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Add param to choose vision observation noise source #13150

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Oct 15, 2019
Merged

Add param to choose vision observation noise source #13150

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15 changes: 9 additions & 6 deletions src/modules/ekf2/ekf2_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -422,6 +422,8 @@ class Ekf2 final : public ModuleBase<Ekf2>, public ModuleParams, public px4::Wor
_param_ekf2_rng_a_igate, ///< gate size used for innovation consistency checks for range aid fusion (STD)

// vision estimate fusion
(ParamInt<px4::params::EKF2_EV_NOISE_MD>)
_param_ekf2_ev_noise_md, ///< determine source of vision observation noise
(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>)
Expand Down Expand Up @@ -1162,8 +1164,8 @@ void Ekf2::Run()
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])) {
// velocity measurement error from ev_data or parameters
if (!_param_ekf2_ev_noise_md.get() && PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VX_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],
Expand All @@ -1180,8 +1182,8 @@ void Ekf2::Run()
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])) {
// position measurement error from ev_data or parameters
if (!_param_ekf2_ev_noise_md.get() && PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_X_VARIANCE])) {
ev_data.posErr = fmaxf(_param_ekf2_evp_noise.get(),
sqrtf(fmaxf(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_X_VARIANCE],
_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_Y_VARIANCE])));
Expand All @@ -1198,8 +1200,9 @@ void Ekf2::Run()
if (PX4_ISFINITE(_ev_odom.q[0])) {
ev_data.quat = matrix::Quatf(_ev_odom.q);

// orientation measurement error from parameters
if (PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_ROLL_VARIANCE])) {
// orientation measurement error from ev_data or parameters
if (!_param_ekf2_ev_noise_md.get()
&& PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_YAW_VARIANCE])) {
ev_data.angErr = fmaxf(_param_ekf2_eva_noise.get(),
sqrtf(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_YAW_VARIANCE]));

Expand Down
10 changes: 10 additions & 0 deletions src/modules/ekf2/ekf2_params.c
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Original file line number Diff line number Diff line change
Expand Up @@ -701,6 +701,16 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_GATE, 5.0f);
*/
PARAM_DEFINE_FLOAT(EKF2_MIN_RNG, 0.1f);

/**
* Whether to set the external vision observation noise from the parameter or from vision message
*
* If set to true the observation noise is set from the parameters directly, if set to false the measurement noise is taken from the vision message and the parameter are used as a lower bound.
*
* @boolean
* @group EKF2
*/
PARAM_DEFINE_INT32(EKF2_EV_NOISE_MD, 0);

/**
* Measurement noise for vision position observations used when the vision system does not supply error estimates
*
Expand Down