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/**
 * @file terrain_estimator.cpp
 * Function for fusing rangefinder measurements to estimate terrain vertical position/
 *
 * @author Paul Riseborough <p_riseborough@live.com.au>
 *
 */

#include "ekf.h"
#include "mathlib.h"

bool Ekf::initHagl()
{
	// get most recent range measurement from buffer
	const rangeSample& latest_measurement = _range_buffer.get_newest();

	if ((_time_last_imu - latest_measurement.time_us) < (uint64_t)2e5 && _R_rng_to_earth_2_2 > _params.range_cos_max_tilt) {
		// if we have a fresh measurement, use it to initialise the terrain estimator
		_terrain_vpos = _state.pos(2) + latest_measurement.rng * _R_rng_to_earth_2_2;
		// initialise state variance to variance of measurement
		_terrain_var = sq(_params.range_noise);
		// success
		return true;

	} else if (!_control_status.flags.in_air) {
		// if on ground we assume a ground clearance
		_terrain_vpos = _state.pos(2) + _params.rng_gnd_clearance;
		// Use the ground clearance value as our uncertainty
		_terrain_var = sq(_params.rng_gnd_clearance);
		// ths is a guess
		return false;

	} else {
		// no information - cannot initialise
		return false;
	}
}

void Ekf::runTerrainEstimator()
{
	// Perform a continuity check on range finder data
	checkRangeDataContinuity();

	// Perform initialisation check
	if (!_terrain_initialised) {
		_terrain_initialised = initHagl();

	} else {

		// predict the state variance growth where the state is the vertical position of the terrain underneath the vehicle

		// process noise due to errors in vehicle height estimate
		_terrain_var += sq(_imu_sample_delayed.delta_vel_dt * _params.terrain_p_noise);

		// process noise due to terrain gradient
		_terrain_var += sq(_imu_sample_delayed.delta_vel_dt * _params.terrain_gradient) * (sq(_state.vel(0)) + sq(_state.vel(
					1)));

		// limit the variance to prevent it becoming badly conditioned
		_terrain_var = math::constrain(_terrain_var, 0.0f, 1e4f);

		// Fuse range finder data if available
		if (_range_data_ready && !_rng_stuck) {
			fuseHagl();

			// update range sensor angle parameters in case they have changed
			// we do this here to avoid doing those calculations at a high rate
			_sin_tilt_rng = sinf(_params.rng_sens_pitch);
			_cos_tilt_rng = cosf(_params.rng_sens_pitch);

		}

		//constrain _terrain_vpos to be a minimum of _params.rng_gnd_clearance larger than _state.pos(2)
		if (_terrain_vpos - _state.pos(2) < _params.rng_gnd_clearance) {
			_terrain_vpos = _params.rng_gnd_clearance + _state.pos(2);
		}
	}
}

void Ekf::fuseHagl()
{
	// If the vehicle is excessively tilted, do not try to fuse range finder observations
	if (_R_rng_to_earth_2_2 > _params.range_cos_max_tilt) {
		// get a height above ground measurement from the range finder assuming a flat earth
		float meas_hagl = _range_sample_delayed.rng * _R_rng_to_earth_2_2;

		// predict the hagl from the vehicle position and terrain height
		float pred_hagl = _terrain_vpos - _state.pos(2);

		// calculate the innovation
		_hagl_innov = pred_hagl - meas_hagl;

		// calculate the observation variance adding the variance of the vehicles own height uncertainty
		float obs_variance = fmaxf(P[9][9], 0.0f) + sq(_params.range_noise) + sq(_params.range_noise_scaler * _range_sample_delayed.rng);

		// calculate the innovation variance - limiting it to prevent a badly conditioned fusion
		_hagl_innov_var = fmaxf(_terrain_var + obs_variance, obs_variance);

		// perform an innovation consistency check and only fuse data if it passes
		float gate_size = fmaxf(_params.range_innov_gate, 1.0f);
		_terr_test_ratio = sq(_hagl_innov) / (sq(gate_size) * _hagl_innov_var);

		if (_terr_test_ratio <= 1.0f) {
			// calculate the Kalman gain
			float gain = _terrain_var / _hagl_innov_var;
			// correct the state
			_terrain_vpos -= gain * _hagl_innov;
			// correct the variance
			_terrain_var = fmaxf(_terrain_var * (1.0f - gain), 0.0f);
			// record last successful fusion event
			_time_last_hagl_fuse = _time_last_imu;
			_innov_check_fail_status.flags.reject_hagl = false;

		} else {
			_innov_check_fail_status.flags.reject_hagl = true;

		}

	} else {
		_innov_check_fail_status.flags.reject_hagl = true;
		return;
	}
}

// return true if the terrain estimate is valid
bool Ekf::get_terrain_valid()
{
	if (_terrain_initialised && _range_data_continuous && !_rng_stuck &&
		  (_time_last_imu - _time_last_hagl_fuse < (uint64_t)5e6)) {
		return true;

	} else {
		return false;
	}
}

// get the estimated vertical position of the terrain relative to the NED origin
void Ekf::get_terrain_vert_pos(float *ret)
{
	memcpy(ret, &_terrain_vpos, sizeof(float));
}

void Ekf::get_hagl_innov(float *hagl_innov)
{
	memcpy(hagl_innov, &_hagl_innov, sizeof(_hagl_innov));
}


void Ekf::get_hagl_innov_var(float *hagl_innov_var)
{
	memcpy(hagl_innov_var, &_hagl_innov_var, sizeof(_hagl_innov_var));
}

// check that the range finder data is continuous
void Ekf::checkRangeDataContinuity()
{
	// update range data continuous flag (2Hz ie 500 ms)
	/* Timing in micro seconds */

	/* Apply a 1.0 sec low pass filter to the time delta from the last range finder updates */
	_dt_last_range_update_filt_us = _dt_last_range_update_filt_us * (1.0f - _dt_update) + _dt_update *
					(_time_last_imu - _time_last_range);

	_dt_last_range_update_filt_us = fminf(_dt_last_range_update_filt_us, 1e6f);

	if (_dt_last_range_update_filt_us < 5e5f) {
		_range_data_continuous = true;

	} else {
		_range_data_continuous = false;
	}
}