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Stop setting zero to zero

master
kamilritz 5 years ago committed by Mathieu Bresciani
parent
552bf824ea
commit
356b2f6ffe
4 changed files with 2 additions and 48 deletions
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  1. 8
      EKF/airspeed_fusion.cpp
  2. 4
      EKF/gps_yaw_fusion.cpp
  3. 25
      EKF/mag_fusion.cpp
  4. 13
      EKF/sideslip_fusion.cpp

8
EKF/airspeed_fusion.cpp
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@ -112,13 +112,7 @@ void Ekf::fuseAirspeed() @@ -112,13 +112,7 @@ void Ekf::fuseAirspeed()
SK_TAS[1] = SH_TAS[1];
if (update_wind_only) {
// If we are getting aiding from other sources, then don't allow the airspeed measurements to affect the non-windspeed states
for (unsigned row = 0; row <= 21; row++) {
Kfusion[row] = 0.0f;
}
} else {
if (!update_wind_only) {
// we have no other source of aiding, so use airspeed measurements to correct states
Kfusion[0] = SK_TAS[0]*(P(0,4)*SH_TAS[2] - P(0,22)*SH_TAS[2] + P(0,5)*SK_TAS[1] - P(0,23)*SK_TAS[1] + P(0,6)*vd*SH_TAS[0]);
Kfusion[1] = SK_TAS[0]*(P(1,4)*SH_TAS[2] - P(1,22)*SH_TAS[2] + P(1,5)*SK_TAS[1] - P(1,23)*SK_TAS[1] + P(1,6)*vd*SH_TAS[0]);

4
EKF/gps_yaw_fusion.cpp
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@ -169,8 +169,6 @@ void Ekf::fuseGpsAntYaw() @@ -169,8 +169,6 @@ void Ekf::fuseGpsAntYaw()
float Kfusion[_k_num_states] = {};
for (uint8_t row = 0; row <= 15; row++) {
Kfusion[row] = 0.0f;
for (uint8_t col = 0; col <= 3; col++) {
Kfusion[row] += P(row,col) * H_YAW[col];
}
@ -180,8 +178,6 @@ void Ekf::fuseGpsAntYaw() @@ -180,8 +178,6 @@ void Ekf::fuseGpsAntYaw()
if (_control_status.flags.wind) {
for (uint8_t row = 22; row <= 23; row++) {
Kfusion[row] = 0.0f;
for (uint8_t col = 0; col <= 3; col++) {
Kfusion[row] += P(row,col) * H_YAW[col];
}

25
EKF/mag_fusion.cpp
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@ -216,13 +216,6 @@ void Ekf::fuseMag() @@ -216,13 +216,6 @@ void Ekf::fuseMag()
Kfusion[15] = SK_MX[0]*(P(15,19) + P(15,1)*SH_MAG[0] - P(15,2)*SH_MAG[1] + P(15,3)*SH_MAG[2] + P(15,0)*SK_MX[2] - P(15,16)*SK_MX[1] + P(15,17)*SK_MX[4] - P(15,18)*SK_MX[3]);
Kfusion[22] = SK_MX[0]*(P(22,19) + P(22,1)*SH_MAG[0] - P(22,2)*SH_MAG[1] + P(22,3)*SH_MAG[2] + P(22,0)*SK_MX[2] - P(22,16)*SK_MX[1] + P(22,17)*SK_MX[4] - P(22,18)*SK_MX[3]);
Kfusion[23] = SK_MX[0]*(P(23,19) + P(23,1)*SH_MAG[0] - P(23,2)*SH_MAG[1] + P(23,3)*SH_MAG[2] + P(23,0)*SK_MX[2] - P(23,16)*SK_MX[1] + P(23,17)*SK_MX[4] - P(23,18)*SK_MX[3]);
} else {
for (uint8_t i = 0; i < 16; i++) {
Kfusion[i] = 0.0f;
}
Kfusion[22] = 0.0f;
Kfusion[23] = 0.0f;
}
Kfusion[16] = SK_MX[0]*(P(16,19) + P(16,1)*SH_MAG[0] - P(16,2)*SH_MAG[1] + P(16,3)*SH_MAG[2] + P(16,0)*SK_MX[2] - P(16,16)*SK_MX[1] + P(16,17)*SK_MX[4] - P(16,18)*SK_MX[3]);
@ -271,13 +264,6 @@ void Ekf::fuseMag() @@ -271,13 +264,6 @@ void Ekf::fuseMag()
Kfusion[15] = SK_MY[0]*(P(15,20) + P(15,0)*SH_MAG[2] + P(15,1)*SH_MAG[1] + P(15,2)*SH_MAG[0] - P(15,3)*SK_MY[2] - P(15,17)*SK_MY[1] - P(15,16)*SK_MY[3] + P(15,18)*SK_MY[4]);
Kfusion[22] = SK_MY[0]*(P(22,20) + P(22,0)*SH_MAG[2] + P(22,1)*SH_MAG[1] + P(22,2)*SH_MAG[0] - P(22,3)*SK_MY[2] - P(22,17)*SK_MY[1] - P(22,16)*SK_MY[3] + P(22,18)*SK_MY[4]);
Kfusion[23] = SK_MY[0]*(P(23,20) + P(23,0)*SH_MAG[2] + P(23,1)*SH_MAG[1] + P(23,2)*SH_MAG[0] - P(23,3)*SK_MY[2] - P(23,17)*SK_MY[1] - P(23,16)*SK_MY[3] + P(23,18)*SK_MY[4]);
} else {
for (uint8_t i = 0; i < 16; i++) {
Kfusion[i] = 0.0f;
}
Kfusion[22] = 0.0f;
Kfusion[23] = 0.0f;
}
Kfusion[16] = SK_MY[0]*(P(16,20) + P(16,0)*SH_MAG[2] + P(16,1)*SH_MAG[1] + P(16,2)*SH_MAG[0] - P(16,3)*SK_MY[2] - P(16,17)*SK_MY[1] - P(16,16)*SK_MY[3] + P(16,18)*SK_MY[4]);
@ -332,13 +318,6 @@ void Ekf::fuseMag() @@ -332,13 +318,6 @@ void Ekf::fuseMag()
Kfusion[15] = SK_MZ[0]*(P(15,21) + P(15,0)*SH_MAG[1] - P(15,1)*SH_MAG[2] + P(15,3)*SH_MAG[0] + P(15,2)*SK_MZ[2] + P(15,18)*SK_MZ[1] + P(15,16)*SK_MZ[4] - P(15,17)*SK_MZ[3]);
Kfusion[22] = SK_MZ[0]*(P(22,21) + P(22,0)*SH_MAG[1] - P(22,1)*SH_MAG[2] + P(22,3)*SH_MAG[0] + P(22,2)*SK_MZ[2] + P(22,18)*SK_MZ[1] + P(22,16)*SK_MZ[4] - P(22,17)*SK_MZ[3]);
Kfusion[23] = SK_MZ[0]*(P(23,21) + P(23,0)*SH_MAG[1] - P(23,1)*SH_MAG[2] + P(23,3)*SH_MAG[0] + P(23,2)*SK_MZ[2] + P(23,18)*SK_MZ[1] + P(23,16)*SK_MZ[4] - P(23,17)*SK_MZ[3]);
} else {
for (uint8_t i = 0; i < 16; i++) {
Kfusion[i] = 0.0f;
}
Kfusion[22] = 0.0f;
Kfusion[23] = 0.0f;
}
Kfusion[16] = SK_MZ[0]*(P(16,21) + P(16,0)*SH_MAG[1] - P(16,1)*SH_MAG[2] + P(16,3)*SH_MAG[0] + P(16,2)*SK_MZ[2] + P(16,18)*SK_MZ[1] + P(16,16)*SK_MZ[4] - P(16,17)*SK_MZ[3]);
@ -654,8 +633,6 @@ void Ekf::updateQuaternion(const float innovation, const float variance, const f @@ -654,8 +633,6 @@ void Ekf::updateQuaternion(const float innovation, const float variance, const f
float Kfusion[_k_num_states] = {};
for (uint8_t row = 0; row <= 15; row++) {
Kfusion[row] = 0.0f;
for (uint8_t col = 0; col <= 3; col++) {
Kfusion[row] += P(row,col) * yaw_jacobian[col];
}
@ -665,8 +642,6 @@ void Ekf::updateQuaternion(const float innovation, const float variance, const f @@ -665,8 +642,6 @@ void Ekf::updateQuaternion(const float innovation, const float variance, const f
if (_control_status.flags.wind) {
for (uint8_t row = 22; row <= 23; row++) {
Kfusion[row] = 0.0f;
for (uint8_t col = 0; col <= 3; col++) {
Kfusion[row] += P(row,col) * yaw_jacobian[col];
}

13
EKF/sideslip_fusion.cpp
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@ -148,14 +148,8 @@ void Ekf::fuseSideslip() @@ -148,14 +148,8 @@ void Ekf::fuseSideslip()
SK_BETA[7] = SH_BETA[5]*SH_BETA[9] + SH_BETA[1]*SH_BETA[4]*SH_BETA[8];
// Calculate Kalman gains
if (update_wind_only) {
// If we are getting aiding from other sources, then don't allow the sideslip fusion to affect the non-windspeed states
for (unsigned row = 0; row <= 21; row++) {
Kfusion[row] = 0.0f;
if (!update_wind_only) {
}
} else {
Kfusion[0] = SK_BETA[0]*(P(0,0)*SK_BETA[5] + P(0,1)*SK_BETA[4] - P(0,4)*SK_BETA[1] + P(0,5)*SK_BETA[2] + P(0,2)*SK_BETA[6] + P(0,6)*SK_BETA[3] - P(0,3)*SK_BETA[7] + P(0,22)*SK_BETA[1] - P(0,23)*SK_BETA[2]);
Kfusion[1] = SK_BETA[0]*(P(1,0)*SK_BETA[5] + P(1,1)*SK_BETA[4] - P(1,4)*SK_BETA[1] + P(1,5)*SK_BETA[2] + P(1,2)*SK_BETA[6] + P(1,6)*SK_BETA[3] - P(1,3)*SK_BETA[7] + P(1,22)*SK_BETA[1] - P(1,23)*SK_BETA[2]);
Kfusion[2] = SK_BETA[0]*(P(2,0)*SK_BETA[5] + P(2,1)*SK_BETA[4] - P(2,4)*SK_BETA[1] + P(2,5)*SK_BETA[2] + P(2,2)*SK_BETA[6] + P(2,6)*SK_BETA[3] - P(2,3)*SK_BETA[7] + P(2,22)*SK_BETA[1] - P(2,23)*SK_BETA[2]);
@ -182,11 +176,6 @@ void Ekf::fuseSideslip() @@ -182,11 +176,6 @@ void Ekf::fuseSideslip()
Kfusion[20] = SK_BETA[0]*(P(20,0)*SK_BETA[5] + P(20,1)*SK_BETA[4] - P(20,4)*SK_BETA[1] + P(20,5)*SK_BETA[2] + P(20,2)*SK_BETA[6] + P(20,6)*SK_BETA[3] - P(20,3)*SK_BETA[7] + P(20,22)*SK_BETA[1] - P(20,23)*SK_BETA[2]);
Kfusion[21] = SK_BETA[0]*(P(21,0)*SK_BETA[5] + P(21,1)*SK_BETA[4] - P(21,4)*SK_BETA[1] + P(21,5)*SK_BETA[2] + P(21,2)*SK_BETA[6] + P(21,6)*SK_BETA[3] - P(21,3)*SK_BETA[7] + P(21,22)*SK_BETA[1] - P(21,23)*SK_BETA[2]);
} else {
for (int i = 16; i <= 21; i++) {
Kfusion[i] = 0.0f;
}
}
}

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