diff options
Diffstat (limited to 'src/modules/ekf_att_pos_estimator')
3 files changed, 31 insertions, 32 deletions
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index c384b2566..b7e118d47 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -1220,30 +1220,12 @@ FixedwingEstimator::task_main() } else if (_ekf->statesInitialised) { // We're apparently initialized in this case now - int check = check_filter_state(); - - if (check) { - // Let the system re-initialize itself - continue; - } + // check (and reset the filter as needed) + (void)check_filter_state(); // Run the strapdown INS equations every IMU update _ekf->UpdateStrapdownEquationsNED(); - #if 0 - // debug code - could be tunred into a filter mnitoring/watchdog function - float tempQuat[4]; - - for (uint8_t j = 0; j <= 3; j++) tempQuat[j] = states[j]; - - quat2eul(eulerEst, tempQuat); - for (uint8_t j = 0; j <= 2; j++) eulerDif[j] = eulerEst[j] - ahrsEul[j]; - - if (eulerDif[2] > pi) eulerDif[2] -= 2 * pi; - - if (eulerDif[2] < -pi) eulerDif[2] += 2 * pi; - - #endif // store the predicted states for subsequent use by measurement fusion _ekf->StoreStates(IMUmsec); // Check if on ground - status is used by covariance prediction diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp index d176ccee2..249cc419e 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.cpp @@ -74,6 +74,7 @@ AttPosEKF::AttPosEKF() : windSpdFiltNorth(0.0f), windSpdFiltEast(0.0f), windSpdFiltAltitude(0.0f), + windSpdFiltClimb(0.0f), fusionModeGPS(0), innovVelPos{}, varInnovVelPos{}, @@ -1660,22 +1661,30 @@ void AttPosEKF::FuseAirspeed() // Perform fusion of True Airspeed measurement if (useAirspeed && fuseVtasData && (VtasPred > 1.0f) && (VtasMeas > 8.0f)) { - // Lowpass the output of the wind estimate - we want a long-term - // stable estimate, but not start to load into the overall dynamics - // of the system (which adjusting covariances would do) - - // Nominally damp to 0.02% of the noise, but reduce the damping for strong altitude variations - // assuming equal wind speeds on the same altitude and varying wind speeds on - // different altitudes - float windFiltCoeff = 0.0002f; float altDiff = fabsf(windSpdFiltAltitude - hgtMea); - // Change filter coefficient based on altitude - windFiltCoeff += ConstrainFloat(0.00001f * altDiff, windFiltCoeff, 0.1f); + if (isfinite(windSpdFiltClimb)) { + windSpdFiltClimb = ((1.0f - 0.0002f) * windSpdFiltClimb) + (0.0002f * states[6]); + } else { + windSpdFiltClimb = states[6]; + } + + if (altDiff < 20.0f) { + // Lowpass the output of the wind estimate - we want a long-term + // stable estimate, but not start to load into the overall dynamics + // of the system (which adjusting covariances would do) + + // Change filter coefficient based on altitude change rate + float windFiltCoeff = ConstrainFloat(fabsf(windSpdFiltClimb) / 1000.0f, 0.00005f, 0.2f); + + windSpdFiltNorth = ((1.0f - windFiltCoeff) * windSpdFiltNorth) + (windFiltCoeff * vwn); + windSpdFiltEast = ((1.0f - windFiltCoeff) * windSpdFiltEast) + (windFiltCoeff * vwe); + } else { + windSpdFiltNorth = vwn; + windSpdFiltEast = vwe; + } - windSpdFiltNorth = ((1.0f - windFiltCoeff) * windSpdFiltNorth) + (windFiltCoeff * vwn); - windSpdFiltEast = ((1.0f - windFiltCoeff) * windSpdFiltEast) + (windFiltCoeff * vwe); windSpdFiltAltitude = hgtMea; // Calculate observation jacobians @@ -3097,6 +3106,13 @@ void AttPosEKF::ZeroVariables() dVelIMU.zero(); lastGyroOffset.zero(); + windSpdFiltNorth = 0.0f; + windSpdFiltEast = 0.0f; + // setting the altitude to zero will give us a higher + // gain to adjust faster in the first step + windSpdFiltAltitude = 0.0f; + windSpdFiltClimb = 0.0f; + for (unsigned i = 0; i < data_buffer_size; i++) { for (unsigned j = 0; j < n_states; j++) { diff --git a/src/modules/ekf_att_pos_estimator/estimator_23states.h b/src/modules/ekf_att_pos_estimator/estimator_23states.h index 6349b03f0..f8bb7a9c4 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_23states.h +++ b/src/modules/ekf_att_pos_estimator/estimator_23states.h @@ -152,6 +152,7 @@ public: float windSpdFiltNorth; // average wind speed north component float windSpdFiltEast; // average wind speed east component float windSpdFiltAltitude; // the last altitude used to filter wind speed + float windSpdFiltClimb; // filtered climb rate uint8_t fusionModeGPS; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity float innovVelPos[6]; // innovation output float varInnovVelPos[6]; // innovation variance output |