diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/estimator_23states.cpp')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_23states.cpp | 31 |
1 files changed, 28 insertions, 3 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp index ffdd29a5b..c7c7305b2 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp @@ -1032,10 +1032,16 @@ void AttPosEKF::FuseVelposNED() // apply a 5-sigma threshold current_ekf_state.velHealth = (sq(velInnov[0]) + sq(velInnov[1]) + sq(velInnov[2])) < 25.0f * (varInnovVelPos[0] + varInnovVelPos[1] + varInnovVelPos[2]); current_ekf_state.velTimeout = (millis() - current_ekf_state.velFailTime) > horizRetryTime; - if (current_ekf_state.velHealth || current_ekf_state.velTimeout) - { + if (current_ekf_state.velHealth || staticMode) { current_ekf_state.velHealth = true; current_ekf_state.velFailTime = millis(); + } else if (current_ekf_state.velTimeout || !current_ekf_state.posHealth) { + // XXX check + current_ekf_state.velHealth = true; + ResetVelocity(); + ResetStoredStates(); + // do not fuse bad data + fuseVelData = false; } else { @@ -1056,6 +1062,17 @@ void AttPosEKF::FuseVelposNED() { current_ekf_state.posHealth = true; current_ekf_state.posFailTime = millis(); + + if (current_ekf_state.posTimeout) { + ResetPosition(); + + // XXX cross-check the state reset + ResetStoredStates(); + + // do not fuse position data on this time + // step + fusePosData = false; + } } else { @@ -1070,10 +1087,18 @@ void AttPosEKF::FuseVelposNED() // apply a 10-sigma threshold current_ekf_state.hgtHealth = sq(hgtInnov) < 100.0f*varInnovVelPos[5]; current_ekf_state.hgtTimeout = (millis() - current_ekf_state.hgtFailTime) > hgtRetryTime; - if (current_ekf_state.hgtHealth || current_ekf_state.hgtTimeout) + if (current_ekf_state.hgtHealth || current_ekf_state.hgtTimeout || staticMode) { current_ekf_state.hgtHealth = true; current_ekf_state.hgtFailTime = millis(); + + // if we just reset from a timeout, do not fuse + // the height data, but reset height and stored states + if (current_ekf_state.hgtTimeout) { + ResetHeight(); + ResetStoredStates(); + fuseHgtData = false; + } } else { |