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ekf2: update to latest ecl version [continued] #13023

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merged 5 commits into from
Sep 26, 2019
Merged

ekf2: update to latest ecl version [continued] #13023

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e751243
ekf2: update to latest ecl version
priseborough Sep 24, 2019
4b7218c
ekf2: Add write of odometry velocity data
priseborough Sep 24, 2019
cca58d4
ekf2: Modify parameters to enable control of vision velocity fusion
priseborough Sep 24, 2019
ccc39ab
ekf2: Update to latest ecl with timestamp messages
kamilritz Sep 25, 2019
04bb803
Style fix
kamilritz Sep 26, 2019
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2 changes: 1 addition & 1 deletion src/lib/ecl
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Submodule ecl updated from 62a1e0 to b78429
39 changes: 31 additions & 8 deletions src/modules/ekf2/ekf2_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -421,10 +421,14 @@ class Ekf2 final : public ModuleBase<Ekf2>, public ModuleParams
// vision estimate fusion
(ParamFloat<px4::params::EKF2_EVP_NOISE>)
_param_ekf2_evp_noise, ///< default position observation noise for exernal vision measurements (m)
(ParamFloat<px4::params::EKF2_EVV_NOISE>)
_param_ekf2_evv_noise, ///< default velocity observation noise for exernal vision measurements (m/s)
(ParamFloat<px4::params::EKF2_EVA_NOISE>)
_param_ekf2_eva_noise, ///< default angular observation noise for exernal vision measurements (rad)
(ParamExtFloat<px4::params::EKF2_EV_GATE>)
_param_ekf2_ev_gate, ///< external vision position innovation consistency gate size (STD)
(ParamExtFloat<px4::params::EKF2_EVV_GATE>)
_param_ekf2_evv_gate, ///< external vision velocity innovation consistency gate size (STD)
(ParamExtFloat<px4::params::EKF2_EVP_GATE>)
_param_ekf2_evp_gate, ///< external vision position innovation consistency gate size (STD)

// optical flow fusion
(ParamExtFloat<px4::params::EKF2_OF_N_MIN>)
Expand Down Expand Up @@ -566,8 +570,8 @@ Ekf2::Ekf2():
_param_ekf2_baro_gate(_params->baro_innov_gate),
_param_ekf2_gnd_eff_dz(_params->gnd_effect_deadzone),
_param_ekf2_gnd_max_hgt(_params->gnd_effect_max_hgt),
_param_ekf2_gps_p_gate(_params->posNE_innov_gate),
_param_ekf2_gps_v_gate(_params->vel_innov_gate),
_param_ekf2_gps_p_gate(_params->gps_pos_innov_gate),
_param_ekf2_gps_v_gate(_params->gps_vel_innov_gate),
_param_ekf2_tas_gate(_params->tas_innov_gate),
_param_ekf2_head_noise(_params->mag_heading_noise),
_param_ekf2_mag_noise(_params->mag_noise),
Expand Down Expand Up @@ -601,7 +605,8 @@ Ekf2::Ekf2():
_param_ekf2_rng_a_vmax(_params->max_vel_for_range_aid),
_param_ekf2_rng_a_hmax(_params->max_hagl_for_range_aid),
_param_ekf2_rng_a_igate(_params->range_aid_innov_gate),
_param_ekf2_ev_gate(_params->ev_innov_gate),
_param_ekf2_evv_gate(_params->ev_vel_innov_gate),
_param_ekf2_evp_gate(_params->ev_pos_innov_gate),
_param_ekf2_of_n_min(_params->flow_noise),
_param_ekf2_of_n_max(_params->flow_noise_qual_min),
_param_ekf2_of_qmin(_params->flow_qual_min),
Expand Down Expand Up @@ -1154,11 +1159,29 @@ void Ekf2::run()

ext_vision_message ev_data;

// check for valid velocity data
if (PX4_ISFINITE(_ev_odom.vx) && PX4_ISFINITE(_ev_odom.vy) && PX4_ISFINITE(_ev_odom.vz)) {
ev_data.vel(0) = _ev_odom.vx;
ev_data.vel(1) = _ev_odom.vy;
ev_data.vel(2) = _ev_odom.vz;

// velocity measurement error from parameters
if (PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_X_VARIANCE])) {
ev_data.velErr = fmaxf(_param_ekf2_evv_noise.get(),
sqrtf(fmaxf(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VX_VARIANCE],
fmaxf(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VY_VARIANCE],
_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VZ_VARIANCE]))));

} else {
ev_data.velErr = _param_ekf2_evv_noise.get();
}
}

// check for valid position data
if (PX4_ISFINITE(_ev_odom.x) && PX4_ISFINITE(_ev_odom.y) && PX4_ISFINITE(_ev_odom.z)) {
ev_data.posNED(0) = _ev_odom.x;
ev_data.posNED(1) = _ev_odom.y;
ev_data.posNED(2) = _ev_odom.z;
ev_data.pos(0) = _ev_odom.x;
ev_data.pos(1) = _ev_odom.y;
ev_data.pos(2) = _ev_odom.z;

// position measurement error from parameter
if (PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_X_VARIANCE])) {
Expand Down
45 changes: 32 additions & 13 deletions src/modules/ekf2/ekf2_params.c
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Original file line number Diff line number Diff line change
Expand Up @@ -700,7 +700,6 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_GATE, 5.0f);
*/
PARAM_DEFINE_FLOAT(EKF2_MIN_RNG, 0.1f);


/**
* Measurement noise for vision position observations used when the vision system does not supply error estimates
*
Expand All @@ -709,29 +708,27 @@ PARAM_DEFINE_FLOAT(EKF2_MIN_RNG, 0.1f);
* @unit m
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_EVP_NOISE, 0.05f);
PARAM_DEFINE_FLOAT(EKF2_EVP_NOISE, 0.1f);

/**
* Measurement noise for vision angle observations used when the vision system does not supply error estimates
* Measurement noise for vision velocity observations used when the vision system does not supply error estimates
*
* @group EKF2
* @min 0.01
* @unit rad
* @unit m/s
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_EVA_NOISE, 0.05f);
*/
PARAM_DEFINE_FLOAT(EKF2_EVV_NOISE, 0.1f);

/**
* Gate size for vision estimate fusion
*
* Sets the number of standard deviations used by the innovation consistency test.
* Measurement noise for vision angle observations used when the vision system does not supply error estimates
*
* @group EKF2
* @min 1.0
* @unit SD
* @decimal 1
* @min 0.01
* @unit rad
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_EV_GATE, 5.0f);
PARAM_DEFINE_FLOAT(EKF2_EVA_NOISE, 0.05f);

/**
* Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum
Expand Down Expand Up @@ -1161,6 +1158,28 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_A_HMAX, 5.0f);
*/
PARAM_DEFINE_FLOAT(EKF2_RNG_A_IGATE, 1.0f);

/**
* Gate size for vision velocity estimate fusion
*
* Sets the number of standard deviations used by the innovation consistency test.
*
* @group EKF2
* @min 1.0
* @unit SD
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_EVV_GATE, 3.0f);

/**
* Gate size for vision position fusion
* Sets the number of standard deviations used by the innovation consistency test.
* @group EKF2
* @min 1.0
* @unit SD
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_EVP_GATE, 5.0f);

/**
* Specific drag force observation noise variance used by the multi-rotor specific drag force model.
* Increasing it makes the multi-rotor wind estimates adjust more slowly.
Expand Down