From d6d529539dcbf3263bb72d329e6dfdf3835ba5a4 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Thu, 16 Dec 2021 14:58:46 -0500 Subject: [PATCH] ekf2: consolidate and simplify gnd effect logic --- src/modules/ekf2/EKF/control.cpp | 2 +- src/modules/ekf2/EKF/ekf.h | 2 +- src/modules/ekf2/EKF/ekf_helper.cpp | 23 +- src/modules/ekf2/EKF/estimator_interface.h | 4 +- src/modules/ekf2/EKF/height_fusion.cpp | 7 +- src/modules/ekf2/EKF2.cpp | 41 +- src/modules/ekf2/EKF2.hpp | 2 - .../test/change_indication/ekf_gsf_reset.csv | 456 ++++++------ .../ekf2/test/change_indication/iris_gps.csv | 688 +++++++++--------- 9 files changed, 611 insertions(+), 614 deletions(-) diff --git a/src/modules/ekf2/EKF/control.cpp b/src/modules/ekf2/EKF/control.cpp index db24ce30ff..573cbbb64e 100644 --- a/src/modules/ekf2/EKF/control.cpp +++ b/src/modules/ekf2/EKF/control.cpp @@ -887,7 +887,7 @@ void Ekf::controlHeightFusion() updateBaroHgtBias(); updateBaroHgtOffset(); - checkGroundEffectTimeout(); + updateGroundEffect(); if (_control_status.flags.baro_hgt) { diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index 718c62b14f..58767983b8 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -933,7 +933,7 @@ private: void updateBaroHgtOffset(); void updateBaroHgtBias(); - void checkGroundEffectTimeout(); + void updateGroundEffect(); // return an estimation of the GPS altitude variance float getGpsHeightVariance(); diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index 9023d94076..895327b604 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -1368,14 +1368,23 @@ void Ekf::updateBaroHgtBias() } } -void Ekf::checkGroundEffectTimeout() -{ - // Turn off ground effect compensation if it times out - if (_control_status.flags.gnd_effect) { - if (isTimedOut(_time_last_gnd_effect_on, GNDEFFECT_TIMEOUT)) { - - _control_status.flags.gnd_effect = false; +void Ekf::updateGroundEffect() +{ + if (_control_status.flags.in_air && !_control_status.flags.fixed_wing) { + if (isTerrainEstimateValid()) { + // automatically set ground effect if terrain is valid + float height = _terrain_vpos - _state.pos(2); + _control_status.flags.gnd_effect = (height < _params.gnd_effect_max_hgt); + + } else if (_control_status.flags.gnd_effect) { + // Turn off ground effect compensation if it times out + if (isTimedOut(_time_last_gnd_effect_on, GNDEFFECT_TIMEOUT)) { + _control_status.flags.gnd_effect = false; + } } + + } else { + _control_status.flags.gnd_effect = false; } } diff --git a/src/modules/ekf2/EKF/estimator_interface.h b/src/modules/ekf2/EKF/estimator_interface.h index d893d1dd8b..579e4eea9d 100644 --- a/src/modules/ekf2/EKF/estimator_interface.h +++ b/src/modules/ekf2/EKF/estimator_interface.h @@ -136,9 +136,9 @@ public: // set flag if static pressure rise due to ground effect is expected // use _params.gnd_effect_deadzone to adjust for expected rise in static pressure // flag will clear after GNDEFFECT_TIMEOUT uSec - void set_gnd_effect_flag(bool gnd_effect) + void set_gnd_effect() { - _control_status.flags.gnd_effect = gnd_effect; + _control_status.flags.gnd_effect = true; _time_last_gnd_effect_on = _time_last_imu; } diff --git a/src/modules/ekf2/EKF/height_fusion.cpp b/src/modules/ekf2/EKF/height_fusion.cpp index bc33085669..4871896a92 100644 --- a/src/modules/ekf2/EKF/height_fusion.cpp +++ b/src/modules/ekf2/EKF/height_fusion.cpp @@ -47,10 +47,11 @@ void Ekf::fuseBaroHgt() // Compensate for positive static pressure transients (negative vertical position innovations) // caused by rotor wash ground interaction by applying a temporary deadzone to baro innovations. - const float deadzone_start = 0.0f; - const float deadzone_end = deadzone_start + _params.gnd_effect_deadzone; + if (_control_status.flags.gnd_effect && (_params.gnd_effect_deadzone > 0.f)) { + + const float deadzone_start = 0.0f; + const float deadzone_end = deadzone_start + _params.gnd_effect_deadzone; - if (_control_status.flags.gnd_effect) { if (_baro_hgt_innov < -deadzone_start) { if (_baro_hgt_innov <= -deadzone_end) { _baro_hgt_innov += deadzone_end; diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp index e0b9093b5b..a5767dca0b 100644 --- a/src/modules/ekf2/EKF2.cpp +++ b/src/modules/ekf2/EKF2.cpp @@ -515,25 +515,28 @@ void EKF2::Run() vehicle_land_detected_s vehicle_land_detected; if (_vehicle_land_detected_sub.copy(&vehicle_land_detected)) { - const bool was_in_air = _ekf.control_status_flags().in_air; - _ekf.set_in_air_status(!vehicle_land_detected.landed); - _ekf.set_vehicle_at_rest(vehicle_land_detected.at_rest); - if (_armed && (_param_ekf2_gnd_eff_dz.get() > 0.f)) { - if (!_had_valid_terrain) { - // update ground effect flag based on land detector state if we've never had valid terrain data - _ekf.set_gnd_effect_flag(vehicle_land_detected.in_ground_effect); - } + _ekf.set_vehicle_at_rest(vehicle_land_detected.at_rest); - } else { - _ekf.set_gnd_effect_flag(false); + if (vehicle_land_detected.in_ground_effect) { + _ekf.set_gnd_effect(); } - // reset learned sensor calibrations on takeoff - if (_ekf.control_status_flags().in_air && !was_in_air) { + const bool was_in_air = _ekf.control_status_flags().in_air; + const bool in_air = !vehicle_land_detected.landed; + + if (!was_in_air && in_air) { + // takeoff + _ekf.set_in_air_status(true); + + // reset learned sensor calibrations on takeoff _accel_cal = {}; _gyro_cal = {}; _mag_cal = {}; + + } else if (was_in_air && !in_air) { + // landed + _ekf.set_in_air_status(false); } } } @@ -934,20 +937,6 @@ void EKF2::PublishLocalPosition(const hrt_abstime ×tamp) lpos.dist_bottom_valid = _ekf.isTerrainEstimateValid(); lpos.dist_bottom_sensor_bitfield = _ekf.getTerrainEstimateSensorBitfield(); - if (!_had_valid_terrain) { - _had_valid_terrain = lpos.dist_bottom_valid; - } - - // only consider ground effect if compensation is configured and the vehicle is armed (props spinning) - if ((_param_ekf2_gnd_eff_dz.get() > 0.0f) && _armed && lpos.dist_bottom_valid) { - // set ground effect flag if vehicle is closer than a specified distance to the ground - _ekf.set_gnd_effect_flag(lpos.dist_bottom < _param_ekf2_gnd_max_hgt.get()); - - // if we have no valid terrain estimate and never had one then use ground effect flag from land detector - // _had_valid_terrain is used to make sure that we don't fall back to using this option - // if we temporarily lose terrain data due to the distance sensor getting out of range - } - _ekf.get_ekf_lpos_accuracy(&lpos.eph, &lpos.epv); _ekf.get_ekf_vel_accuracy(&lpos.evh, &lpos.evv); diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp index 72341e33b5..72c02a0d6f 100644 --- a/src/modules/ekf2/EKF2.hpp +++ b/src/modules/ekf2/EKF2.hpp @@ -213,8 +213,6 @@ private: InFlightCalibration _gyro_cal{}; InFlightCalibration _mag_cal{}; - bool _had_valid_terrain{false}; ///< true if at any time there was a valid terrain estimate - uint64_t _gps_time_usec{0}; int32_t _gps_alttitude_ellipsoid{0}; ///< altitude in 1E-3 meters (millimeters) above ellipsoid uint64_t _gps_alttitude_ellipsoid_previous_timestamp{0}; ///< storage for previous timestamp to compute dt diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv index ae8f2e3eb2..9be68ba15d 100644 --- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv +++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv @@ -4,235 +4,235 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7 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