PreFlightChecker.cpp
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/****************************************************************************
*
* Copyright (c) 2019 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file PreFlightCheckHelper.cpp
* Class handling the EKF2 innovation pre flight checks
*/
#include "PreFlightChecker.hpp"
void PreFlightChecker::update(const float dt, const estimator_innovations_s &innov)
{
const float alpha = InnovationLpf::computeAlphaFromDtAndTauInv(dt, _innov_lpf_tau_inv);
_has_heading_failed = preFlightCheckHeadingFailed(innov, alpha);
_has_horiz_vel_failed = preFlightCheckHorizVelFailed(innov, alpha);
_has_vert_vel_failed = preFlightCheckVertVelFailed(innov, alpha);
_has_height_failed = preFlightCheckHeightFailed(innov, alpha);
}
bool PreFlightChecker::preFlightCheckHeadingFailed(const estimator_innovations_s &innov, const float alpha)
{
const float heading_test_limit = selectHeadingTestLimit();
const float heading_innov_spike_lim = 2.0f * heading_test_limit;
const float heading_innov_lpf = _filter_heading_innov.update(innov.heading, alpha, heading_innov_spike_lim);
return checkInnovFailed(heading_innov_lpf, innov.heading, heading_test_limit, heading_innov_spike_lim);
}
float PreFlightChecker::selectHeadingTestLimit()
{
// Select the max allowed heading innovaton depending on whether we are not aiding navigation using
// observations in the NE reference frame and if the vehicle can use GPS course to realign in flight (fixedwing sideslip fusion).
const bool is_ne_aiding = _is_using_gps_aiding || _is_using_ev_pos_aiding;
return (is_ne_aiding && !_can_observe_heading_in_flight)
? _nav_heading_innov_test_lim // more restrictive test limit
: _heading_innov_test_lim; // less restrictive test limit
}
bool PreFlightChecker::preFlightCheckHorizVelFailed(const estimator_innovations_s &innov, const float alpha)
{
bool has_failed = false;
if (_is_using_gps_aiding || _is_using_ev_vel_aiding) {
const Vector2f vel_ne_innov = Vector2f(fmaxf(fabsf(innov.gps_hvel[0]), fabsf(innov.ev_hvel[0])),
fmaxf(fabsf(innov.gps_hvel[1]), fabsf(innov.ev_hvel[1])));
Vector2f vel_ne_innov_lpf;
vel_ne_innov_lpf(0) = _filter_vel_n_innov.update(vel_ne_innov(0), alpha, _vel_innov_spike_lim);
vel_ne_innov_lpf(1) = _filter_vel_n_innov.update(vel_ne_innov(1), alpha, _vel_innov_spike_lim);
has_failed |= checkInnov2DFailed(vel_ne_innov_lpf, vel_ne_innov, _vel_innov_test_lim, _vel_innov_spike_lim);
}
if (_is_using_flow_aiding) {
const Vector2f flow_innov = Vector2f(innov.flow);
Vector2f flow_innov_lpf;
flow_innov_lpf(0) = _filter_flow_x_innov.update(flow_innov(0), alpha, _flow_innov_spike_lim);
flow_innov_lpf(1) = _filter_flow_x_innov.update(flow_innov(1), alpha, _flow_innov_spike_lim);
has_failed |= checkInnov2DFailed(flow_innov_lpf, flow_innov, _flow_innov_test_lim, 5.f * _flow_innov_spike_lim);
}
return has_failed;
}
bool PreFlightChecker::preFlightCheckVertVelFailed(const estimator_innovations_s &innov, const float alpha)
{
const float vel_d_innov = fmaxf(fabsf(innov.gps_vvel), fabs(innov.ev_vvel)); // only temporary solution
const float vel_d_innov_lpf = _filter_vel_d_innov.update(vel_d_innov, alpha, _vel_innov_spike_lim);
return checkInnovFailed(vel_d_innov_lpf, vel_d_innov, _vel_innov_test_lim, _vel_innov_spike_lim);
}
bool PreFlightChecker::preFlightCheckHeightFailed(const estimator_innovations_s &innov, const float alpha)
{
const float hgt_innov = fmaxf(fabsf(innov.gps_vpos), fmaxf(fabs(innov.ev_vpos),
fabs(innov.rng_vpos))); // only temporary solution
const float hgt_innov_lpf = _filter_hgt_innov.update(hgt_innov, alpha, _hgt_innov_spike_lim);
return checkInnovFailed(hgt_innov_lpf, hgt_innov, _hgt_innov_test_lim, _hgt_innov_spike_lim);
}
bool PreFlightChecker::checkInnovFailed(const float innov_lpf, const float innov, const float test_limit,
const float spike_limit)
{
return fabsf(innov_lpf) > test_limit || fabsf(innov) > spike_limit;
}
bool PreFlightChecker::checkInnov2DFailed(const Vector2f &innov_lpf, const Vector2f &innov, const float test_limit,
const float spike_limit)
{
return innov_lpf.norm_squared() > sq(test_limit)
|| innov.norm_squared() > sq(spike_limit);
}
void PreFlightChecker::reset()
{
_is_using_gps_aiding = false;
_is_using_flow_aiding = false;
_is_using_ev_pos_aiding = false;
_is_using_ev_vel_aiding = false;
_has_heading_failed = false;
_has_horiz_vel_failed = false;
_has_vert_vel_failed = false;
_has_height_failed = false;
_filter_vel_n_innov.reset();
_filter_vel_e_innov.reset();
_filter_vel_d_innov.reset();
_filter_hgt_innov.reset();
_filter_heading_innov.reset();
_filter_flow_x_innov.reset();
_filter_flow_y_innov.reset();
}