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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-27 15:00:48 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-06-27 15:00:48 +0200 |
commit | 6951e1c95e3b58c35a031aff92b228b3f651a94c (patch) | |
tree | 7a267277eac035c6bec0276bb5f25b90ecd4517c /src/modules | |
parent | dbd99b649442bbb2568ca309c5da61337d1e4b68 (diff) | |
download | px4-firmware-6951e1c95e3b58c35a031aff92b228b3f651a94c.tar.gz px4-firmware-6951e1c95e3b58c35a031aff92b228b3f651a94c.tar.bz2 px4-firmware-6951e1c95e3b58c35a031aff92b228b3f651a94c.zip |
estimator lib: Improve error reporting
Diffstat (limited to 'src/modules')
3 files changed, 82 insertions, 43 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp index c122b3e51..4c503b5d4 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp @@ -46,6 +46,7 @@ AttPosEKF::AttPosEKF() lastReset = 0; memset(&last_ekf_error, 0, sizeof(last_ekf_error)); + memset(¤t_ekf_state, 0, sizeof(current_ekf_state)); ZeroVariables(); InitialiseParameters(); } @@ -2097,7 +2098,8 @@ void AttPosEKF::ForceSymmetry() if ((fabsf(P[i][j]) > EKF_COVARIANCE_DIVERGED) || (fabsf(P[j][i]) > EKF_COVARIANCE_DIVERGED)) { - last_ekf_error.covariancesExcessive = true; + current_ekf_state.covariancesExcessive = true; + current_ekf_state.error |= true; InitializeDynamic(velNED, magDeclination); return; } @@ -2129,6 +2131,8 @@ bool AttPosEKF::GyroOffsetsDiverged() bool diverged = (delta_len_scaled > 1.0f); lastGyroOffset = current_bias; + current_ekf_state.error |= diverged; + current_ekf_state.gyroOffsetsExcessive = diverged; return diverged; } @@ -2148,7 +2152,12 @@ bool AttPosEKF::VelNEDDiverged() Vector3f delta = current_vel - gps_vel; float delta_len = delta.length(); - return (delta_len > 20.0f); + bool excessive = (delta_len > 20.0f); + + current_ekf_state.error |= excessive; + current_ekf_state.velOffsetExcessive = excessive; + + return excessive; } bool AttPosEKF::FilterHealthy() @@ -2215,43 +2224,26 @@ void AttPosEKF::ResetVelocity(void) } } - -void AttPosEKF::FillErrorReport(struct ekf_status_report *err) -{ - for (unsigned i = 0; i < n_states; i++) - { - err->states[i] = states[i]; - } - err->n_states = n_states; - - err->velHealth = current_ekf_state.velHealth; - err->posHealth = current_ekf_state.posHealth; - err->hgtHealth = current_ekf_state.hgtHealth; - err->velTimeout = current_ekf_state.velTimeout; - err->posTimeout = current_ekf_state.posTimeout; - err->hgtTimeout = current_ekf_state.hgtTimeout; -} - -bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) { +bool AttPosEKF::StatesNaN() { bool err = false; // check all integrators if (!isfinite(summedDelAng.x) || !isfinite(summedDelAng.y) || !isfinite(summedDelAng.z)) { - err_report->angNaN = true; + current_ekf_state.angNaN = true; ekf_debug("summedDelAng NaN: x: %f y: %f z: %f", (double)summedDelAng.x, (double)summedDelAng.y, (double)summedDelAng.z); err = true; goto out; } // delta angles if (!isfinite(correctedDelAng.x) || !isfinite(correctedDelAng.y) || !isfinite(correctedDelAng.z)) { - err_report->angNaN = true; + current_ekf_state.angNaN = true; ekf_debug("correctedDelAng NaN: x: %f y: %f z: %f", (double)correctedDelAng.x, (double)correctedDelAng.y, (double)correctedDelAng.z); err = true; goto out; } // delta angles if (!isfinite(summedDelVel.x) || !isfinite(summedDelVel.y) || !isfinite(summedDelVel.z)) { - err_report->summedDelVelNaN = true; + current_ekf_state.summedDelVelNaN = true; ekf_debug("summedDelVel NaN: x: %f y: %f z: %f", (double)summedDelVel.x, (double)summedDelVel.y, (double)summedDelVel.z); err = true; goto out; @@ -2262,7 +2254,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) { for (unsigned j = 0; j < n_states; j++) { if (!isfinite(KH[i][j])) { - err_report->KHNaN = true; + current_ekf_state.KHNaN = true; err = true; ekf_debug("KH NaN"); goto out; @@ -2270,7 +2262,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) { if (!isfinite(KHP[i][j])) { - err_report->KHPNaN = true; + current_ekf_state.KHPNaN = true; err = true; ekf_debug("KHP NaN"); goto out; @@ -2278,7 +2270,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) { if (!isfinite(P[i][j])) { - err_report->covarianceNaN = true; + current_ekf_state.covarianceNaN = true; err = true; ekf_debug("P NaN"); } // covariance matrix @@ -2286,7 +2278,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) { if (!isfinite(Kfusion[i])) { - err_report->kalmanGainsNaN = true; + current_ekf_state.kalmanGainsNaN = true; ekf_debug("Kfusion NaN"); err = true; goto out; @@ -2294,7 +2286,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) { if (!isfinite(states[i])) { - err_report->statesNaN = true; + current_ekf_state.statesNaN = true; ekf_debug("states NaN: i: %u val: %f", i, (double)states[i]); err = true; goto out; @@ -2303,7 +2295,7 @@ bool AttPosEKF::StatesNaN(struct ekf_status_report *err_report) { out: if (err) { - FillErrorReport(err_report); + current_ekf_state.error |= true; } return err; @@ -2319,7 +2311,7 @@ out: * updated, but before any of the fusion steps are * executed. */ -int AttPosEKF::CheckAndBound() +int AttPosEKF::CheckAndBound(struct ekf_status_report *last_error) { // Store the old filter state @@ -2341,9 +2333,10 @@ int AttPosEKF::CheckAndBound() OnGroundCheck(); // Reset the filter if the states went NaN - if (StatesNaN(&last_ekf_error)) { + if (StatesNaN()) { ekf_debug("re-initializing dynamic"); + // Reset and fill error report InitializeDynamic(velNED, magDeclination); ret = 1; @@ -2351,19 +2344,29 @@ int AttPosEKF::CheckAndBound() // Reset the filter if the IMU data is too old if (dtIMU > 0.3f) { - FillErrorReport(&last_ekf_error); + + current_ekf_state.imuTimeout = true; + + // Fill error report + GetFilterState(&last_ekf_error); + ResetVelocity(); ResetPosition(); ResetHeight(); ResetStoredStates(); + // Timeout cleared with this reset + current_ekf_state.imuTimeout = false; + // that's all we can do here, return ret = 2; } // Check if we switched between states if (currStaticMode != staticMode) { - FillErrorReport(&last_ekf_error); + // Fill error report, but not setting error flag + GetFilterState(&last_ekf_error); + ResetVelocity(); ResetPosition(); ResetHeight(); @@ -2374,7 +2377,8 @@ int AttPosEKF::CheckAndBound() // Reset the filter if gyro offsets are excessive if (GyroOffsetsDiverged()) { - FillErrorReport(&last_ekf_error); + + // Reset and fill error report InitializeDynamic(velNED, magDeclination); // that's all we can do here, return @@ -2383,7 +2387,8 @@ int AttPosEKF::CheckAndBound() // Reset the filter if it diverges too far from GPS if (VelNEDDiverged()) { - FillErrorReport(&last_ekf_error); + + // Reset and fill error report InitializeDynamic(velNED, magDeclination); // that's all we can do here, return @@ -2392,15 +2397,16 @@ int AttPosEKF::CheckAndBound() // The excessive covariance detection already // reset the filter. Just need to report here. - if (current_ekf_state.covariancesExcessive) { - FillErrorReport(&last_ekf_error); - current_ekf_state.covariancesExcessive = false; + if (last_ekf_error.covariancesExcessive) { ret = 6; } if (ret) { ekfDiverged = true; lastReset = millis(); + + // This reads the last error and clears it + GetLastErrorState(last_error); } return ret; @@ -2454,8 +2460,31 @@ void AttPosEKF::AttitudeInit(float ax, float ay, float az, float mx, float my, f void AttPosEKF::InitializeDynamic(float (&initvelNED)[3], float declination) { + if (current_ekf_state.error) { + GetFilterState(&last_ekf_error); + } + ZeroVariables(); + // Reset error states + current_ekf_state.error = false; + current_ekf_state.angNaN = false; + current_ekf_state.summedDelVelNaN = false; + current_ekf_state.KHNaN = false; + current_ekf_state.KHPNaN = false; + current_ekf_state.PNaN = false; + current_ekf_state.covarianceNaN = false; + current_ekf_state.kalmanGainsNaN = false; + current_ekf_state.statesNaN = false; + + current_ekf_state.velHealth = true; + //current_ekf_state.posHealth = ?; + //current_ekf_state.hgtHealth = ?; + + current_ekf_state.velTimeout = false; + //current_ekf_state.posTimeout = ?; + //current_ekf_state.hgtTimeout = ?; + // Fill variables with valid data velNED[0] = initvelNED[0]; velNED[1] = initvelNED[1]; @@ -2582,7 +2611,7 @@ void AttPosEKF::ZeroVariables() } -void AttPosEKF::GetFilterState(struct ekf_status_report *state) +void AttPosEKF::GetFilterState(struct ekf_status_report *err) { // Copy states @@ -2591,10 +2620,18 @@ void AttPosEKF::GetFilterState(struct ekf_status_report *state) } current_ekf_state.n_states = n_states; - memcpy(state, ¤t_ekf_state, sizeof(*state)); + memcpy(err, ¤t_ekf_state, sizeof(*err)); + + // err->velHealth = current_ekf_state.velHealth; + // err->posHealth = current_ekf_state.posHealth; + // err->hgtHealth = current_ekf_state.hgtHealth; + // err->velTimeout = current_ekf_state.velTimeout; + // err->posTimeout = current_ekf_state.posTimeout; + // err->hgtTimeout = current_ekf_state.hgtTimeout; } void AttPosEKF::GetLastErrorState(struct ekf_status_report *last_error) { memcpy(last_error, &last_ekf_error, sizeof(*last_error)); + memset(&last_ekf_error, 0, sizeof(last_ekf_error)); } diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.h b/src/modules/ekf_att_pos_estimator/estimator_23states.h index 10a646025..5a1f5125a 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.h +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.h @@ -266,7 +266,7 @@ void ConstrainStates(); void ForceSymmetry(); -int CheckAndBound(); +int CheckAndBound(struct ekf_status_report *last_error); void ResetPosition(); @@ -278,8 +278,7 @@ void GetFilterState(struct ekf_status_report *state); void GetLastErrorState(struct ekf_status_report *last_error); -bool StatesNaN(struct ekf_status_report *err_report); -void FillErrorReport(struct ekf_status_report *err); +bool StatesNaN(); void InitializeDynamic(float (&initvelNED)[3], float declination); diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.h b/src/modules/ekf_att_pos_estimator/estimator_utilities.h index e5f76d7cd..97f22b453 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_utilities.h +++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.h @@ -53,12 +53,14 @@ enum GPS_FIX { }; struct ekf_status_report { + bool error; bool velHealth; bool posHealth; bool hgtHealth; bool velTimeout; bool posTimeout; bool hgtTimeout; + bool imuTimeout; uint32_t velFailTime; uint32_t posFailTime; uint32_t hgtFailTime; @@ -74,6 +76,7 @@ struct ekf_status_report { bool statesNaN; bool gyroOffsetsExcessive; bool covariancesExcessive; + bool velOffsetExcessive; }; void ekf_debug(const char *fmt, ...);
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