (PX4_ISFINITE(_mag_inclination_gps) && PX4_ISFINITE(_mag_declination_gps) && PX4_ISFINITE(_mag_strength_gps)) {
@@ -185,9 +192,6 @@ void Ekf::resetMagStates(const Vector3f &mag, bool reset_heading)
 			resetMagHeading(mag);
 		}
 
-		// earth field was reset to WMM, skip initial declination fusion
-		_mag_decl_cov_reset = true;
-
 	} else {
 		// mag_B: reset
 		_state.mag_B.zero();
@@ -199,6 +203,12 @@ void Ekf::resetMagStates(const Vector3f &mag, bool reset_heading)
 
 		// mag_I: use the last magnetometer measurements to reset the field states
 		_state.mag_I = _R_to_earth * mag;
+
+		// After any magnetic field covariance reset event the earth field state
+		// covariances need to be corrected to incorporate knowledge of the declination
+		// before fusing magnetometer data to prevent rapid rotation of the earth field
+		// states for the first few observations.
+		fuseDeclination(0.02f);
 	}
 
 	if (!mag_I_before_reset.longerThan(0.f)) {

src/modules/ekf2/EKF/mag_fusion.cpp

@@ -106,7 +106,7 @@ bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bo
 			resetQuatCov(_params.mag_heading_noise);
 		}
 
-		resetMagCov();
+		resetMagCov(R_MAG);
 
 		ECL_ERR("mag %s", numerical_error_covariance_reset_string);
 		return false;
@@ -141,7 +141,7 @@ bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bo
 					resetQuatCov(_params.mag_heading_noise);
 				}
 
-				resetMagCov();
+				resetMagCov(R_MAG);
 
 				ECL_ERR("magY %s", numerical_error_covariance_reset_string);
 				return false;
@@ -169,7 +169,7 @@ bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bo
 					resetQuatCov(_params.mag_heading_noise);
 				}
 
-				resetMagCov();
+				resetMagCov(R_MAG);
 
 				ECL_ERR("magZ %s", numerical_error_covariance_reset_string);
 				return false;
@@ -191,14 +191,10 @@ bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bo
 			Kfusion.slice<State::mag_B.dof, 1>(State::mag_B.idx, 0) = K_mag_B;
 		}
 
-		if (measurementUpdate(Kfusion, aid_src_mag.innovation_variance[index], aid_src_mag.innovation[index])) {
-			fused[index] = true;
-			limitDeclination();
+		fused[index] = measurementUpdate(Kfusion, aid_src_mag.innovation_variance[index], aid_src_mag.innovation[index]);
+	}
 
-		} else {
-			fused[index] = false;
-		}
-	}
+	limitDeclination();
 
 	if (update_all_states) {
 		_fault_status.flags.bad_mag_x = !fused[0];
@@ -223,10 +219,25 @@ bool Ekf::fuseMag(const Vector3f &mag, estimator_aid_source3d_s &aid_src_mag, bo
 
 bool Ekf::fuseDeclination(float decl_sigma)
 {
-	if (!_control_status.flags.mag) {
+	if (!_state.mag_I.longerThan(0.f) || (getStateVariance<State::mag_I>().min() < kMagVarianceMin)) {
 		return false;
 	}
 
+	float decl_measurement = NAN;
+
+	if ((_params.mag_declination_source & GeoDeclinationMask::USE_GEO_DECL)
+	    && PX4_ISFINITE(_mag_declination_gps)
+	   ) {
+		decl_measurement = _mag_declination_gps;
+
+	} else if ((_params.mag_declination_source & GeoDeclinationMask::SAVE_GEO_DECL)
+		   && PX4_ISFINITE(_params.mag_declination_deg) && (fabsf(_params.mag_declination_deg) > 0.f)
+		  ) {
+		decl_measurement = math::radians(_params.mag_declination_deg);
+	}
+
+	if (PX4_ISFINITE(decl_measurement)) {
+
 		// observation variance (rad**2)
 		const float R_DECL = sq(decl_sigma);
 
@@ -234,10 +245,9 @@ bool Ekf::fuseDeclination(float decl_sigma)
 		float decl_pred;
 		float innovation_variance;
 
-	// TODO: review getMagDeclination() usage, use mag_I, _mag_declination_gps, or parameter?
 		sym::ComputeMagDeclinationPredInnovVarAndH(_state.vector(), P, R_DECL, FLT_EPSILON, &decl_pred, &innovation_variance, &H);
 
-	const float innovation = wrap_pi(decl_pred - getMagDeclination());
+		const float innovation = wrap_pi(decl_pred - decl_measurement);
 
 		if (innovation_variance < R_DECL) {
 			// variance calculation is badly conditioned
@@ -247,15 +257,17 @@ bool Ekf::fuseDeclination(float decl_sigma)
 		// Calculate the Kalman gains
 		VectorState Kfusion = P * H / innovation_variance;
 
-	const bool is_fused = measurementUpdate(Kfusion, innovation_variance, innovation);
-
-	_fault_status.flags.bad_mag_decl = !is_fused;
-
-	if (is_fused) {
+		if (measurementUpdate(Kfusion, innovation_variance, innovation)) {
 			limitDeclination();
+			_fault_status.flags.bad_mag_decl = false;
+			return true;
+
+		} else {
+			_fault_status.flags.bad_mag_decl = true;
+		}
 	}
 
-	return is_fused;
+	return false;
 }
 
 void Ekf::limitDeclination()
@@ -274,7 +286,9 @@ void Ekf::limitDeclination()
 		// set to 50% of the horizontal strength from geo tables if location is known
 		h_field_min = fmaxf(h_field_min, 0.5f * _mag_strength_gps * cosf(_mag_inclination_gps));
 
-	} else if (_params.mag_declination_source & GeoDeclinationMask::SAVE_GEO_DECL) {
+	} else if ((_params.mag_declination_source & GeoDeclinationMask::SAVE_GEO_DECL)
+		   && PX4_ISFINITE(_params.mag_declination_deg) && (fabsf(_params.mag_declination_deg) > 0.f)
+		  ) {
 		// use parameter value if GPS isn't available
 		decl_reference = math::radians(_params.mag_declination_deg);
 	}

src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv

@@ -1,391 +1,391 @@
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src/modules/ekf2/test/change_indication/iris_gps.csv

@@ -1,351 +1,351 @@
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