diff --git a/msg/EstimatorAidSource1d.msg b/msg/EstimatorAidSource1d.msg index 56ef5cfb991..7bd8ea76582 100644 --- a/msg/EstimatorAidSource1d.msg +++ b/msg/EstimatorAidSource1d.msg @@ -25,4 +25,3 @@ bool fused # true if the sample was successfully fused # TOPICS estimator_aid_src_airspeed estimator_aid_src_sideslip # TOPICS estimator_aid_src_fake_hgt # TOPICS estimator_aid_src_gnss_yaw estimator_aid_src_ev_yaw -# TOPICS estimator_aid_src_terrain_range_finder diff --git a/msg/EstimatorAidSource2d.msg b/msg/EstimatorAidSource2d.msg index 069030eb15f..14e3ac3f846 100644 --- a/msg/EstimatorAidSource2d.msg +++ b/msg/EstimatorAidSource2d.msg @@ -22,5 +22,5 @@ bool innovation_rejected # true if the observation has been rejected bool fused # true if the sample was successfully fused # TOPICS estimator_aid_src_ev_pos estimator_aid_src_fake_pos estimator_aid_src_gnss_pos estimator_aid_src_aux_global_position -# TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow estimator_aid_src_terrain_optical_flow +# TOPICS estimator_aid_src_aux_vel estimator_aid_src_optical_flow # TOPICS estimator_aid_src_drag diff --git a/msg/EstimatorBias.msg b/msg/EstimatorBias.msg index 10dbca87bda..bb65e47bc7d 100644 --- a/msg/EstimatorBias.msg +++ b/msg/EstimatorBias.msg @@ -9,4 +9,4 @@ float32 innov # innovation of the last measurement fusion (m) float32 innov_var # innovation variance of the last measurement fusion (m^2) float32 innov_test_ratio # normalized innovation squared test ratio -# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias +# TOPICS estimator_baro_bias estimator_gnss_hgt_bias diff --git a/msg/EstimatorInnovations.msg b/msg/EstimatorInnovations.msg index ecf637478d4..11cc6a58adb 100644 --- a/msg/EstimatorInnovations.msg +++ b/msg/EstimatorInnovations.msg @@ -22,7 +22,6 @@ float32[2] aux_hvel # horizontal auxiliary velocity innovation from landing targ # Optical flow float32[2] flow # flow innvoation (rad/sec) and innovation variance ((rad/sec)**2) -float32[2] terr_flow # flow innvoation (rad/sec) and innovation variance computed by the terrain estimator ((rad/sec)**2) # Various float32 heading # heading innovation (rad) and innovation variance (rad**2) diff --git a/msg/EstimatorStates.msg b/msg/EstimatorStates.msg index 787a005f879..885246d8a5b 100644 --- a/msg/EstimatorStates.msg +++ b/msg/EstimatorStates.msg @@ -1,7 +1,7 @@ uint64 timestamp # time since system start (microseconds) uint64 timestamp_sample # the timestamp of the raw data (microseconds) -float32[24] states # Internal filter states +float32[25] states # Internal filter states uint8 n_states # Number of states effectively used -float32[23] covariances # Diagonal Elements of Covariance Matrix +float32[24] covariances # Diagonal Elements of Covariance Matrix diff --git a/src/modules/ekf2/CMakeLists.txt b/src/modules/ekf2/CMakeLists.txt index f21ce26d114..6d0f72dcbd6 100644 --- a/src/modules/ekf2/CMakeLists.txt +++ b/src/modules/ekf2/CMakeLists.txt @@ -203,6 +203,7 @@ if(CONFIG_EKF2_RANGE_FINDER) list(APPEND EKF_SRCS EKF/aid_sources/range_finder/range_finder_consistency_check.cpp EKF/aid_sources/range_finder/range_height_control.cpp + EKF/aid_sources/range_finder/range_height_fusion.cpp EKF/aid_sources/range_finder/sensor_range_finder.cpp ) endif() diff --git a/src/modules/ekf2/EKF/CMakeLists.txt b/src/modules/ekf2/EKF/CMakeLists.txt index fa57df04c73..bd9770c9014 100644 --- a/src/modules/ekf2/EKF/CMakeLists.txt +++ b/src/modules/ekf2/EKF/CMakeLists.txt @@ -125,6 +125,7 @@ if(CONFIG_EKF2_RANGE_FINDER) list(APPEND EKF_SRCS aid_sources/range_finder/range_finder_consistency_check.cpp aid_sources/range_finder/range_height_control.cpp + aid_sources/range_finder/range_height_fusion.cpp aid_sources/range_finder/sensor_range_finder.cpp ) endif() diff --git a/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp index 7758a64da36..ec2aec1ba4f 100644 --- a/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp +++ b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp @@ -55,13 +55,9 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed) && !_flow_sample_delayed.flow_rate.longerThan(_flow_max_rate); const bool is_tilt_good = (_R_to_earth(2, 2) > _params.range_cos_max_tilt); - // don't enforce this condition if terrain estimate is not valid as we have logic below to coast through bad range finder data - const bool is_within_max_sensor_dist = isTerrainEstimateValid() ? (_terrain_vpos - _state.pos(2) <= _flow_max_distance) : true; - if (is_quality_good && is_magnitude_good - && is_tilt_good - && is_within_max_sensor_dist) { + && is_tilt_good) { // compensate for body motion to give a LOS rate calcOptFlowBodyRateComp(imu_delayed); _flow_rate_compensated = _flow_sample_delayed.flow_rate - _flow_sample_delayed.gyro_rate.xy(); @@ -81,20 +77,21 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed) && (_control_status.flags.inertial_dead_reckoning // is doing inertial dead-reckoning so must constrain drift urgently || isOnlyActiveSourceOfHorizontalAiding(_control_status.flags.opt_flow)); - // Fuse optical flow LOS rate observations into the main filter only if height above ground has been updated recently - // use a relaxed time criteria to enable it to coast through bad range finder data - const bool terrain_available = isTerrainEstimateValid() || isRecent(_aid_src_terrain_range_finder.time_last_fuse, (uint64_t)10e6); + const bool is_within_max_sensor_dist = getHagl() <= _flow_max_distance; const bool continuing_conditions_passing = (_params.flow_ctrl == 1) && _control_status.flags.tilt_align - && (terrain_available || is_flow_required); + && is_within_max_sensor_dist; const bool starting_conditions_passing = continuing_conditions_passing && isTimedOut(_aid_src_optical_flow.time_last_fuse, (uint64_t)2e6); // Prevent rapid switching + // If the height is relative to the ground, terrain height cannot be observed. + _hagl_sensor_status.flags.flow = _control_status.flags.opt_flow && !(_height_sensor_ref == HeightSensor::RANGE); + if (_control_status.flags.opt_flow) { if (continuing_conditions_passing) { - fuseOptFlow(); + fuseOptFlow(_hagl_sensor_status.flags.flow); // handle the case when we have optical flow, are reliant on it, but have not been using it for an extended period if (isTimedOut(_aid_src_optical_flow.time_last_fuse, _params.no_aid_timeout_max)) { @@ -125,19 +122,35 @@ void Ekf::startFlowFusion() { ECL_INFO("starting optical flow fusion"); - if (!_aid_src_optical_flow.innovation_rejected && isHorizontalAidingActive()) { - // Consistent with the current velocity state, simply fuse the data without reset - fuseOptFlow(); - _control_status.flags.opt_flow = true; + if (_height_sensor_ref != HeightSensor::RANGE) { + // If the height is relative to the ground, terrain height cannot be observed. + _hagl_sensor_status.flags.flow = true; + } - } else if (!isHorizontalAidingActive()) { - resetFlowFusion(); - _control_status.flags.opt_flow = true; + if (isHorizontalAidingActive()) { + if (!_aid_src_optical_flow.innovation_rejected) { + ECL_INFO("starting optical flow no reset"); + fuseOptFlow(_hagl_sensor_status.flags.flow); + + } else if (_hagl_sensor_status.flags.flow && !_hagl_sensor_status.flags.range_finder) { + resetHaglFlow(); + + } else { + ECL_INFO("optical flow fusion failed to start"); + _control_status.flags.opt_flow = false; + _hagl_sensor_status.flags.flow = false; + } } else { - ECL_INFO("optical flow fusion failed to start"); - _control_status.flags.opt_flow = false; + if (isTerrainEstimateValid() || (_height_sensor_ref == HeightSensor::RANGE)) { + resetFlowFusion(); + + } else if (_hagl_sensor_status.flags.flow) { + resetHaglFlow(); + } } + + _control_status.flags.opt_flow = true; // needs to be here because of isHorizontalAidingActive } void Ekf::resetFlowFusion() @@ -159,11 +172,26 @@ void Ekf::resetFlowFusion() _aid_src_optical_flow.time_last_fuse = _time_delayed_us; } +void Ekf::resetHaglFlow() +{ + ECL_INFO("reset hagl to flow"); + // TODO: use the flow data + _state.terrain = fmaxf(0.0f, _state.pos(2)); + P.uncorrelateCovarianceSetVariance(State::terrain.idx, 100.f); + _terrain_vpos_reset_counter++; + + _innov_check_fail_status.flags.reject_optflow_X = false; + _innov_check_fail_status.flags.reject_optflow_Y = false; + + _aid_src_optical_flow.time_last_fuse = _time_delayed_us; +} + void Ekf::stopFlowFusion() { if (_control_status.flags.opt_flow) { ECL_INFO("stopping optical flow fusion"); _control_status.flags.opt_flow = false; + _hagl_sensor_status.flags.flow = false; } } diff --git a/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp index 38186ebadf2..bfed5a7fa1b 100644 --- a/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp +++ b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp @@ -73,7 +73,7 @@ void Ekf::updateOptFlow(estimator_aid_source2d_s &aid_src) Vector2f innov_var; VectorState H; - sym::ComputeFlowXyInnovVarAndHx(_state.vector(), P, range, R_LOS, FLT_EPSILON, &innov_var, &H); + sym::ComputeFlowXyInnovVarAndHx(_state.vector(), P, R_LOS, FLT_EPSILON, &innov_var, &H); // run the innovation consistency check and record result updateAidSourceStatus(aid_src, @@ -85,7 +85,7 @@ void Ekf::updateOptFlow(estimator_aid_source2d_s &aid_src) math::max(_params.flow_innov_gate, 1.f)); // innovation gate } -void Ekf::fuseOptFlow() +void Ekf::fuseOptFlow(const bool update_terrain) { const float R_LOS = _aid_src_optical_flow.observation_variance[0]; @@ -97,7 +97,7 @@ void Ekf::fuseOptFlow() Vector2f innov_var; VectorState H; - sym::ComputeFlowXyInnovVarAndHx(state_vector, P, range, R_LOS, FLT_EPSILON, &innov_var, &H); + sym::ComputeFlowXyInnovVarAndHx(state_vector, P, R_LOS, FLT_EPSILON, &innov_var, &H); innov_var.copyTo(_aid_src_optical_flow.innovation_variance); if ((innov_var(0) < R_LOS) || (innov_var(1) < R_LOS)) { @@ -124,7 +124,7 @@ void Ekf::fuseOptFlow() } else if (index == 1) { // recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes) - sym::ComputeFlowYInnovVarAndH(state_vector, P, range, R_LOS, FLT_EPSILON, &_aid_src_optical_flow.innovation_variance[1], &H); + sym::ComputeFlowYInnovVarAndH(state_vector, P, R_LOS, FLT_EPSILON, &_aid_src_optical_flow.innovation_variance[1], &H); // recalculate the innovation using the updated state const Vector2f vel_body = predictFlowVelBody(); @@ -141,6 +141,10 @@ void Ekf::fuseOptFlow() VectorState Kfusion = P * H / _aid_src_optical_flow.innovation_variance[index]; + if (!update_terrain) { + Kfusion(State::terrain.idx) = 0.f; + } + if (measurementUpdate(Kfusion, H, _aid_src_optical_flow.observation_variance[index], _aid_src_optical_flow.innovation[index])) { fused[index] = true; } @@ -165,10 +169,17 @@ float Ekf::predictFlowRange() // calculate the height above the ground of the optical flow camera. Since earth frame is NED // a positive offset in earth frame leads to a smaller height above the ground. - const float height_above_gnd_est = math::max(_terrain_vpos - _state.pos(2) - pos_offset_earth(2), fmaxf(_params.rng_gnd_clearance, 0.01f)); + const float height_above_gnd_est = getHagl() - pos_offset_earth(2); // calculate range from focal point to centre of image - return height_above_gnd_est / _R_to_earth(2, 2); // absolute distance to the frame region in view + float flow_range = height_above_gnd_est / _R_to_earth(2, 2); // absolute distance to the frame region in view + + // avoid the flow prediction singularity at range = 0 + if (fabsf(flow_range) < FLT_EPSILON) { + flow_range = signNoZero(flow_range) * FLT_EPSILON; + } + + return flow_range; } Vector2f Ekf::predictFlowVelBody() diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp index 76e815ac738..d085579956b 100644 --- a/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp +++ b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp @@ -37,6 +37,7 @@ */ #include "ekf.h" +#include "ekf_derivation/generated/compute_hagl_innov_var.h" void Ekf::controlRangeHeightFusion() { @@ -93,58 +94,91 @@ void Ekf::controlRangeHeightFusion() } auto &aid_src = _aid_src_rng_hgt; - HeightBiasEstimator &bias_est = _rng_hgt_b_est; - - bias_est.predict(_dt_ekf_avg); if (rng_data_ready && _range_sensor.getSampleAddress()) { - const float measurement = math::max(_range_sensor.getDistBottom(), _params.rng_gnd_clearance); - const float measurement_var = sq(_params.range_noise) + sq(_params.range_noise_scaler * _range_sensor.getDistBottom()); + updateRangeHeight(aid_src); + const bool measurement_valid = PX4_ISFINITE(aid_src.observation) && PX4_ISFINITE(aid_src.observation_variance); - const bool measurement_valid = PX4_ISFINITE(measurement) && PX4_ISFINITE(measurement_var); - - // vertical position innovation - baro measurement has opposite sign to earth z axis - updateVerticalPositionAidStatus(aid_src, - _range_sensor.getSampleAddress()->time_us, // sample timestamp - -(measurement - bias_est.getBias()), // observation - measurement_var + bias_est.getBiasVar(), // observation variance - math::max(_params.range_innov_gate, 1.f)); // innovation gate - - // update the bias estimator before updating the main filter but after - // using its current state to compute the vertical position innovation - if (measurement_valid && _range_sensor.isDataHealthy()) { - bias_est.setMaxStateNoise(sqrtf(measurement_var)); - bias_est.setProcessNoiseSpectralDensity(_params.rng_hgt_bias_nsd); - bias_est.fuseBias(measurement - (-_state.pos(2)), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2)); - } - - // determine if we should use height aiding - const bool do_conditional_range_aid = (_params.rng_ctrl == static_cast(RngCtrl::CONDITIONAL)) - && isConditionalRangeAidSuitable(); - - const bool continuing_conditions_passing = ((_params.rng_ctrl == static_cast(RngCtrl::ENABLED)) || do_conditional_range_aid) - && measurement_valid - && _range_sensor.isDataHealthy(); + const bool continuing_conditions_passing = ((_params.rng_ctrl == static_cast(RngCtrl::ENABLED)) + || (_params.rng_ctrl == static_cast(RngCtrl::CONDITIONAL))) + && _control_status.flags.tilt_align + && measurement_valid + && _range_sensor.isDataHealthy() + && _rng_consistency_check.isKinematicallyConsistent(); const bool starting_conditions_passing = continuing_conditions_passing && isNewestSampleRecent(_time_last_range_buffer_push, 2 * estimator::sensor::RNG_MAX_INTERVAL) && _range_sensor.isRegularlySendingData(); + + const bool do_conditional_range_aid = (_hagl_sensor_status.flags.range_finder || _control_status.flags.rng_hgt) + && (_params.rng_ctrl == static_cast(RngCtrl::CONDITIONAL)) + && isConditionalRangeAidSuitable(); + + const bool do_range_aid = (_hagl_sensor_status.flags.range_finder || _control_status.flags.rng_hgt) + && (_params.rng_ctrl == static_cast(RngCtrl::ENABLED)); + if (_control_status.flags.rng_hgt) { + if (!(do_conditional_range_aid || do_range_aid)) { + ECL_INFO("stopping %s fusion", HGT_SRC_NAME); + stopRngHgtFusion(); + } + + } else { + if (_params.height_sensor_ref == static_cast(HeightSensor::RANGE)) { + if (do_conditional_range_aid) { + // Range finder is used while hovering to stabilize the height estimate. Don't reset but use it as height reference. + ECL_INFO("starting conditional %s height fusion", HGT_SRC_NAME); + _height_sensor_ref = HeightSensor::RANGE; + + _control_status.flags.rng_hgt = true; + stopRngTerrFusion(); + + if (!_hagl_sensor_status.flags.flow && aid_src.innovation_rejected) { + resetHaglRng(aid_src); + } + + } else if (do_range_aid) { + // Range finder is the primary height source, the ground is now the datum used + // to compute the local vertical position + ECL_INFO("starting %s height fusion, resetting height", HGT_SRC_NAME); + _height_sensor_ref = HeightSensor::RANGE; + + _information_events.flags.reset_hgt_to_rng = true; + resetVerticalPositionTo(-aid_src.observation, aid_src.observation_variance); + _state.terrain = 0.f; + _control_status.flags.rng_hgt = true; + stopRngTerrFusion(); + + aid_src.time_last_fuse = _time_delayed_us; + } + + } else { + if (do_conditional_range_aid || do_range_aid) { + ECL_INFO("starting %s height fusion", HGT_SRC_NAME); + _control_status.flags.rng_hgt = true; + + if (!_hagl_sensor_status.flags.flow && aid_src.innovation_rejected) { + resetHaglRng(aid_src); + } + } + } + } + + if (_control_status.flags.rng_hgt || _hagl_sensor_status.flags.range_finder) { if (continuing_conditions_passing) { - fuseVerticalPosition(aid_src); + fuseHaglRng(aid_src, _control_status.flags.rng_hgt, _hagl_sensor_status.flags.range_finder); const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.hgt_fusion_timeout_max); - if (isHeightResetRequired()) { + if (isHeightResetRequired() && _control_status.flags.rng_hgt) { // All height sources are failing ECL_WARN("%s height fusion reset required, all height sources failing", HGT_SRC_NAME); _information_events.flags.reset_hgt_to_rng = true; - resetVerticalPositionTo(-(measurement - bias_est.getBias())); - bias_est.setBias(_state.pos(2) + measurement); + resetVerticalPositionTo(-(aid_src.observation - _state.terrain)); // reset vertical velocity resetVerticalVelocityToZero(); @@ -153,96 +187,123 @@ void Ekf::controlRangeHeightFusion() } else if (is_fusion_failing) { // Some other height source is still working - ECL_WARN("stopping %s height fusion, fusion failing", HGT_SRC_NAME); - stopRngHgtFusion(); - _control_status.flags.rng_fault = true; - _range_sensor.setFaulty(); + if (_hagl_sensor_status.flags.flow) { + ECL_WARN("stopping %s fusion, fusion failing", HGT_SRC_NAME); + stopRngHgtFusion(); + stopRngTerrFusion(); + + } else { + resetHaglRng(aid_src); + } } } else { - ECL_WARN("stopping %s height fusion, continuing conditions failing", HGT_SRC_NAME); + ECL_WARN("stopping %s fusion, continuing conditions failing", HGT_SRC_NAME); stopRngHgtFusion(); + stopRngTerrFusion(); } } else { if (starting_conditions_passing) { - if ((_params.height_sensor_ref == static_cast(HeightSensor::RANGE)) - && (_params.rng_ctrl == static_cast(RngCtrl::CONDITIONAL)) - ) { - // Range finder is used while hovering to stabilize the height estimate. Don't reset but use it as height reference. - ECL_INFO("starting conditional %s height fusion", HGT_SRC_NAME); - _height_sensor_ref = HeightSensor::RANGE; - bias_est.setBias(_state.pos(2) + measurement); - - } else if ((_params.height_sensor_ref == static_cast(HeightSensor::RANGE)) - && (_params.rng_ctrl != static_cast(RngCtrl::CONDITIONAL)) - ) { - // Range finder is the primary height source, the ground is now the datum used - // to compute the local vertical position - ECL_INFO("starting %s height fusion, resetting height", HGT_SRC_NAME); - _height_sensor_ref = HeightSensor::RANGE; - - _information_events.flags.reset_hgt_to_rng = true; - resetVerticalPositionTo(-measurement, measurement_var); - bias_est.reset(); + if (_hagl_sensor_status.flags.flow) { + if (!aid_src.innovation_rejected) { + _hagl_sensor_status.flags.range_finder = true; + fuseHaglRng(aid_src, _control_status.flags.rng_hgt, _hagl_sensor_status.flags.range_finder); + } } else { - ECL_INFO("starting %s height fusion", HGT_SRC_NAME); - bias_est.setBias(_state.pos(2) + measurement); - } + if (aid_src.innovation_rejected) { + resetHaglRng(aid_src); + } - aid_src.time_last_fuse = _time_delayed_us; - bias_est.setFusionActive(); - _control_status.flags.rng_hgt = true; + _hagl_sensor_status.flags.range_finder = true; + } } } - } else if (_control_status.flags.rng_hgt + } else if ((_control_status.flags.rng_hgt || _hagl_sensor_status.flags.range_finder) && !isNewestSampleRecent(_time_last_range_buffer_push, 2 * estimator::sensor::RNG_MAX_INTERVAL)) { // No data anymore. Stop until it comes back. - ECL_WARN("stopping %s height fusion, no data", HGT_SRC_NAME); + ECL_WARN("stopping %s fusion, no data", HGT_SRC_NAME); stopRngHgtFusion(); + stopRngTerrFusion(); } } +void Ekf::updateRangeHeight(estimator_aid_source1d_s &aid_src) +{ + aid_src.observation = math::max(_range_sensor.getDistBottom(), _params.rng_gnd_clearance); + aid_src.innovation = getHagl() - aid_src.observation; + + const float observation_variance = getRngVar(); + float innovation_variance; + sym::ComputeHaglInnovVar(P, observation_variance, &innovation_variance); + + const float innov_gate = math::max(_params.range_innov_gate, 1.f); + updateAidSourceStatus(aid_src, + _range_sensor.getSampleAddress()->time_us, // sample timestamp + math::max(_range_sensor.getDistBottom(), _params.rng_gnd_clearance), // observation + observation_variance, // observation variance + getHagl() - aid_src.observation, // innovation + innovation_variance, // innovation variance + math::max(_params.range_innov_gate, 1.f)); // innovation gate + + // z special case if there is bad vertical acceleration data, then don't reject measurement, + // but limit innovation to prevent spikes that could destabilise the filter + if (_fault_status.flags.bad_acc_vertical && aid_src.innovation_rejected) { + const float innov_limit = innov_gate * sqrtf(aid_src.innovation_variance); + aid_src.innovation = math::constrain(aid_src.innovation, -innov_limit, innov_limit); + aid_src.innovation_rejected = false; + } +} + +float Ekf::getRngVar() const +{ + return fmaxf( + P(State::pos.idx + 2, State::pos.idx + 2) + + sq(_params.range_noise) + + sq(_params.range_noise_scaler * _range_sensor.getRange()), + 0.f); +} + +void Ekf::resetHaglRng(estimator_aid_source1d_s &aid_src) +{ + _state.terrain = _state.pos(2) + aid_src.observation; + P.uncorrelateCovarianceSetVariance(State::terrain.idx, aid_src.observation_variance); + _terrain_vpos_reset_counter++; + + aid_src.time_last_fuse = _time_delayed_us; +} + bool Ekf::isConditionalRangeAidSuitable() { #if defined(CONFIG_EKF2_TERRAIN) - if (_control_status.flags.in_air - && _range_sensor.isHealthy() - && isTerrainEstimateValid()) { - // check if we can use range finder measurements to estimate height, use hysteresis to avoid rapid switching - // Note that the 0.7 coefficients and the innovation check are arbitrary values but work well in practice - float range_hagl_max = _params.max_hagl_for_range_aid; - float max_vel_xy = _params.max_vel_for_range_aid; + // check if we can use range finder measurements to estimate height, use hysteresis to avoid rapid switching + // Note that the 0.7 coefficients and the innovation check are arbitrary values but work well in practice + float range_hagl_max = _params.max_hagl_for_range_aid; + float max_vel_xy = _params.max_vel_for_range_aid; - const float hagl_innov = _aid_src_terrain_range_finder.innovation; - const float hagl_innov_var = _aid_src_terrain_range_finder.innovation_variance; + const float hagl_test_ratio = _aid_src_rng_hgt.test_ratio; - const float hagl_test_ratio = (hagl_innov * hagl_innov / (sq(_params.range_aid_innov_gate) * hagl_innov_var)); + bool is_hagl_stable = (hagl_test_ratio < 1.f); - bool is_hagl_stable = (hagl_test_ratio < 1.f); - - if (!_control_status.flags.rng_hgt) { - range_hagl_max = 0.7f * _params.max_hagl_for_range_aid; - max_vel_xy = 0.7f * _params.max_vel_for_range_aid; - is_hagl_stable = (hagl_test_ratio < 0.01f); - } - - const float range_hagl = _terrain_vpos - _state.pos(2); - - const bool is_in_range = (range_hagl < range_hagl_max); - - bool is_below_max_speed = true; - - if (isHorizontalAidingActive()) { - is_below_max_speed = !_state.vel.xy().longerThan(max_vel_xy); - } - - return is_in_range && is_hagl_stable && is_below_max_speed; + if (!_control_status.flags.rng_hgt) { + range_hagl_max = 0.7f * _params.max_hagl_for_range_aid; + max_vel_xy = 0.7f * _params.max_vel_for_range_aid; + is_hagl_stable = (hagl_test_ratio < 0.01f); } + const bool is_in_range = (getHagl() < range_hagl_max); + + bool is_below_max_speed = true; + + if (isHorizontalAidingActive()) { + is_below_max_speed = !_state.vel.xy().longerThan(max_vel_xy); + } + + return is_in_range && is_hagl_stable && is_below_max_speed; + #endif // CONFIG_EKF2_TERRAIN return false; @@ -256,8 +317,11 @@ void Ekf::stopRngHgtFusion() _height_sensor_ref = HeightSensor::UNKNOWN; } - _rng_hgt_b_est.setFusionInactive(); - _control_status.flags.rng_hgt = false; } } + +void Ekf::stopRngTerrFusion() +{ + _hagl_sensor_status.flags.range_finder = false; +} diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_fusion.cpp new file mode 100644 index 00000000000..a06bdb9478b --- /dev/null +++ b/src/modules/ekf2/EKF/aid_sources/range_finder/range_height_fusion.cpp @@ -0,0 +1,70 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "ekf.h" +#include "ekf_derivation/generated/compute_hagl_h.h" + +bool Ekf::fuseHaglRng(estimator_aid_source1d_s &aid_src, bool update_height, bool update_terrain) +{ + if (aid_src.innovation_rejected) { + _innov_check_fail_status.flags.reject_hagl = true; + return false; + } + + VectorState H; + + sym::ComputeHaglH(&H); + + // calculate the Kalman gain + VectorState K = P * H / aid_src.innovation_variance; + + if (!update_terrain) { + K(State::terrain.idx) = 0.f; + } + + if (!update_height) { + const float k_terrain = K(State::terrain.idx); + K.zero(); + K(State::terrain.idx) = k_terrain; + } + + measurementUpdate(K, H, aid_src.observation_variance, aid_src.innovation); + + // record last successful fusion event + _innov_check_fail_status.flags.reject_hagl = false; + + aid_src.time_last_fuse = _time_delayed_us; + aid_src.fused = true; + + return true; +} diff --git a/src/modules/ekf2/EKF/common.h b/src/modules/ekf2/EKF/common.h index 845c2d4edbf..70be1885720 100644 --- a/src/modules/ekf2/EKF/common.h +++ b/src/modules/ekf2/EKF/common.h @@ -107,7 +107,7 @@ enum MagFuseType : uint8_t { #endif // CONFIG_EKF2_MAGNETOMETER #if defined(CONFIG_EKF2_TERRAIN) -enum TerrainFusionMask : uint8_t { +enum class TerrainFusionMask : uint8_t { TerrainFuseRangeFinder = (1 << 0), TerrainFuseOpticalFlow = (1 << 1) }; @@ -382,8 +382,8 @@ struct parameters { #endif // CONFIG_EKF2_SIDESLIP #if defined(CONFIG_EKF2_TERRAIN) - int32_t terrain_fusion_mode{TerrainFusionMask::TerrainFuseRangeFinder | - TerrainFusionMask::TerrainFuseOpticalFlow}; ///< aiding source(s) selection bitmask for the terrain estimator + int32_t terrain_fusion_mode{static_cast(TerrainFusionMask::TerrainFuseRangeFinder) + | static_cast(TerrainFusionMask::TerrainFuseOpticalFlow)}; ///< aiding source(s) selection bitmask for the terrain estimation float terrain_p_noise{5.0f}; ///< process noise for terrain offset (m/sec) float terrain_gradient{0.5f}; ///< gradient of terrain used to estimate process noise due to changing position (m/m) @@ -401,10 +401,8 @@ struct parameters { float range_delay_ms{5.0f}; ///< range finder measurement delay relative to the IMU (mSec) float range_noise{0.1f}; ///< observation noise for range finder measurements (m) float range_innov_gate{5.0f}; ///< range finder fusion innovation consistency gate size (STD) - float rng_hgt_bias_nsd{0.13f}; ///< process noise for range height bias estimation (m/s/sqrt(Hz)) float rng_sens_pitch{0.0f}; ///< Pitch offset of the range sensor (rad). Sensor points out along Z axis when offset is zero. Positive rotation is RH about Y axis. float range_noise_scaler{0.0f}; ///< scaling from range measurement to noise (m/m) - const float vehicle_variance_scaler{0.0f}; ///< gain applied to vehicle height variance used in calculation of height above ground observation variance float max_hagl_for_range_aid{5.0f}; ///< maximum height above ground for which we allow to use the range finder as height source (if rng_control == 1) float max_vel_for_range_aid{1.0f}; ///< maximum ground velocity for which we allow to use the range finder as height source (if rng_control == 1) float range_aid_innov_gate{1.0f}; ///< gate size used for innovation consistency checks for range aid fusion @@ -521,7 +519,7 @@ union innovation_fault_status_u { bool reject_yaw : 1; ///< 7 - true if the yaw observation has been rejected bool reject_airspeed : 1; ///< 8 - true if the airspeed observation has been rejected bool reject_sideslip : 1; ///< 9 - true if the synthetic sideslip observation has been rejected - bool reject_hagl : 1; ///< 10 - true if the height above ground observation has been rejected + bool reject_hagl : 1; ///< 10 - unused bool reject_optflow_X : 1; ///< 11 - true if the X optical flow observation has been rejected bool reject_optflow_Y : 1; ///< 12 - true if the Y optical flow observation has been rejected } flags; diff --git a/src/modules/ekf2/EKF/covariance.cpp b/src/modules/ekf2/EKF/covariance.cpp index a086a11700d..2310e644a03 100644 --- a/src/modules/ekf2/EKF/covariance.cpp +++ b/src/modules/ekf2/EKF/covariance.cpp @@ -202,6 +202,17 @@ void Ekf::predictCovariance(const imuSample &imu_delayed) } #endif // CONFIG_EKF2_WIND +#if defined(CONFIG_EKF2_TERRAIN) + if (_height_sensor_ref != HeightSensor::RANGE) { + // predict the state variance growth where the state is the vertical position of the terrain underneath the vehicle + // process noise due to errors in vehicle height estimate + float terrain_process_noise = sq(imu_delayed.delta_vel_dt * _params.terrain_p_noise); + + // process noise due to terrain gradient + terrain_process_noise += sq(imu_delayed.delta_vel_dt * _params.terrain_gradient) * (sq(_state.vel(0)) + sq(_state.vel(1))); + P(State::terrain.idx, State::terrain.idx) += terrain_process_noise; + } +#endif // CONFIG_EKF2_TERRAIN // covariance matrix is symmetrical, so copy upper half to lower half for (unsigned row = 0; row < State::size; row++) { @@ -239,6 +250,10 @@ void Ekf::constrainStateVariances() constrainStateVarLimitRatio(State::wind_vel, 1e-6f, 1e6f); } #endif // CONFIG_EKF2_WIND + +#if defined(CONFIG_EKF2_TERRAIN) + constrainStateVarLimitRatio(State::terrain, 0.f, 1e4f); +#endif // CONFIG_EKF2_TERRAIN } void Ekf::constrainStateVar(const IdxDof &state, float min, float max) diff --git a/src/modules/ekf2/EKF/ekf.cpp b/src/modules/ekf2/EKF/ekf.cpp index 8dc7e35d684..61036e4bc7f 100644 --- a/src/modules/ekf2/EKF/ekf.cpp +++ b/src/modules/ekf2/EKF/ekf.cpp @@ -161,7 +161,6 @@ bool Ekf::update() controlFusionModes(imu_sample_delayed); #if defined(CONFIG_EKF2_TERRAIN) - // run a separate filter for terrain estimation runTerrainEstimator(imu_sample_delayed); #endif // CONFIG_EKF2_TERRAIN @@ -201,7 +200,7 @@ bool Ekf::initialiseFilter() initialiseCovariance(); #if defined(CONFIG_EKF2_TERRAIN) - // Initialise the terrain estimator + // Initialise the terrain state initHagl(); #endif // CONFIG_EKF2_TERRAIN @@ -377,6 +376,14 @@ void Ekf::print_status() ); #endif // CONFIG_EKF2_WIND +#if defined(CONFIG_EKF2_TERRAIN) + printf("Terrain position (%d): %.3f var: %.1e\n", + State::terrain.idx, + (double)_state.terrain, + (double)getStateVariance()(0) + ); +#endif // CONFIG_EKF2_TERRAIN + printf("\nP:\n"); P.print(); diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index 88789fa1b2f..ac953e570bc 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -104,27 +104,19 @@ public: uint8_t getTerrainEstimateSensorBitfield() const { return _hagl_sensor_status.value; } // get the estimated terrain vertical position relative to the NED origin - float getTerrainVertPos() const { return _terrain_vpos; }; + float getTerrainVertPos() const { return _state.terrain; }; + float getHagl() const { return _state.terrain - _state.pos(2); } // get the number of times the vertical terrain position has been reset uint8_t getTerrainVertPosResetCounter() const { return _terrain_vpos_reset_counter; }; // get the terrain variance - float get_terrain_var() const { return _terrain_var; } - -# if defined(CONFIG_EKF2_RANGE_FINDER) - const auto &aid_src_terrain_range_finder() const { return _aid_src_terrain_range_finder; } -# endif // CONFIG_EKF2_RANGE_FINDER - -# if defined(CONFIG_EKF2_OPTICAL_FLOW) - const auto &aid_src_terrain_optical_flow() const { return _aid_src_terrain_optical_flow; } -# endif // CONFIG_EKF2_OPTICAL_FLOW + float getTerrainVariance() const { return P(State::terrain.idx, State::terrain.idx); } #endif // CONFIG_EKF2_TERRAIN #if defined(CONFIG_EKF2_RANGE_FINDER) // range height - const BiasEstimator::status &getRngHgtBiasEstimatorStatus() const { return _rng_hgt_b_est.getStatus(); } const auto &aid_src_rng_hgt() const { return _aid_src_rng_hgt; } float getHaglRateInnov() const { return _rng_consistency_check.getInnov(); } @@ -592,27 +584,14 @@ private: #if defined(CONFIG_EKF2_TERRAIN) // Terrain height state estimation - float _terrain_vpos{0.0f}; ///< estimated vertical position of the terrain underneath the vehicle in local NED frame (m) - float _terrain_var{1e4f}; ///< variance of terrain position estimate (m**2) uint8_t _terrain_vpos_reset_counter{0}; ///< number of times _terrain_vpos has been reset terrain_fusion_status_u _hagl_sensor_status{}; ///< Struct indicating type of sensor used to estimate height above ground float _last_on_ground_posD{0.0f}; ///< last vertical position when the in_air status was false (m) - -# if defined(CONFIG_EKF2_RANGE_FINDER) - estimator_aid_source1d_s _aid_src_terrain_range_finder{}; - uint64_t _time_last_healthy_rng_data{0}; -# endif // CONFIG_EKF2_RANGE_FINDER - -# if defined(CONFIG_EKF2_OPTICAL_FLOW) - estimator_aid_source2d_s _aid_src_terrain_optical_flow{}; -# endif // CONFIG_EKF2_OPTICAL_FLOW - #endif // CONFIG_EKF2_TERRAIN #if defined(CONFIG_EKF2_RANGE_FINDER) estimator_aid_source1d_s _aid_src_rng_hgt{}; - HeightBiasEstimator _rng_hgt_b_est{HeightSensor::RANGE, _height_sensor_ref}; #endif // CONFIG_EKF2_RANGE_FINDER #if defined(CONFIG_EKF2_OPTICAL_FLOW) @@ -831,29 +810,22 @@ private: // terrain vertical position estimator void initHagl(); void runTerrainEstimator(const imuSample &imu_delayed); - void predictHagl(const imuSample &imu_delayed); - float getTerrainVPos() const { return isTerrainEstimateValid() ? _terrain_vpos : _last_on_ground_posD; } + float getTerrainVPos() const { return isTerrainEstimateValid() ? _state.terrain : _last_on_ground_posD; } void controlHaglFakeFusion(); - void terrainHandleVerticalPositionReset(float delta_z); # if defined(CONFIG_EKF2_RANGE_FINDER) // update the terrain vertical position estimate using a height above ground measurement from the range finder - void controlHaglRngFusion(); - void updateHaglRng(estimator_aid_source1d_s &aid_src) const; - void fuseHaglRng(estimator_aid_source1d_s &aid_src); - void resetHaglRng(); - void stopHaglRngFusion(); + bool fuseHaglRng(estimator_aid_source1d_s &aid_src, bool update_height, bool update_terrain); + void updateRangeHeight(estimator_aid_source1d_s &aid_src); + void resetHaglRng(estimator_aid_source1d_s &aid_src); float getRngVar() const; # endif // CONFIG_EKF2_RANGE_FINDER # if defined(CONFIG_EKF2_OPTICAL_FLOW) // update the terrain vertical position estimate using an optical flow measurement - void controlHaglFlowFusion(); void resetHaglFlow(); - void stopHaglFlowFusion(); - void fuseFlowForTerrain(estimator_aid_source2d_s &flow); # endif // CONFIG_EKF2_OPTICAL_FLOW #endif // CONFIG_EKF2_TERRAIN @@ -863,6 +835,7 @@ private: void controlRangeHeightFusion(); bool isConditionalRangeAidSuitable(); void stopRngHgtFusion(); + void stopRngTerrFusion(); #endif // CONFIG_EKF2_RANGE_FINDER #if defined(CONFIG_EKF2_OPTICAL_FLOW) @@ -883,7 +856,7 @@ private: // fuse optical flow line of sight rate measurements void updateOptFlow(estimator_aid_source2d_s &aid_src); - void fuseOptFlow(); + void fuseOptFlow(bool update_terrain); float predictFlowRange(); Vector2f predictFlowVelBody(); #endif // CONFIG_EKF2_OPTICAL_FLOW diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index ab416d81da4..94b1046dbae 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -211,7 +211,7 @@ void Ekf::get_ekf_vel_accuracy(float *ekf_evh, float *ekf_evv) const #if defined(CONFIG_EKF2_OPTICAL_FLOW) if (_control_status.flags.opt_flow) { float gndclearance = math::max(_params.rng_gnd_clearance, 0.1f); - vel_err_conservative = math::max((_terrain_vpos - _state.pos(2)), gndclearance) * Vector2f(_aid_src_optical_flow.innovation).norm(); + vel_err_conservative = math::max(getHagl(), gndclearance) * Vector2f(_aid_src_optical_flow.innovation).norm(); } #endif // CONFIG_EKF2_OPTICAL_FLOW @@ -271,7 +271,7 @@ void Ekf::get_ekf_ctrl_limits(float *vxy_max, float *vz_max, float *hagl_min, fl const float flow_hagl_min = fmaxf(rangefinder_hagl_min, _flow_min_distance); const float flow_hagl_max = fminf(rangefinder_hagl_max, _flow_max_distance); - const float flow_constrained_height = math::constrain(_terrain_vpos - _state.pos(2), flow_hagl_min, flow_hagl_max); + const float flow_constrained_height = math::constrain(getHagl(), flow_hagl_min, flow_hagl_max); // Allow ground relative velocity to use 50% of available flow sensor range to allow for angular motion const float flow_vxy_max = 0.5f * _flow_max_rate * flow_constrained_height; @@ -472,18 +472,9 @@ float Ekf::getHeightAboveGroundInnovationTestRatio() const # if defined(CONFIG_EKF2_RANGE_FINDER) if (_hagl_sensor_status.flags.range_finder) { // return the terrain height innovation test ratio - test_ratio = math::max(test_ratio, fabsf(_aid_src_terrain_range_finder.test_ratio_filtered)); + test_ratio = math::max(test_ratio, fabsf(_aid_src_rng_hgt.test_ratio_filtered)); } -#endif // CONFIG_EKF2_RANGE_FINDER - -# if defined(CONFIG_EKF2_OPTICAL_FLOW) - if (_hagl_sensor_status.flags.flow) { - // return the terrain height innovation test ratio - for (auto &test_ratio_filtered : _aid_src_terrain_optical_flow.test_ratio_filtered) { - test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered)); - } - } -# endif // CONFIG_EKF2_OPTICAL_FLOW +# endif // CONFIG_EKF2_RANGE_FINDER #endif // CONFIG_EKF2_TERRAIN if (PX4_ISFINITE(test_ratio) && (test_ratio >= 0.f)) { @@ -569,6 +560,10 @@ void Ekf::fuse(const VectorState &K, float innovation) _state.wind_vel = matrix::constrain(_state.wind_vel - K.slice(State::wind_vel.idx, 0) * innovation, -1.e2f, 1.e2f); } #endif // CONFIG_EKF2_WIND + +#if defined(CONFIG_EKF2_TERRAIN) + _state.terrain = math::constrain(_state.terrain - K(State::terrain.idx) * innovation, -1e4f, 1e4f); +#endif // CONFIG_EKF2_TERRAIN } void Ekf::updateDeadReckoningStatus() @@ -670,7 +665,7 @@ void Ekf::updateGroundEffect() #if defined(CONFIG_EKF2_TERRAIN) if (isTerrainEstimateValid()) { // automatically set ground effect if terrain is valid - float height = _terrain_vpos - _state.pos(2); + float height = getHagl(); _control_status.flags.gnd_effect = (height < _params.gnd_effect_max_hgt); } else diff --git a/src/modules/ekf2/EKF/height_control.cpp b/src/modules/ekf2/EKF/height_control.cpp index 9d07c9bc580..d81c2848386 100644 --- a/src/modules/ekf2/EKF/height_control.cpp +++ b/src/modules/ekf2/EKF/height_control.cpp @@ -301,7 +301,8 @@ Likelihood Ekf::estimateInertialNavFallingLikelihood() const #if defined(CONFIG_EKF2_RANGE_FINDER) if (_control_status.flags.rng_hgt) { - checks[3] = {ReferenceType::GROUND, _aid_src_rng_hgt.innovation, _aid_src_rng_hgt.innovation_variance}; + // Range is a distance to ground measurement, not a direct height observation and has an opposite sign + checks[3] = {ReferenceType::GROUND, -_aid_src_rng_hgt.innovation, _aid_src_rng_hgt.innovation_variance}; } #endif // CONFIG_EKF2_RANGE_FINDER diff --git a/src/modules/ekf2/EKF/position_fusion.cpp b/src/modules/ekf2/EKF/position_fusion.cpp index d8362b5fced..3ae92a6b6dd 100644 --- a/src/modules/ekf2/EKF/position_fusion.cpp +++ b/src/modules/ekf2/EKF/position_fusion.cpp @@ -161,12 +161,9 @@ void Ekf::resetVerticalPositionTo(const float new_vert_pos, float new_vert_pos_v #if defined(CONFIG_EKF2_GNSS) _gps_hgt_b_est.setBias(_gps_hgt_b_est.getBias() + delta_z); #endif // CONFIG_EKF2_GNSS -#if defined(CONFIG_EKF2_RANGE_FINDER) - _rng_hgt_b_est.setBias(_rng_hgt_b_est.getBias() + delta_z); -#endif // CONFIG_EKF2_RANGE_FINDER #if defined(CONFIG_EKF2_TERRAIN) - terrainHandleVerticalPositionReset(delta_z); + _state.terrain += delta_z; #endif // Reset the timout timer diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py b/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py index 452d9f565b1..4d8b5278dbc 100755 --- a/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py +++ b/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py @@ -68,7 +68,8 @@ State = Values( accel_bias = sf.V3(), mag_I = sf.V3(), mag_B = sf.V3(), - wind_vel = sf.V2() + wind_vel = sf.V2(), + terrain = sf.V1() ) if args.disable_mag: @@ -132,7 +133,8 @@ def predict_covariance( accel_bias = sf.V3.symbolic("delta_a_b"), mag_I = sf.V3.symbolic("mag_I"), mag_B = sf.V3.symbolic("mag_B"), - wind_vel = sf.V2.symbolic("wind_vel") + wind_vel = sf.V2.symbolic("wind_vel"), + terrain = sf.V1.symbolic("terrain") ) if args.disable_mag: @@ -456,7 +458,10 @@ def compute_mag_declination_pred_innov_var_and_h( return (meas_pred, innov_var, H.T) -def predict_opt_flow(state, distance, epsilon): +def predict_hagl(state): + return state["terrain"][0] - state["pos"][2] + +def predict_opt_flow(state, epsilon): R_to_body = state["quat_nominal"].inverse() # Calculate earth relative velocity in a non-rotating sensor frame @@ -464,23 +469,23 @@ def predict_opt_flow(state, distance, epsilon): # Divide by range to get predicted angular LOS rates relative to X and Y # axes. Note these are rates in a non-rotating sensor frame + hagl = predict_hagl(state) + hagl = add_epsilon_sign(hagl, hagl, epsilon) + R_to_earth = state["quat_nominal"].to_rotation_matrix() flow_pred = sf.V2() - flow_pred[0] = rel_vel_sensor[1] / distance - flow_pred[1] = -rel_vel_sensor[0] / distance - flow_pred = add_epsilon_sign(flow_pred, distance, epsilon) + flow_pred[0] = rel_vel_sensor[1] / hagl * R_to_earth[2, 2] + flow_pred[1] = -rel_vel_sensor[0] / hagl * R_to_earth[2, 2] return flow_pred - def compute_flow_xy_innov_var_and_hx( state: VState, P: MTangent, - distance: sf.Scalar, R: sf.Scalar, epsilon: sf.Scalar ) -> (sf.V2, VTangent): state = vstate_to_state(state) - meas_pred = predict_opt_flow(state, distance, epsilon); + meas_pred = predict_opt_flow(state, epsilon) innov_var = sf.V2() Hx = jacobian_chain_rule(meas_pred[0], state) @@ -493,18 +498,40 @@ def compute_flow_xy_innov_var_and_hx( def compute_flow_y_innov_var_and_h( state: VState, P: MTangent, - distance: sf.Scalar, R: sf.Scalar, epsilon: sf.Scalar ) -> (sf.Scalar, VTangent): state = vstate_to_state(state) - meas_pred = predict_opt_flow(state, distance, epsilon); + meas_pred = predict_opt_flow(state, epsilon) Hy = jacobian_chain_rule(meas_pred[1], state) innov_var = (Hy * P * Hy.T + R)[0,0] return (innov_var, Hy.T) +def compute_hagl_innov_var( + P: MTangent, + R: sf.Scalar, +) -> (sf.Scalar): + state = VState.symbolic("state") + state = vstate_to_state(state) + meas_pred = predict_hagl(state) + + H = jacobian_chain_rule(meas_pred, state) + innov_var = (H * P * H.T + R)[0,0] + + return (innov_var) + +def compute_hagl_h( +) -> (VTangent): + state = VState.symbolic("state") + state = vstate_to_state(state) + meas_pred = predict_hagl(state) + + H = jacobian_chain_rule(meas_pred, state) + + return (H.T) + def compute_gnss_yaw_pred_innov_var_and_h( state: VState, P: MTangent, @@ -664,6 +691,8 @@ if not args.disable_wind: generate_px4_function(compute_yaw_innov_var_and_h, output_names=["innov_var", "H"]) generate_px4_function(compute_flow_xy_innov_var_and_hx, output_names=["innov_var", "H"]) generate_px4_function(compute_flow_y_innov_var_and_h, output_names=["innov_var", "H"]) +generate_px4_function(compute_hagl_innov_var, output_names=["innov_var"]) +generate_px4_function(compute_hagl_h, output_names=["H"]) generate_px4_function(compute_gnss_yaw_pred_innov_var_and_h, output_names=["meas_pred", "innov_var", "H"]) generate_px4_function(compute_gravity_xyz_innov_var_and_hx, output_names=["innov_var", "Hx"]) generate_px4_function(compute_gravity_y_innov_var_and_h, output_names=["innov_var", "Hy"]) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_airspeed_h_and_k.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_airspeed_h_and_k.h index cc2c18cd639..52bb16353d3 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_airspeed_h_and_k.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_airspeed_h_and_k.h @@ -16,21 +16,21 @@ namespace sym { * Symbolic function: compute_airspeed_h_and_k * * Args: - * state: Matrix24_1 - * P: Matrix23_23 + * state: Matrix25_1 + * P: Matrix24_24 * innov_var: Scalar * epsilon: Scalar * * Outputs: - * H: Matrix23_1 - * K: Matrix23_1 + * H: Matrix24_1 + * K: Matrix24_1 */ template -void ComputeAirspeedHAndK(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar innov_var, - const Scalar epsilon, matrix::Matrix* const H = nullptr, - matrix::Matrix* const K = nullptr) { - // Total ops: 246 +void ComputeAirspeedHAndK(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar innov_var, + const Scalar epsilon, matrix::Matrix* const H = nullptr, + matrix::Matrix* const K = nullptr) { + // Total ops: 256 // Input arrays @@ -47,7 +47,7 @@ void ComputeAirspeedHAndK(const matrix::Matrix& state, // Output terms (2) if (H != nullptr) { - matrix::Matrix& _h = (*H); + matrix::Matrix& _h = (*H); _h.setZero(); @@ -59,7 +59,7 @@ void ComputeAirspeedHAndK(const matrix::Matrix& state, } if (K != nullptr) { - matrix::Matrix& _k = (*K); + matrix::Matrix& _k = (*K); _k(0, 0) = _tmp6 * (-P(0, 21) * _tmp3 - P(0, 22) * _tmp4 + P(0, 3) * _tmp3 + P(0, 4) * _tmp4 + P(0, 5) * _tmp5); @@ -107,6 +107,8 @@ void ComputeAirspeedHAndK(const matrix::Matrix& state, P(21, 4) * _tmp4 + P(21, 5) * _tmp5); _k(22, 0) = _tmp6 * (-P(22, 21) * _tmp3 - P(22, 22) * _tmp4 + P(22, 3) * _tmp3 + P(22, 4) * _tmp4 + P(22, 5) * _tmp5); + _k(23, 0) = _tmp6 * (-P(23, 21) * _tmp3 - P(23, 22) * _tmp4 + P(23, 3) * _tmp3 + + P(23, 4) * _tmp4 + P(23, 5) * _tmp5); } } // NOLINT(readability/fn_size) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_airspeed_innov_and_innov_var.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_airspeed_innov_and_innov_var.h index 34c059b5620..e97088d173c 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_airspeed_innov_and_innov_var.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_airspeed_innov_and_innov_var.h @@ -16,8 +16,8 @@ namespace sym { * Symbolic function: compute_airspeed_innov_and_innov_var * * Args: - * state: Matrix24_1 - * P: Matrix23_23 + * state: Matrix25_1 + * P: Matrix24_24 * airspeed: Scalar * R: Scalar * epsilon: Scalar @@ -27,8 +27,8 @@ namespace sym { * innov_var: Scalar */ template -void ComputeAirspeedInnovAndInnovVar(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar airspeed, +void ComputeAirspeedInnovAndInnovVar(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar airspeed, const Scalar R, const Scalar epsilon, Scalar* const innov = nullptr, Scalar* const innov_var = nullptr) { diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_x_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_x_innov_var_and_h.h index 1b7c762f2c1..6dba76add33 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_x_innov_var_and_h.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_x_innov_var_and_h.h @@ -16,8 +16,8 @@ namespace sym { * Symbolic function: compute_drag_x_innov_var_and_h * * Args: - * state: Matrix24_1 - * P: Matrix23_23 + * state: Matrix25_1 + * P: Matrix24_24 * rho: Scalar * cd: Scalar * cm: Scalar @@ -26,14 +26,14 @@ namespace sym { * * Outputs: * innov_var: Scalar - * Hx: Matrix23_1 + * Hx: Matrix24_1 */ template -void ComputeDragXInnovVarAndH(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar rho, +void ComputeDragXInnovVarAndH(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar rho, const Scalar cd, const Scalar cm, const Scalar R, const Scalar epsilon, Scalar* const innov_var = nullptr, - matrix::Matrix* const Hx = nullptr) { + matrix::Matrix* const Hx = nullptr) { // Total ops: 357 // Input arrays @@ -162,7 +162,7 @@ void ComputeDragXInnovVarAndH(const matrix::Matrix& state, } if (Hx != nullptr) { - matrix::Matrix& _hx = (*Hx); + matrix::Matrix& _hx = (*Hx); _hx.setZero(); diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_y_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_y_innov_var_and_h.h index 505f4ed4dee..a7bf92840c1 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_y_innov_var_and_h.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_drag_y_innov_var_and_h.h @@ -16,8 +16,8 @@ namespace sym { * Symbolic function: compute_drag_y_innov_var_and_h * * Args: - * state: Matrix24_1 - * P: Matrix23_23 + * state: Matrix25_1 + * P: Matrix24_24 * rho: Scalar * cd: Scalar * cm: Scalar @@ -26,14 +26,14 @@ namespace sym { * * Outputs: * innov_var: Scalar - * Hy: Matrix23_1 + * Hy: Matrix24_1 */ template -void ComputeDragYInnovVarAndH(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar rho, +void ComputeDragYInnovVarAndH(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar rho, const Scalar cd, const Scalar cm, const Scalar R, const Scalar epsilon, Scalar* const innov_var = nullptr, - matrix::Matrix* const Hy = nullptr) { + matrix::Matrix* const Hy = nullptr) { // Total ops: 360 // Input arrays @@ -162,7 +162,7 @@ void ComputeDragYInnovVarAndH(const matrix::Matrix& state, } if (Hy != nullptr) { - matrix::Matrix& _hy = (*Hy); + matrix::Matrix& _hy = (*Hy); _hy.setZero(); diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_flow_xy_innov_var_and_hx.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_flow_xy_innov_var_and_hx.h index 856096baf1a..75809345d96 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_flow_xy_innov_var_and_hx.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_flow_xy_innov_var_and_hx.h @@ -16,117 +16,153 @@ namespace sym { * Symbolic function: compute_flow_xy_innov_var_and_hx * * Args: - * state: Matrix24_1 - * P: Matrix23_23 - * distance: Scalar + * state: Matrix25_1 + * P: Matrix24_24 * R: Scalar * epsilon: Scalar * * Outputs: * innov_var: Matrix21 - * H: Matrix23_1 + * H: Matrix24_1 */ template -void ComputeFlowXyInnovVarAndHx(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar distance, - const Scalar R, const Scalar epsilon, +void ComputeFlowXyInnovVarAndHx(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar R, + const Scalar epsilon, matrix::Matrix* const innov_var = nullptr, - matrix::Matrix* const H = nullptr) { - // Total ops: 275 + matrix::Matrix* const H = nullptr) { + // Total ops: 431 // Input arrays - // Intermediate terms (42) - const Scalar _tmp0 = 2 * state(4, 0); - const Scalar _tmp1 = 2 * state(1, 0); - const Scalar _tmp2 = _tmp1 * state(6, 0); - const Scalar _tmp3 = -_tmp0 * state(3, 0) + _tmp2; - const Scalar _tmp4 = - Scalar(1.0) / - (distance + epsilon * (2 * math::min(0, (((distance) > 0) - ((distance) < 0))) + 1)); - const Scalar _tmp5 = (Scalar(1) / Scalar(2)) * _tmp4; - const Scalar _tmp6 = _tmp5 * state(2, 0); - const Scalar _tmp7 = 2 * state(3, 0) * state(6, 0); - const Scalar _tmp8 = _tmp5 * (_tmp0 * state(1, 0) + _tmp7); - const Scalar _tmp9 = 2 * state(0, 0); - const Scalar _tmp10 = state(3, 0) * state(5, 0); - const Scalar _tmp11 = 2 * state(2, 0); - const Scalar _tmp12 = _tmp11 * state(6, 0); - const Scalar _tmp13 = -4 * _tmp10 + _tmp12 - _tmp9 * state(4, 0); - const Scalar _tmp14 = _tmp5 * state(1, 0); - const Scalar _tmp15 = _tmp9 * state(6, 0); - const Scalar _tmp16 = _tmp0 * state(2, 0) + _tmp15 - 4 * state(1, 0) * state(5, 0); - const Scalar _tmp17 = _tmp5 * state(3, 0); - const Scalar _tmp18 = -_tmp13 * _tmp14 + _tmp16 * _tmp17 - _tmp3 * _tmp6 + _tmp8 * state(0, 0); - const Scalar _tmp19 = 1 - 2 * std::pow(state(3, 0), Scalar(2)); - const Scalar _tmp20 = _tmp4 * (_tmp19 - 2 * std::pow(state(1, 0), Scalar(2))); - const Scalar _tmp21 = _tmp3 * _tmp5; - const Scalar _tmp22 = _tmp5 * state(0, 0); - const Scalar _tmp23 = - _tmp13 * _tmp6 + _tmp16 * _tmp22 - _tmp21 * state(1, 0) - _tmp8 * state(3, 0); - const Scalar _tmp24 = - _tmp13 * _tmp22 - _tmp16 * _tmp6 - _tmp21 * state(3, 0) + _tmp8 * state(1, 0); - const Scalar _tmp25 = _tmp9 * state(3, 0); - const Scalar _tmp26 = _tmp1 * state(2, 0); - const Scalar _tmp27 = _tmp4 * (-_tmp25 + _tmp26); - const Scalar _tmp28 = _tmp4 * (_tmp11 * state(3, 0) + _tmp9 * state(1, 0)); - const Scalar _tmp29 = _tmp4 * (_tmp19 - 2 * std::pow(state(2, 0), Scalar(2))); - const Scalar _tmp30 = 4 * state(4, 0); - const Scalar _tmp31 = _tmp2 - _tmp30 * state(3, 0) + _tmp9 * state(5, 0); - const Scalar _tmp32 = 2 * state(5, 0); - const Scalar _tmp33 = -_tmp15 - _tmp30 * state(2, 0) + _tmp32 * state(1, 0); - const Scalar _tmp34 = _tmp32 * state(2, 0) + _tmp7; - const Scalar _tmp35 = 2 * _tmp10 - _tmp12; - const Scalar _tmp36 = _tmp35 * _tmp5; - const Scalar _tmp37 = _tmp17 * _tmp33 - _tmp22 * _tmp34 - _tmp31 * _tmp6 + _tmp36 * state(1, 0); - const Scalar _tmp38 = -_tmp14 * _tmp33 - _tmp22 * _tmp31 + _tmp34 * _tmp6 + _tmp36 * state(3, 0); - const Scalar _tmp39 = _tmp14 * _tmp31 - _tmp17 * _tmp34 - _tmp22 * _tmp33 + _tmp35 * _tmp6; - const Scalar _tmp40 = _tmp4 * (_tmp25 + _tmp26); - const Scalar _tmp41 = _tmp4 * (_tmp1 * state(3, 0) - _tmp9 * state(2, 0)); + // Intermediate terms (66) + const Scalar _tmp0 = state(2, 0) * state(4, 0); + const Scalar _tmp1 = state(1, 0) * state(5, 0); + const Scalar _tmp2 = 2 * state(6, 0); + const Scalar _tmp3 = _tmp2 * state(0, 0); + const Scalar _tmp4 = -2 * std::pow(state(2, 0), Scalar(2)); + const Scalar _tmp5 = 1 - 2 * std::pow(state(1, 0), Scalar(2)); + const Scalar _tmp6 = _tmp4 + _tmp5; + const Scalar _tmp7 = state(24, 0) - state(9, 0); + const Scalar _tmp8 = + _tmp7 + epsilon * (2 * math::min(0, (((_tmp7) > 0) - ((_tmp7) < 0))) + 1); + const Scalar _tmp9 = Scalar(1.0) / (_tmp8); + const Scalar _tmp10 = _tmp6 * _tmp9; + const Scalar _tmp11 = 2 * state(0, 0) * state(3, 0); + const Scalar _tmp12 = 2 * state(1, 0); + const Scalar _tmp13 = _tmp12 * state(2, 0); + const Scalar _tmp14 = -_tmp11 + _tmp13; + const Scalar _tmp15 = 2 * state(2, 0); + const Scalar _tmp16 = _tmp12 * state(0, 0) + _tmp15 * state(3, 0); + const Scalar _tmp17 = -2 * std::pow(state(3, 0), Scalar(2)); + const Scalar _tmp18 = _tmp17 + _tmp5; + const Scalar _tmp19 = _tmp14 * state(4, 0) + _tmp16 * state(6, 0) + _tmp18 * state(5, 0); + const Scalar _tmp20 = 4 * _tmp9; + const Scalar _tmp21 = _tmp19 * _tmp20; + const Scalar _tmp22 = _tmp10 * (2 * _tmp0 - 4 * _tmp1 + _tmp3) - _tmp21 * state(1, 0); + const Scalar _tmp23 = (Scalar(1) / Scalar(2)) * _tmp22; + const Scalar _tmp24 = 2 * state(4, 0); + const Scalar _tmp25 = 4 * state(3, 0); + const Scalar _tmp26 = _tmp2 * state(2, 0); + const Scalar _tmp27 = -_tmp24 * state(0, 0) - _tmp25 * state(5, 0) + _tmp26; + const Scalar _tmp28 = (Scalar(1) / Scalar(2)) * _tmp10; + const Scalar _tmp29 = _tmp28 * state(0, 0); + const Scalar _tmp30 = (Scalar(1) / Scalar(2)) * state(3, 0); + const Scalar _tmp31 = _tmp2 * state(1, 0); + const Scalar _tmp32 = _tmp10 * (-_tmp24 * state(3, 0) + _tmp31); + const Scalar _tmp33 = _tmp2 * state(3, 0); + const Scalar _tmp34 = _tmp10 * (_tmp24 * state(1, 0) + _tmp33) - _tmp21 * state(2, 0); + const Scalar _tmp35 = (Scalar(1) / Scalar(2)) * _tmp34; + const Scalar _tmp36 = + -_tmp23 * state(2, 0) + _tmp27 * _tmp29 - _tmp30 * _tmp32 + _tmp35 * state(1, 0); + const Scalar _tmp37 = _tmp10 * _tmp14; + const Scalar _tmp38 = _tmp28 * state(2, 0); + const Scalar _tmp39 = (Scalar(1) / Scalar(2)) * _tmp32; + const Scalar _tmp40 = + _tmp23 * state(0, 0) + _tmp27 * _tmp38 - _tmp30 * _tmp34 - _tmp39 * state(1, 0); + const Scalar _tmp41 = _tmp28 * state(1, 0); + const Scalar _tmp42 = + _tmp22 * _tmp30 - _tmp27 * _tmp41 + _tmp35 * state(0, 0) - _tmp39 * state(2, 0); + const Scalar _tmp43 = _tmp10 * _tmp18; + const Scalar _tmp44 = _tmp6 / std::pow(_tmp8, Scalar(2)); + const Scalar _tmp45 = _tmp19 * _tmp44; + const Scalar _tmp46 = _tmp10 * _tmp16; + const Scalar _tmp47 = _tmp12 * state(3, 0) - _tmp15 * state(0, 0); + const Scalar _tmp48 = _tmp10 * _tmp47; + const Scalar _tmp49 = _tmp11 + _tmp13; + const Scalar _tmp50 = _tmp10 * _tmp49; + const Scalar _tmp51 = _tmp17 + _tmp4 + 1; + const Scalar _tmp52 = _tmp10 * _tmp51; + const Scalar _tmp53 = _tmp47 * state(6, 0) + _tmp49 * state(5, 0) + _tmp51 * state(4, 0); + const Scalar _tmp54 = _tmp20 * _tmp53; + const Scalar _tmp55 = 2 * state(5, 0); + const Scalar _tmp56 = -_tmp10 * (_tmp33 + _tmp55 * state(2, 0)) + _tmp54 * state(1, 0); + const Scalar _tmp57 = -_tmp10 * (-4 * _tmp0 + 2 * _tmp1 - _tmp3) + _tmp54 * state(2, 0); + const Scalar _tmp58 = (Scalar(1) / Scalar(2)) * _tmp57; + const Scalar _tmp59 = -_tmp25 * state(4, 0) + _tmp31 + _tmp55 * state(0, 0); + const Scalar _tmp60 = -_tmp26 + _tmp55 * state(3, 0); + const Scalar _tmp61 = _tmp30 * _tmp56 + _tmp38 * _tmp60 + _tmp41 * _tmp59 + _tmp58 * state(0, 0); + const Scalar _tmp62 = (Scalar(1) / Scalar(2)) * _tmp56; + const Scalar _tmp63 = -_tmp30 * _tmp57 - _tmp38 * _tmp59 + _tmp41 * _tmp60 + _tmp62 * state(0, 0); + const Scalar _tmp64 = + _tmp10 * _tmp30 * _tmp60 - _tmp29 * _tmp59 + _tmp58 * state(1, 0) - _tmp62 * state(2, 0); + const Scalar _tmp65 = _tmp44 * _tmp53; // Output terms (2) if (innov_var != nullptr) { matrix::Matrix& _innov_var = (*innov_var); - _innov_var(0, 0) = R + - _tmp18 * (P(0, 1) * _tmp23 + P(1, 1) * _tmp18 + P(2, 1) * _tmp24 + - P(3, 1) * _tmp27 + P(4, 1) * _tmp20 + P(5, 1) * _tmp28) + - _tmp20 * (P(0, 4) * _tmp23 + P(1, 4) * _tmp18 + P(2, 4) * _tmp24 + - P(3, 4) * _tmp27 + P(4, 4) * _tmp20 + P(5, 4) * _tmp28) + - _tmp23 * (P(0, 0) * _tmp23 + P(1, 0) * _tmp18 + P(2, 0) * _tmp24 + - P(3, 0) * _tmp27 + P(4, 0) * _tmp20 + P(5, 0) * _tmp28) + - _tmp24 * (P(0, 2) * _tmp23 + P(1, 2) * _tmp18 + P(2, 2) * _tmp24 + - P(3, 2) * _tmp27 + P(4, 2) * _tmp20 + P(5, 2) * _tmp28) + - _tmp27 * (P(0, 3) * _tmp23 + P(1, 3) * _tmp18 + P(2, 3) * _tmp24 + - P(3, 3) * _tmp27 + P(4, 3) * _tmp20 + P(5, 3) * _tmp28) + - _tmp28 * (P(0, 5) * _tmp23 + P(1, 5) * _tmp18 + P(2, 5) * _tmp24 + - P(3, 5) * _tmp27 + P(4, 5) * _tmp20 + P(5, 5) * _tmp28); - _innov_var(1, 0) = R - - _tmp29 * (P(0, 3) * _tmp37 + P(1, 3) * _tmp39 + P(2, 3) * _tmp38 - - P(3, 3) * _tmp29 - P(4, 3) * _tmp40 - P(5, 3) * _tmp41) + - _tmp37 * (P(0, 0) * _tmp37 + P(1, 0) * _tmp39 + P(2, 0) * _tmp38 - - P(3, 0) * _tmp29 - P(4, 0) * _tmp40 - P(5, 0) * _tmp41) + - _tmp38 * (P(0, 2) * _tmp37 + P(1, 2) * _tmp39 + P(2, 2) * _tmp38 - - P(3, 2) * _tmp29 - P(4, 2) * _tmp40 - P(5, 2) * _tmp41) + - _tmp39 * (P(0, 1) * _tmp37 + P(1, 1) * _tmp39 + P(2, 1) * _tmp38 - - P(3, 1) * _tmp29 - P(4, 1) * _tmp40 - P(5, 1) * _tmp41) - - _tmp40 * (P(0, 4) * _tmp37 + P(1, 4) * _tmp39 + P(2, 4) * _tmp38 - - P(3, 4) * _tmp29 - P(4, 4) * _tmp40 - P(5, 4) * _tmp41) - - _tmp41 * (P(0, 5) * _tmp37 + P(1, 5) * _tmp39 + P(2, 5) * _tmp38 - - P(3, 5) * _tmp29 - P(4, 5) * _tmp40 - P(5, 5) * _tmp41); + _innov_var(0, 0) = + R + + _tmp36 * (P(0, 2) * _tmp40 + P(1, 2) * _tmp42 + P(2, 2) * _tmp36 - P(23, 2) * _tmp45 + + P(3, 2) * _tmp37 + P(4, 2) * _tmp43 + P(5, 2) * _tmp46 + P(8, 2) * _tmp45) + + _tmp37 * (P(0, 3) * _tmp40 + P(1, 3) * _tmp42 + P(2, 3) * _tmp36 - P(23, 3) * _tmp45 + + P(3, 3) * _tmp37 + P(4, 3) * _tmp43 + P(5, 3) * _tmp46 + P(8, 3) * _tmp45) + + _tmp40 * (P(0, 0) * _tmp40 + P(1, 0) * _tmp42 + P(2, 0) * _tmp36 - P(23, 0) * _tmp45 + + P(3, 0) * _tmp37 + P(4, 0) * _tmp43 + P(5, 0) * _tmp46 + P(8, 0) * _tmp45) + + _tmp42 * (P(0, 1) * _tmp40 + P(1, 1) * _tmp42 + P(2, 1) * _tmp36 - P(23, 1) * _tmp45 + + P(3, 1) * _tmp37 + P(4, 1) * _tmp43 + P(5, 1) * _tmp46 + P(8, 1) * _tmp45) + + _tmp43 * (P(0, 4) * _tmp40 + P(1, 4) * _tmp42 + P(2, 4) * _tmp36 - P(23, 4) * _tmp45 + + P(3, 4) * _tmp37 + P(4, 4) * _tmp43 + P(5, 4) * _tmp46 + P(8, 4) * _tmp45) - + _tmp45 * (P(0, 23) * _tmp40 + P(1, 23) * _tmp42 + P(2, 23) * _tmp36 - P(23, 23) * _tmp45 + + P(3, 23) * _tmp37 + P(4, 23) * _tmp43 + P(5, 23) * _tmp46 + P(8, 23) * _tmp45) + + _tmp45 * (P(0, 8) * _tmp40 + P(1, 8) * _tmp42 + P(2, 8) * _tmp36 - P(23, 8) * _tmp45 + + P(3, 8) * _tmp37 + P(4, 8) * _tmp43 + P(5, 8) * _tmp46 + P(8, 8) * _tmp45) + + _tmp46 * (P(0, 5) * _tmp40 + P(1, 5) * _tmp42 + P(2, 5) * _tmp36 - P(23, 5) * _tmp45 + + P(3, 5) * _tmp37 + P(4, 5) * _tmp43 + P(5, 5) * _tmp46 + P(8, 5) * _tmp45); + _innov_var(1, 0) = + R - + _tmp48 * (P(0, 5) * _tmp63 + P(1, 5) * _tmp61 + P(2, 5) * _tmp64 + P(23, 5) * _tmp65 - + P(3, 5) * _tmp52 - P(4, 5) * _tmp50 - P(5, 5) * _tmp48 - P(8, 5) * _tmp65) - + _tmp50 * (P(0, 4) * _tmp63 + P(1, 4) * _tmp61 + P(2, 4) * _tmp64 + P(23, 4) * _tmp65 - + P(3, 4) * _tmp52 - P(4, 4) * _tmp50 - P(5, 4) * _tmp48 - P(8, 4) * _tmp65) - + _tmp52 * (P(0, 3) * _tmp63 + P(1, 3) * _tmp61 + P(2, 3) * _tmp64 + P(23, 3) * _tmp65 - + P(3, 3) * _tmp52 - P(4, 3) * _tmp50 - P(5, 3) * _tmp48 - P(8, 3) * _tmp65) + + _tmp61 * (P(0, 1) * _tmp63 + P(1, 1) * _tmp61 + P(2, 1) * _tmp64 + P(23, 1) * _tmp65 - + P(3, 1) * _tmp52 - P(4, 1) * _tmp50 - P(5, 1) * _tmp48 - P(8, 1) * _tmp65) + + _tmp63 * (P(0, 0) * _tmp63 + P(1, 0) * _tmp61 + P(2, 0) * _tmp64 + P(23, 0) * _tmp65 - + P(3, 0) * _tmp52 - P(4, 0) * _tmp50 - P(5, 0) * _tmp48 - P(8, 0) * _tmp65) + + _tmp64 * (P(0, 2) * _tmp63 + P(1, 2) * _tmp61 + P(2, 2) * _tmp64 + P(23, 2) * _tmp65 - + P(3, 2) * _tmp52 - P(4, 2) * _tmp50 - P(5, 2) * _tmp48 - P(8, 2) * _tmp65) + + _tmp65 * (P(0, 23) * _tmp63 + P(1, 23) * _tmp61 + P(2, 23) * _tmp64 + P(23, 23) * _tmp65 - + P(3, 23) * _tmp52 - P(4, 23) * _tmp50 - P(5, 23) * _tmp48 - P(8, 23) * _tmp65) - + _tmp65 * (P(0, 8) * _tmp63 + P(1, 8) * _tmp61 + P(2, 8) * _tmp64 + P(23, 8) * _tmp65 - + P(3, 8) * _tmp52 - P(4, 8) * _tmp50 - P(5, 8) * _tmp48 - P(8, 8) * _tmp65); } if (H != nullptr) { - matrix::Matrix& _h = (*H); + matrix::Matrix& _h = (*H); _h.setZero(); - _h(0, 0) = _tmp23; - _h(1, 0) = _tmp18; - _h(2, 0) = _tmp24; - _h(3, 0) = _tmp27; - _h(4, 0) = _tmp20; - _h(5, 0) = _tmp28; + _h(0, 0) = _tmp40; + _h(1, 0) = _tmp42; + _h(2, 0) = _tmp36; + _h(3, 0) = _tmp37; + _h(4, 0) = _tmp43; + _h(5, 0) = _tmp46; + _h(8, 0) = _tmp45; + _h(23, 0) = -_tmp45; } } // NOLINT(readability/fn_size) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_flow_y_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_flow_y_innov_var_and_h.h index 2de18c1f187..178f6d75e64 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_flow_y_innov_var_and_h.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_flow_y_innov_var_and_h.h @@ -16,85 +16,100 @@ namespace sym { * Symbolic function: compute_flow_y_innov_var_and_h * * Args: - * state: Matrix24_1 - * P: Matrix23_23 - * distance: Scalar + * state: Matrix25_1 + * P: Matrix24_24 * R: Scalar * epsilon: Scalar * * Outputs: * innov_var: Scalar - * H: Matrix23_1 + * H: Matrix24_1 */ template -void ComputeFlowYInnovVarAndH(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar distance, - const Scalar R, const Scalar epsilon, - Scalar* const innov_var = nullptr, - matrix::Matrix* const H = nullptr) { - // Total ops: 151 +void ComputeFlowYInnovVarAndH(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar R, + const Scalar epsilon, Scalar* const innov_var = nullptr, + matrix::Matrix* const H = nullptr) { + // Total ops: 232 // Input arrays - // Intermediate terms (21) - const Scalar _tmp0 = - Scalar(1.0) / - (distance + epsilon * (2 * math::min(0, (((distance) > 0) - ((distance) < 0))) + 1)); - const Scalar _tmp1 = - _tmp0 * (-2 * std::pow(state(2, 0), Scalar(2)) - 2 * std::pow(state(3, 0), Scalar(2)) + 1); - const Scalar _tmp2 = 4 * state(4, 0); - const Scalar _tmp3 = 2 * state(0, 0); - const Scalar _tmp4 = 2 * state(6, 0); - const Scalar _tmp5 = -_tmp2 * state(3, 0) + _tmp3 * state(5, 0) + _tmp4 * state(1, 0); - const Scalar _tmp6 = (Scalar(1) / Scalar(2)) * _tmp0; - const Scalar _tmp7 = _tmp5 * _tmp6; - const Scalar _tmp8 = 2 * state(1, 0); - const Scalar _tmp9 = -_tmp2 * state(2, 0) - _tmp4 * state(0, 0) + _tmp8 * state(5, 0); - const Scalar _tmp10 = _tmp6 * _tmp9; - const Scalar _tmp11 = 2 * state(5, 0); - const Scalar _tmp12 = _tmp6 * (_tmp11 * state(2, 0) + _tmp4 * state(3, 0)); - const Scalar _tmp13 = _tmp11 * state(3, 0) - _tmp4 * state(2, 0); - const Scalar _tmp14 = _tmp6 * state(1, 0); - const Scalar _tmp15 = - _tmp10 * state(3, 0) - _tmp12 * state(0, 0) + _tmp13 * _tmp14 - _tmp7 * state(2, 0); - const Scalar _tmp16 = _tmp13 * _tmp6; - const Scalar _tmp17 = - _tmp12 * state(2, 0) - _tmp14 * _tmp9 + _tmp16 * state(3, 0) - _tmp7 * state(0, 0); + // Intermediate terms (28) + const Scalar _tmp0 = 2 * state(0, 0); + const Scalar _tmp1 = 2 * state(1, 0); + const Scalar _tmp2 = -_tmp0 * state(2, 0) + _tmp1 * state(3, 0); + const Scalar _tmp3 = 1 - 2 * std::pow(state(2, 0), Scalar(2)); + const Scalar _tmp4 = _tmp3 - 2 * std::pow(state(1, 0), Scalar(2)); + const Scalar _tmp5 = state(24, 0) - state(9, 0); + const Scalar _tmp6 = + _tmp5 + epsilon * (2 * math::min(0, (((_tmp5) > 0) - ((_tmp5) < 0))) + 1); + const Scalar _tmp7 = Scalar(1.0) / (_tmp6); + const Scalar _tmp8 = _tmp4 * _tmp7; + const Scalar _tmp9 = _tmp2 * _tmp8; + const Scalar _tmp10 = _tmp0 * state(3, 0) + _tmp1 * state(2, 0); + const Scalar _tmp11 = _tmp10 * _tmp8; + const Scalar _tmp12 = _tmp3 - 2 * std::pow(state(3, 0), Scalar(2)); + const Scalar _tmp13 = _tmp12 * _tmp8; + const Scalar _tmp14 = _tmp10 * state(5, 0) + _tmp12 * state(4, 0) + _tmp2 * state(6, 0); + const Scalar _tmp15 = 4 * _tmp14 * _tmp7; + const Scalar _tmp16 = 2 * state(5, 0); + const Scalar _tmp17 = 2 * state(6, 0); const Scalar _tmp18 = - -_tmp10 * state(0, 0) - _tmp12 * state(3, 0) + _tmp14 * _tmp5 + _tmp16 * state(2, 0); - const Scalar _tmp19 = _tmp0 * (_tmp3 * state(3, 0) + _tmp8 * state(2, 0)); - const Scalar _tmp20 = _tmp0 * (-_tmp3 * state(2, 0) + _tmp8 * state(3, 0)); + (Scalar(1) / Scalar(2)) * _tmp15 * state(1, 0) - + Scalar(1) / Scalar(2) * _tmp8 * (_tmp16 * state(2, 0) + _tmp17 * state(3, 0)); + const Scalar _tmp19 = 4 * state(4, 0); + const Scalar _tmp20 = (Scalar(1) / Scalar(2)) * _tmp15 * state(2, 0) - + Scalar(1) / Scalar(2) * _tmp8 * + (_tmp16 * state(1, 0) - _tmp17 * state(0, 0) - _tmp19 * state(2, 0)); + const Scalar _tmp21 = (Scalar(1) / Scalar(2)) * _tmp8; + const Scalar _tmp22 = + _tmp21 * (_tmp16 * state(0, 0) + _tmp17 * state(1, 0) - _tmp19 * state(3, 0)); + const Scalar _tmp23 = _tmp21 * (_tmp16 * state(3, 0) - _tmp17 * state(2, 0)); + const Scalar _tmp24 = + _tmp18 * state(3, 0) + _tmp20 * state(0, 0) + _tmp22 * state(1, 0) + _tmp23 * state(2, 0); + const Scalar _tmp25 = + _tmp18 * state(0, 0) - _tmp20 * state(3, 0) - _tmp22 * state(2, 0) + _tmp23 * state(1, 0); + const Scalar _tmp26 = + -_tmp18 * state(2, 0) + _tmp20 * state(1, 0) - _tmp22 * state(0, 0) + _tmp23 * state(3, 0); + const Scalar _tmp27 = _tmp14 * _tmp4 / std::pow(_tmp6, Scalar(2)); // Output terms (2) if (innov_var != nullptr) { Scalar& _innov_var = (*innov_var); - _innov_var = R - - _tmp1 * (P(0, 3) * _tmp15 + P(1, 3) * _tmp18 + P(2, 3) * _tmp17 - P(3, 3) * _tmp1 - - P(4, 3) * _tmp19 - P(5, 3) * _tmp20) + - _tmp15 * (P(0, 0) * _tmp15 + P(1, 0) * _tmp18 + P(2, 0) * _tmp17 - - P(3, 0) * _tmp1 - P(4, 0) * _tmp19 - P(5, 0) * _tmp20) + - _tmp17 * (P(0, 2) * _tmp15 + P(1, 2) * _tmp18 + P(2, 2) * _tmp17 - - P(3, 2) * _tmp1 - P(4, 2) * _tmp19 - P(5, 2) * _tmp20) + - _tmp18 * (P(0, 1) * _tmp15 + P(1, 1) * _tmp18 + P(2, 1) * _tmp17 - - P(3, 1) * _tmp1 - P(4, 1) * _tmp19 - P(5, 1) * _tmp20) - - _tmp19 * (P(0, 4) * _tmp15 + P(1, 4) * _tmp18 + P(2, 4) * _tmp17 - - P(3, 4) * _tmp1 - P(4, 4) * _tmp19 - P(5, 4) * _tmp20) - - _tmp20 * (P(0, 5) * _tmp15 + P(1, 5) * _tmp18 + P(2, 5) * _tmp17 - - P(3, 5) * _tmp1 - P(4, 5) * _tmp19 - P(5, 5) * _tmp20); + _innov_var = + R - + _tmp11 * (P(0, 4) * _tmp25 + P(1, 4) * _tmp24 + P(2, 4) * _tmp26 + P(23, 4) * _tmp27 - + P(3, 4) * _tmp13 - P(4, 4) * _tmp11 - P(5, 4) * _tmp9 - P(8, 4) * _tmp27) - + _tmp13 * (P(0, 3) * _tmp25 + P(1, 3) * _tmp24 + P(2, 3) * _tmp26 + P(23, 3) * _tmp27 - + P(3, 3) * _tmp13 - P(4, 3) * _tmp11 - P(5, 3) * _tmp9 - P(8, 3) * _tmp27) + + _tmp24 * (P(0, 1) * _tmp25 + P(1, 1) * _tmp24 + P(2, 1) * _tmp26 + P(23, 1) * _tmp27 - + P(3, 1) * _tmp13 - P(4, 1) * _tmp11 - P(5, 1) * _tmp9 - P(8, 1) * _tmp27) + + _tmp25 * (P(0, 0) * _tmp25 + P(1, 0) * _tmp24 + P(2, 0) * _tmp26 + P(23, 0) * _tmp27 - + P(3, 0) * _tmp13 - P(4, 0) * _tmp11 - P(5, 0) * _tmp9 - P(8, 0) * _tmp27) + + _tmp26 * (P(0, 2) * _tmp25 + P(1, 2) * _tmp24 + P(2, 2) * _tmp26 + P(23, 2) * _tmp27 - + P(3, 2) * _tmp13 - P(4, 2) * _tmp11 - P(5, 2) * _tmp9 - P(8, 2) * _tmp27) + + _tmp27 * (P(0, 23) * _tmp25 + P(1, 23) * _tmp24 + P(2, 23) * _tmp26 + P(23, 23) * _tmp27 - + P(3, 23) * _tmp13 - P(4, 23) * _tmp11 - P(5, 23) * _tmp9 - P(8, 23) * _tmp27) - + _tmp27 * (P(0, 8) * _tmp25 + P(1, 8) * _tmp24 + P(2, 8) * _tmp26 + P(23, 8) * _tmp27 - + P(3, 8) * _tmp13 - P(4, 8) * _tmp11 - P(5, 8) * _tmp9 - P(8, 8) * _tmp27) - + _tmp9 * (P(0, 5) * _tmp25 + P(1, 5) * _tmp24 + P(2, 5) * _tmp26 + P(23, 5) * _tmp27 - + P(3, 5) * _tmp13 - P(4, 5) * _tmp11 - P(5, 5) * _tmp9 - P(8, 5) * _tmp27); } if (H != nullptr) { - matrix::Matrix& _h = (*H); + matrix::Matrix& _h = (*H); _h.setZero(); - _h(0, 0) = _tmp15; - _h(1, 0) = _tmp18; - _h(2, 0) = _tmp17; - _h(3, 0) = -_tmp1; - _h(4, 0) = -_tmp19; - _h(5, 0) = -_tmp20; + _h(0, 0) = _tmp25; + _h(1, 0) = _tmp24; + _h(2, 0) = _tmp26; + _h(3, 0) = -_tmp13; + _h(4, 0) = -_tmp11; + _h(5, 0) = -_tmp9; + _h(8, 0) = -_tmp27; + _h(23, 0) = _tmp27; } } // NOLINT(readability/fn_size) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gnss_yaw_pred_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gnss_yaw_pred_innov_var_and_h.h index d11b74d3e39..028d7aba558 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gnss_yaw_pred_innov_var_and_h.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gnss_yaw_pred_innov_var_and_h.h @@ -16,8 +16,8 @@ namespace sym { * Symbolic function: compute_gnss_yaw_pred_innov_var_and_h * * Args: - * state: Matrix24_1 - * P: Matrix23_23 + * state: Matrix25_1 + * P: Matrix24_24 * antenna_yaw_offset: Scalar * R: Scalar * epsilon: Scalar @@ -25,15 +25,15 @@ namespace sym { * Outputs: * meas_pred: Scalar * innov_var: Scalar - * H: Matrix23_1 + * H: Matrix24_1 */ template -void ComputeGnssYawPredInnovVarAndH(const matrix::Matrix& state, - const matrix::Matrix& P, +void ComputeGnssYawPredInnovVarAndH(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar antenna_yaw_offset, const Scalar R, const Scalar epsilon, Scalar* const meas_pred = nullptr, Scalar* const innov_var = nullptr, - matrix::Matrix* const H = nullptr) { + matrix::Matrix* const H = nullptr) { // Total ops: 114 // Input arrays @@ -93,7 +93,7 @@ void ComputeGnssYawPredInnovVarAndH(const matrix::Matrix& state, } if (H != nullptr) { - matrix::Matrix& _h = (*H); + matrix::Matrix& _h = (*H); _h.setZero(); diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_xyz_innov_var_and_hx.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_xyz_innov_var_and_hx.h index 6d47ae4ab43..a8fc12fe93b 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_xyz_innov_var_and_hx.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_xyz_innov_var_and_hx.h @@ -16,19 +16,19 @@ namespace sym { * Symbolic function: compute_gravity_xyz_innov_var_and_hx * * Args: - * state: Matrix24_1 - * P: Matrix23_23 + * state: Matrix25_1 + * P: Matrix24_24 * R: Scalar * * Outputs: * innov_var: Matrix31 - * Hx: Matrix23_1 + * Hx: Matrix24_1 */ template -void ComputeGravityXyzInnovVarAndHx(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar R, +void ComputeGravityXyzInnovVarAndHx(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar R, matrix::Matrix* const innov_var = nullptr, - matrix::Matrix* const Hx = nullptr) { + matrix::Matrix* const Hx = nullptr) { // Total ops: 53 // Input arrays @@ -61,7 +61,7 @@ void ComputeGravityXyzInnovVarAndHx(const matrix::Matrix& state, } if (Hx != nullptr) { - matrix::Matrix& _hx = (*Hx); + matrix::Matrix& _hx = (*Hx); _hx.setZero(); diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_y_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_y_innov_var_and_h.h index 9aeb442d697..b562373162f 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_y_innov_var_and_h.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_y_innov_var_and_h.h @@ -16,19 +16,19 @@ namespace sym { * Symbolic function: compute_gravity_y_innov_var_and_h * * Args: - * state: Matrix24_1 - * P: Matrix23_23 + * state: Matrix25_1 + * P: Matrix24_24 * R: Scalar * * Outputs: * innov_var: Scalar - * Hy: Matrix23_1 + * Hy: Matrix24_1 */ template -void ComputeGravityYInnovVarAndH(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar R, +void ComputeGravityYInnovVarAndH(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar R, Scalar* const innov_var = nullptr, - matrix::Matrix* const Hy = nullptr) { + matrix::Matrix* const Hy = nullptr) { // Total ops: 22 // Input arrays @@ -47,7 +47,7 @@ void ComputeGravityYInnovVarAndH(const matrix::Matrix& state, } if (Hy != nullptr) { - matrix::Matrix& _hy = (*Hy); + matrix::Matrix& _hy = (*Hy); _hy.setZero(); diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_z_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_z_innov_var_and_h.h index e62e3e7212c..e5495af10c7 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_z_innov_var_and_h.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_gravity_z_innov_var_and_h.h @@ -16,19 +16,19 @@ namespace sym { * Symbolic function: compute_gravity_z_innov_var_and_h * * Args: - * state: Matrix24_1 - * P: Matrix23_23 + * state: Matrix25_1 + * P: Matrix24_24 * R: Scalar * * Outputs: * innov_var: Scalar - * Hz: Matrix23_1 + * Hz: Matrix24_1 */ template -void ComputeGravityZInnovVarAndH(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar R, +void ComputeGravityZInnovVarAndH(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar R, Scalar* const innov_var = nullptr, - matrix::Matrix* const Hz = nullptr) { + matrix::Matrix* const Hz = nullptr) { // Total ops: 18 // Input arrays @@ -48,7 +48,7 @@ void ComputeGravityZInnovVarAndH(const matrix::Matrix& state, } if (Hz != nullptr) { - matrix::Matrix& _hz = (*Hz); + matrix::Matrix& _hz = (*Hz); _hz.setZero(); diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_hagl_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_hagl_h.h new file mode 100644 index 00000000000..2f66cebf47b --- /dev/null +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_hagl_h.h @@ -0,0 +1,43 @@ +// ----------------------------------------------------------------------------- +// This file was autogenerated by symforce from template: +// function/FUNCTION.h.jinja +// Do NOT modify by hand. +// ----------------------------------------------------------------------------- + +#pragma once + +#include + +namespace sym { + +/** + * This function was autogenerated from a symbolic function. Do not modify by hand. + * + * Symbolic function: compute_hagl_h + * + * Args: + * + * Outputs: + * H: Matrix24_1 + */ +template +void ComputeHaglH(matrix::Matrix* const H = nullptr) { + // Total ops: 0 + + // Input arrays + + // Intermediate terms (0) + + // Output terms (1) + if (H != nullptr) { + matrix::Matrix& _h = (*H); + + _h.setZero(); + + _h(8, 0) = -1; + _h(23, 0) = 1; + } +} // NOLINT(readability/fn_size) + +// NOLINTNEXTLINE(readability/fn_size) +} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_hagl_innov_var.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_hagl_innov_var.h new file mode 100644 index 00000000000..fd50c97cf5d --- /dev/null +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_hagl_innov_var.h @@ -0,0 +1,43 @@ +// ----------------------------------------------------------------------------- +// This file was autogenerated by symforce from template: +// function/FUNCTION.h.jinja +// Do NOT modify by hand. +// ----------------------------------------------------------------------------- + +#pragma once + +#include + +namespace sym { + +/** + * This function was autogenerated from a symbolic function. Do not modify by hand. + * + * Symbolic function: compute_hagl_innov_var + * + * Args: + * P: Matrix24_24 + * R: Scalar + * + * Outputs: + * innov_var: Scalar + */ +template +void ComputeHaglInnovVar(const matrix::Matrix& P, const Scalar R, + Scalar* const innov_var = nullptr) { + // Total ops: 4 + + // Input arrays + + // Intermediate terms (0) + + // Output terms (1) + if (innov_var != nullptr) { + Scalar& _innov_var = (*innov_var); + + _innov_var = P(23, 23) - P(23, 8) - P(8, 23) + P(8, 8) + R; + } +} // NOLINT(readability/fn_size) + +// NOLINTNEXTLINE(readability/fn_size) +} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_declination_pred_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_declination_pred_innov_var_and_h.h index 009892f6d9d..803bf45e875 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_declination_pred_innov_var_and_h.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_declination_pred_innov_var_and_h.h @@ -16,22 +16,22 @@ namespace sym { * Symbolic function: compute_mag_declination_pred_innov_var_and_h * * Args: - * state: Matrix24_1 - * P: Matrix23_23 + * state: Matrix25_1 + * P: Matrix24_24 * R: Scalar * epsilon: Scalar * * Outputs: * pred: Scalar * innov_var: Scalar - * H: Matrix23_1 + * H: Matrix24_1 */ template -void ComputeMagDeclinationPredInnovVarAndH(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar R, +void ComputeMagDeclinationPredInnovVarAndH(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar R, const Scalar epsilon, Scalar* const pred = nullptr, Scalar* const innov_var = nullptr, - matrix::Matrix* const H = nullptr) { + matrix::Matrix* const H = nullptr) { // Total ops: 22 // Input arrays @@ -59,7 +59,7 @@ void ComputeMagDeclinationPredInnovVarAndH(const matrix::Matrix& } if (H != nullptr) { - matrix::Matrix& _h = (*H); + matrix::Matrix& _h = (*H); _h.setZero(); diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_innov_innov_var_and_hx.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_innov_innov_var_and_hx.h index bdad52b5a5b..4ff8368c496 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_innov_innov_var_and_hx.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_innov_innov_var_and_hx.h @@ -16,8 +16,8 @@ namespace sym { * Symbolic function: compute_mag_innov_innov_var_and_hx * * Args: - * state: Matrix24_1 - * P: Matrix23_23 + * state: Matrix25_1 + * P: Matrix24_24 * meas: Matrix31 * R: Scalar * epsilon: Scalar @@ -25,16 +25,16 @@ namespace sym { * Outputs: * innov: Matrix31 * innov_var: Matrix31 - * Hx: Matrix23_1 + * Hx: Matrix24_1 */ template -void ComputeMagInnovInnovVarAndHx(const matrix::Matrix& state, - const matrix::Matrix& P, +void ComputeMagInnovInnovVarAndHx(const matrix::Matrix& state, + const matrix::Matrix& P, const matrix::Matrix& meas, const Scalar R, const Scalar epsilon, matrix::Matrix* const innov = nullptr, matrix::Matrix* const innov_var = nullptr, - matrix::Matrix* const Hx = nullptr) { + matrix::Matrix* const Hx = nullptr) { // Total ops: 461 // Unused inputs @@ -185,7 +185,7 @@ void ComputeMagInnovInnovVarAndHx(const matrix::Matrix& state, } if (Hx != nullptr) { - matrix::Matrix& _hx = (*Hx); + matrix::Matrix& _hx = (*Hx); _hx.setZero(); diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_y_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_y_innov_var_and_h.h index a490ca61eab..697cd92a824 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_y_innov_var_and_h.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_y_innov_var_and_h.h @@ -16,20 +16,20 @@ namespace sym { * Symbolic function: compute_mag_y_innov_var_and_h * * Args: - * state: Matrix24_1 - * P: Matrix23_23 + * state: Matrix25_1 + * P: Matrix24_24 * R: Scalar * epsilon: Scalar * * Outputs: * innov_var: Scalar - * H: Matrix23_1 + * H: Matrix24_1 */ template -void ComputeMagYInnovVarAndH(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar R, +void ComputeMagYInnovVarAndH(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar R, const Scalar epsilon, Scalar* const innov_var = nullptr, - matrix::Matrix* const H = nullptr) { + matrix::Matrix* const H = nullptr) { // Total ops: 159 // Unused inputs @@ -85,7 +85,7 @@ void ComputeMagYInnovVarAndH(const matrix::Matrix& state, } if (H != nullptr) { - matrix::Matrix& _h = (*H); + matrix::Matrix& _h = (*H); _h.setZero(); diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_z_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_z_innov_var_and_h.h index 0abdc1d9ca7..1432222d475 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_z_innov_var_and_h.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_mag_z_innov_var_and_h.h @@ -16,20 +16,20 @@ namespace sym { * Symbolic function: compute_mag_z_innov_var_and_h * * Args: - * state: Matrix24_1 - * P: Matrix23_23 + * state: Matrix25_1 + * P: Matrix24_24 * R: Scalar * epsilon: Scalar * * Outputs: * innov_var: Scalar - * H: Matrix23_1 + * H: Matrix24_1 */ template -void ComputeMagZInnovVarAndH(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar R, +void ComputeMagZInnovVarAndH(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar R, const Scalar epsilon, Scalar* const innov_var = nullptr, - matrix::Matrix* const H = nullptr) { + matrix::Matrix* const H = nullptr) { // Total ops: 161 // Unused inputs @@ -85,7 +85,7 @@ void ComputeMagZInnovVarAndH(const matrix::Matrix& state, } if (H != nullptr) { - matrix::Matrix& _h = (*H); + matrix::Matrix& _h = (*H); _h.setZero(); diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_h_and_k.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_h_and_k.h index 1cd242c727e..002be9bbe8e 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_h_and_k.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_h_and_k.h @@ -16,169 +16,172 @@ namespace sym { * Symbolic function: compute_sideslip_h_and_k * * Args: - * state: Matrix24_1 - * P: Matrix23_23 + * state: Matrix25_1 + * P: Matrix24_24 * innov_var: Scalar * epsilon: Scalar * * Outputs: - * H: Matrix23_1 - * K: Matrix23_1 + * H: Matrix24_1 + * K: Matrix24_1 */ template -void ComputeSideslipHAndK(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar innov_var, - const Scalar epsilon, matrix::Matrix* const H = nullptr, - matrix::Matrix* const K = nullptr) { - // Total ops: 497 +void ComputeSideslipHAndK(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar innov_var, + const Scalar epsilon, matrix::Matrix* const H = nullptr, + matrix::Matrix* const K = nullptr) { + // Total ops: 513 // Input arrays - // Intermediate terms (45) + // Intermediate terms (43) const Scalar _tmp0 = -state(23, 0) + state(5, 0); const Scalar _tmp1 = 2 * state(1, 0); const Scalar _tmp2 = -state(22, 0) + state(4, 0); - const Scalar _tmp3 = 2 * state(6, 0); - const Scalar _tmp4 = _tmp3 * state(0, 0); - const Scalar _tmp5 = 1 - 2 * std::pow(state(3, 0), Scalar(2)); - const Scalar _tmp6 = _tmp5 - 2 * std::pow(state(2, 0), Scalar(2)); - const Scalar _tmp7 = 2 * state(0, 0); - const Scalar _tmp8 = _tmp7 * state(3, 0); - const Scalar _tmp9 = 2 * state(2, 0); - const Scalar _tmp10 = _tmp9 * state(1, 0); - const Scalar _tmp11 = _tmp10 + _tmp8; - const Scalar _tmp12 = _tmp1 * state(3, 0) - _tmp9 * state(0, 0); - const Scalar _tmp13 = _tmp0 * _tmp11 + _tmp12 * state(6, 0) + _tmp2 * _tmp6; - const Scalar _tmp14 = - _tmp13 + epsilon * (2 * math::min(0, (((_tmp13) > 0) - ((_tmp13) < 0))) + 1); - const Scalar _tmp15 = _tmp5 - 2 * std::pow(state(1, 0), Scalar(2)); - const Scalar _tmp16 = _tmp10 - _tmp8; - const Scalar _tmp17 = _tmp7 * state(1, 0) + _tmp9 * state(3, 0); - const Scalar _tmp18 = - (_tmp0 * _tmp15 + _tmp16 * _tmp2 + _tmp17 * state(6, 0)) / std::pow(_tmp14, Scalar(2)); - const Scalar _tmp19 = _tmp3 * state(3, 0); - const Scalar _tmp20 = Scalar(1.0) / (_tmp14); - const Scalar _tmp21 = -_tmp18 * (_tmp0 * _tmp1 - 4 * _tmp2 * state(2, 0) - _tmp4) + - _tmp20 * (_tmp1 * _tmp2 + _tmp19); - const Scalar _tmp22 = (Scalar(1) / Scalar(2)) * state(3, 0); - const Scalar _tmp23 = - -Scalar(1) / Scalar(2) * _tmp18 * (_tmp0 * _tmp9 + _tmp19) + - (Scalar(1) / Scalar(2)) * _tmp20 * (-4 * _tmp0 * state(1, 0) + _tmp2 * _tmp9 + _tmp4); - const Scalar _tmp24 = 2 * state(3, 0); - const Scalar _tmp25 = _tmp3 * state(2, 0); - const Scalar _tmp26 = _tmp3 * state(1, 0); - const Scalar _tmp27 = -_tmp18 * (_tmp0 * _tmp24 - _tmp25) + _tmp20 * (-_tmp2 * _tmp24 + _tmp26); - const Scalar _tmp28 = (Scalar(1) / Scalar(2)) * _tmp27; - const Scalar _tmp29 = 4 * state(3, 0); + const Scalar _tmp3 = 4 * _tmp2; + const Scalar _tmp4 = 2 * state(6, 0); + const Scalar _tmp5 = _tmp4 * state(0, 0); + const Scalar _tmp6 = 1 - 2 * std::pow(state(3, 0), Scalar(2)); + const Scalar _tmp7 = _tmp6 - 2 * std::pow(state(2, 0), Scalar(2)); + const Scalar _tmp8 = 2 * state(0, 0); + const Scalar _tmp9 = _tmp8 * state(3, 0); + const Scalar _tmp10 = 2 * state(2, 0); + const Scalar _tmp11 = _tmp10 * state(1, 0); + const Scalar _tmp12 = _tmp11 + _tmp9; + const Scalar _tmp13 = _tmp1 * state(3, 0) - _tmp10 * state(0, 0); + const Scalar _tmp14 = _tmp0 * _tmp12 + _tmp13 * state(6, 0) + _tmp2 * _tmp7; + const Scalar _tmp15 = + _tmp14 + epsilon * (2 * math::min(0, (((_tmp14) > 0) - ((_tmp14) < 0))) + 1); + const Scalar _tmp16 = _tmp6 - 2 * std::pow(state(1, 0), Scalar(2)); + const Scalar _tmp17 = _tmp11 - _tmp9; + const Scalar _tmp18 = _tmp10 * state(3, 0) + _tmp8 * state(1, 0); + const Scalar _tmp19 = + (_tmp0 * _tmp16 + _tmp17 * _tmp2 + _tmp18 * state(6, 0)) / std::pow(_tmp15, Scalar(2)); + const Scalar _tmp20 = _tmp4 * state(3, 0); + const Scalar _tmp21 = Scalar(1.0) / (_tmp15); + const Scalar _tmp22 = + -Scalar(1) / Scalar(2) * _tmp19 * (_tmp0 * _tmp1 - _tmp3 * state(2, 0) - _tmp5) + + (Scalar(1) / Scalar(2)) * _tmp21 * (_tmp1 * _tmp2 + _tmp20); + const Scalar _tmp23 = 4 * _tmp0; + const Scalar _tmp24 = + -Scalar(1) / Scalar(2) * _tmp19 * (_tmp0 * _tmp10 + _tmp20) + + (Scalar(1) / Scalar(2)) * _tmp21 * (_tmp10 * _tmp2 - _tmp23 * state(1, 0) + _tmp5); + const Scalar _tmp25 = 2 * state(3, 0); + const Scalar _tmp26 = _tmp4 * state(2, 0); + const Scalar _tmp27 = _tmp4 * state(1, 0); + const Scalar _tmp28 = -Scalar(1) / Scalar(2) * _tmp19 * (_tmp0 * _tmp25 - _tmp26) + + (Scalar(1) / Scalar(2)) * _tmp21 * (-_tmp2 * _tmp25 + _tmp27); + const Scalar _tmp29 = + -Scalar(1) / Scalar(2) * _tmp19 * (_tmp0 * _tmp8 + _tmp27 - _tmp3 * state(3, 0)) + + (Scalar(1) / Scalar(2)) * _tmp21 * (-_tmp2 * _tmp8 - _tmp23 * state(3, 0) + _tmp26); const Scalar _tmp30 = - -Scalar(1) / Scalar(2) * _tmp18 * (_tmp0 * _tmp7 - _tmp2 * _tmp29 + _tmp26) + - (Scalar(1) / Scalar(2)) * _tmp20 * (-_tmp0 * _tmp29 - _tmp2 * _tmp7 + _tmp25); + -_tmp22 * state(3, 0) + _tmp24 * state(0, 0) - _tmp28 * state(1, 0) + _tmp29 * state(2, 0); const Scalar _tmp31 = - -_tmp21 * _tmp22 + _tmp23 * state(0, 0) - _tmp28 * state(1, 0) + _tmp30 * state(2, 0); - const Scalar _tmp32 = (Scalar(1) / Scalar(2)) * _tmp21; - const Scalar _tmp33 = - _tmp23 * state(3, 0) - _tmp28 * state(2, 0) - _tmp30 * state(1, 0) + _tmp32 * state(0, 0); - const Scalar _tmp34 = - -_tmp22 * _tmp27 - _tmp23 * state(2, 0) + _tmp30 * state(0, 0) + _tmp32 * state(1, 0); - const Scalar _tmp35 = _tmp18 * _tmp6; - const Scalar _tmp36 = _tmp16 * _tmp20; - const Scalar _tmp37 = -_tmp35 + _tmp36; - const Scalar _tmp38 = _tmp11 * _tmp18; - const Scalar _tmp39 = _tmp15 * _tmp20; - const Scalar _tmp40 = -_tmp38 + _tmp39; - const Scalar _tmp41 = -_tmp12 * _tmp18 + _tmp17 * _tmp20; - const Scalar _tmp42 = _tmp35 - _tmp36; - const Scalar _tmp43 = _tmp38 - _tmp39; - const Scalar _tmp44 = Scalar(1.0) / (math::max(epsilon, innov_var)); + _tmp22 * state(0, 0) + _tmp24 * state(3, 0) - _tmp28 * state(2, 0) - _tmp29 * state(1, 0); + const Scalar _tmp32 = + _tmp22 * state(1, 0) - _tmp24 * state(2, 0) - _tmp28 * state(3, 0) + _tmp29 * state(0, 0); + const Scalar _tmp33 = _tmp19 * _tmp7; + const Scalar _tmp34 = _tmp17 * _tmp21; + const Scalar _tmp35 = -_tmp33 + _tmp34; + const Scalar _tmp36 = _tmp12 * _tmp19; + const Scalar _tmp37 = _tmp16 * _tmp21; + const Scalar _tmp38 = -_tmp36 + _tmp37; + const Scalar _tmp39 = -_tmp13 * _tmp19 + _tmp18 * _tmp21; + const Scalar _tmp40 = _tmp33 - _tmp34; + const Scalar _tmp41 = _tmp36 - _tmp37; + const Scalar _tmp42 = Scalar(1.0) / (math::max(epsilon, innov_var)); // Output terms (2) if (H != nullptr) { - matrix::Matrix& _h = (*H); + matrix::Matrix& _h = (*H); _h.setZero(); - _h(0, 0) = _tmp31; - _h(1, 0) = _tmp33; - _h(2, 0) = _tmp34; - _h(3, 0) = _tmp37; - _h(4, 0) = _tmp40; - _h(5, 0) = _tmp41; - _h(21, 0) = _tmp42; - _h(22, 0) = _tmp43; + _h(0, 0) = _tmp30; + _h(1, 0) = _tmp31; + _h(2, 0) = _tmp32; + _h(3, 0) = _tmp35; + _h(4, 0) = _tmp38; + _h(5, 0) = _tmp39; + _h(21, 0) = _tmp40; + _h(22, 0) = _tmp41; } if (K != nullptr) { - matrix::Matrix& _k = (*K); + matrix::Matrix& _k = (*K); _k(0, 0) = - _tmp44 * (P(0, 0) * _tmp31 + P(0, 1) * _tmp33 + P(0, 2) * _tmp34 + P(0, 21) * _tmp42 + - P(0, 22) * _tmp43 + P(0, 3) * _tmp37 + P(0, 4) * _tmp40 + P(0, 5) * _tmp41); + _tmp42 * (P(0, 0) * _tmp30 + P(0, 1) * _tmp31 + P(0, 2) * _tmp32 + P(0, 21) * _tmp40 + + P(0, 22) * _tmp41 + P(0, 3) * _tmp35 + P(0, 4) * _tmp38 + P(0, 5) * _tmp39); _k(1, 0) = - _tmp44 * (P(1, 0) * _tmp31 + P(1, 1) * _tmp33 + P(1, 2) * _tmp34 + P(1, 21) * _tmp42 + - P(1, 22) * _tmp43 + P(1, 3) * _tmp37 + P(1, 4) * _tmp40 + P(1, 5) * _tmp41); + _tmp42 * (P(1, 0) * _tmp30 + P(1, 1) * _tmp31 + P(1, 2) * _tmp32 + P(1, 21) * _tmp40 + + P(1, 22) * _tmp41 + P(1, 3) * _tmp35 + P(1, 4) * _tmp38 + P(1, 5) * _tmp39); _k(2, 0) = - _tmp44 * (P(2, 0) * _tmp31 + P(2, 1) * _tmp33 + P(2, 2) * _tmp34 + P(2, 21) * _tmp42 + - P(2, 22) * _tmp43 + P(2, 3) * _tmp37 + P(2, 4) * _tmp40 + P(2, 5) * _tmp41); + _tmp42 * (P(2, 0) * _tmp30 + P(2, 1) * _tmp31 + P(2, 2) * _tmp32 + P(2, 21) * _tmp40 + + P(2, 22) * _tmp41 + P(2, 3) * _tmp35 + P(2, 4) * _tmp38 + P(2, 5) * _tmp39); _k(3, 0) = - _tmp44 * (P(3, 0) * _tmp31 + P(3, 1) * _tmp33 + P(3, 2) * _tmp34 + P(3, 21) * _tmp42 + - P(3, 22) * _tmp43 + P(3, 3) * _tmp37 + P(3, 4) * _tmp40 + P(3, 5) * _tmp41); + _tmp42 * (P(3, 0) * _tmp30 + P(3, 1) * _tmp31 + P(3, 2) * _tmp32 + P(3, 21) * _tmp40 + + P(3, 22) * _tmp41 + P(3, 3) * _tmp35 + P(3, 4) * _tmp38 + P(3, 5) * _tmp39); _k(4, 0) = - _tmp44 * (P(4, 0) * _tmp31 + P(4, 1) * _tmp33 + P(4, 2) * _tmp34 + P(4, 21) * _tmp42 + - P(4, 22) * _tmp43 + P(4, 3) * _tmp37 + P(4, 4) * _tmp40 + P(4, 5) * _tmp41); + _tmp42 * (P(4, 0) * _tmp30 + P(4, 1) * _tmp31 + P(4, 2) * _tmp32 + P(4, 21) * _tmp40 + + P(4, 22) * _tmp41 + P(4, 3) * _tmp35 + P(4, 4) * _tmp38 + P(4, 5) * _tmp39); _k(5, 0) = - _tmp44 * (P(5, 0) * _tmp31 + P(5, 1) * _tmp33 + P(5, 2) * _tmp34 + P(5, 21) * _tmp42 + - P(5, 22) * _tmp43 + P(5, 3) * _tmp37 + P(5, 4) * _tmp40 + P(5, 5) * _tmp41); + _tmp42 * (P(5, 0) * _tmp30 + P(5, 1) * _tmp31 + P(5, 2) * _tmp32 + P(5, 21) * _tmp40 + + P(5, 22) * _tmp41 + P(5, 3) * _tmp35 + P(5, 4) * _tmp38 + P(5, 5) * _tmp39); _k(6, 0) = - _tmp44 * (P(6, 0) * _tmp31 + P(6, 1) * _tmp33 + P(6, 2) * _tmp34 + P(6, 21) * _tmp42 + - P(6, 22) * _tmp43 + P(6, 3) * _tmp37 + P(6, 4) * _tmp40 + P(6, 5) * _tmp41); + _tmp42 * (P(6, 0) * _tmp30 + P(6, 1) * _tmp31 + P(6, 2) * _tmp32 + P(6, 21) * _tmp40 + + P(6, 22) * _tmp41 + P(6, 3) * _tmp35 + P(6, 4) * _tmp38 + P(6, 5) * _tmp39); _k(7, 0) = - _tmp44 * (P(7, 0) * _tmp31 + P(7, 1) * _tmp33 + P(7, 2) * _tmp34 + P(7, 21) * _tmp42 + - P(7, 22) * _tmp43 + P(7, 3) * _tmp37 + P(7, 4) * _tmp40 + P(7, 5) * _tmp41); + _tmp42 * (P(7, 0) * _tmp30 + P(7, 1) * _tmp31 + P(7, 2) * _tmp32 + P(7, 21) * _tmp40 + + P(7, 22) * _tmp41 + P(7, 3) * _tmp35 + P(7, 4) * _tmp38 + P(7, 5) * _tmp39); _k(8, 0) = - _tmp44 * (P(8, 0) * _tmp31 + P(8, 1) * _tmp33 + P(8, 2) * _tmp34 + P(8, 21) * _tmp42 + - P(8, 22) * _tmp43 + P(8, 3) * _tmp37 + P(8, 4) * _tmp40 + P(8, 5) * _tmp41); + _tmp42 * (P(8, 0) * _tmp30 + P(8, 1) * _tmp31 + P(8, 2) * _tmp32 + P(8, 21) * _tmp40 + + P(8, 22) * _tmp41 + P(8, 3) * _tmp35 + P(8, 4) * _tmp38 + P(8, 5) * _tmp39); _k(9, 0) = - _tmp44 * (P(9, 0) * _tmp31 + P(9, 1) * _tmp33 + P(9, 2) * _tmp34 + P(9, 21) * _tmp42 + - P(9, 22) * _tmp43 + P(9, 3) * _tmp37 + P(9, 4) * _tmp40 + P(9, 5) * _tmp41); + _tmp42 * (P(9, 0) * _tmp30 + P(9, 1) * _tmp31 + P(9, 2) * _tmp32 + P(9, 21) * _tmp40 + + P(9, 22) * _tmp41 + P(9, 3) * _tmp35 + P(9, 4) * _tmp38 + P(9, 5) * _tmp39); _k(10, 0) = - _tmp44 * (P(10, 0) * _tmp31 + P(10, 1) * _tmp33 + P(10, 2) * _tmp34 + P(10, 21) * _tmp42 + - P(10, 22) * _tmp43 + P(10, 3) * _tmp37 + P(10, 4) * _tmp40 + P(10, 5) * _tmp41); + _tmp42 * (P(10, 0) * _tmp30 + P(10, 1) * _tmp31 + P(10, 2) * _tmp32 + P(10, 21) * _tmp40 + + P(10, 22) * _tmp41 + P(10, 3) * _tmp35 + P(10, 4) * _tmp38 + P(10, 5) * _tmp39); _k(11, 0) = - _tmp44 * (P(11, 0) * _tmp31 + P(11, 1) * _tmp33 + P(11, 2) * _tmp34 + P(11, 21) * _tmp42 + - P(11, 22) * _tmp43 + P(11, 3) * _tmp37 + P(11, 4) * _tmp40 + P(11, 5) * _tmp41); + _tmp42 * (P(11, 0) * _tmp30 + P(11, 1) * _tmp31 + P(11, 2) * _tmp32 + P(11, 21) * _tmp40 + + P(11, 22) * _tmp41 + P(11, 3) * _tmp35 + P(11, 4) * _tmp38 + P(11, 5) * _tmp39); _k(12, 0) = - _tmp44 * (P(12, 0) * _tmp31 + P(12, 1) * _tmp33 + P(12, 2) * _tmp34 + P(12, 21) * _tmp42 + - P(12, 22) * _tmp43 + P(12, 3) * _tmp37 + P(12, 4) * _tmp40 + P(12, 5) * _tmp41); + _tmp42 * (P(12, 0) * _tmp30 + P(12, 1) * _tmp31 + P(12, 2) * _tmp32 + P(12, 21) * _tmp40 + + P(12, 22) * _tmp41 + P(12, 3) * _tmp35 + P(12, 4) * _tmp38 + P(12, 5) * _tmp39); _k(13, 0) = - _tmp44 * (P(13, 0) * _tmp31 + P(13, 1) * _tmp33 + P(13, 2) * _tmp34 + P(13, 21) * _tmp42 + - P(13, 22) * _tmp43 + P(13, 3) * _tmp37 + P(13, 4) * _tmp40 + P(13, 5) * _tmp41); + _tmp42 * (P(13, 0) * _tmp30 + P(13, 1) * _tmp31 + P(13, 2) * _tmp32 + P(13, 21) * _tmp40 + + P(13, 22) * _tmp41 + P(13, 3) * _tmp35 + P(13, 4) * _tmp38 + P(13, 5) * _tmp39); _k(14, 0) = - _tmp44 * (P(14, 0) * _tmp31 + P(14, 1) * _tmp33 + P(14, 2) * _tmp34 + P(14, 21) * _tmp42 + - P(14, 22) * _tmp43 + P(14, 3) * _tmp37 + P(14, 4) * _tmp40 + P(14, 5) * _tmp41); + _tmp42 * (P(14, 0) * _tmp30 + P(14, 1) * _tmp31 + P(14, 2) * _tmp32 + P(14, 21) * _tmp40 + + P(14, 22) * _tmp41 + P(14, 3) * _tmp35 + P(14, 4) * _tmp38 + P(14, 5) * _tmp39); _k(15, 0) = - _tmp44 * (P(15, 0) * _tmp31 + P(15, 1) * _tmp33 + P(15, 2) * _tmp34 + P(15, 21) * _tmp42 + - P(15, 22) * _tmp43 + P(15, 3) * _tmp37 + P(15, 4) * _tmp40 + P(15, 5) * _tmp41); + _tmp42 * (P(15, 0) * _tmp30 + P(15, 1) * _tmp31 + P(15, 2) * _tmp32 + P(15, 21) * _tmp40 + + P(15, 22) * _tmp41 + P(15, 3) * _tmp35 + P(15, 4) * _tmp38 + P(15, 5) * _tmp39); _k(16, 0) = - _tmp44 * (P(16, 0) * _tmp31 + P(16, 1) * _tmp33 + P(16, 2) * _tmp34 + P(16, 21) * _tmp42 + - P(16, 22) * _tmp43 + P(16, 3) * _tmp37 + P(16, 4) * _tmp40 + P(16, 5) * _tmp41); + _tmp42 * (P(16, 0) * _tmp30 + P(16, 1) * _tmp31 + P(16, 2) * _tmp32 + P(16, 21) * _tmp40 + + P(16, 22) * _tmp41 + P(16, 3) * _tmp35 + P(16, 4) * _tmp38 + P(16, 5) * _tmp39); _k(17, 0) = - _tmp44 * (P(17, 0) * _tmp31 + P(17, 1) * _tmp33 + P(17, 2) * _tmp34 + P(17, 21) * _tmp42 + - P(17, 22) * _tmp43 + P(17, 3) * _tmp37 + P(17, 4) * _tmp40 + P(17, 5) * _tmp41); + _tmp42 * (P(17, 0) * _tmp30 + P(17, 1) * _tmp31 + P(17, 2) * _tmp32 + P(17, 21) * _tmp40 + + P(17, 22) * _tmp41 + P(17, 3) * _tmp35 + P(17, 4) * _tmp38 + P(17, 5) * _tmp39); _k(18, 0) = - _tmp44 * (P(18, 0) * _tmp31 + P(18, 1) * _tmp33 + P(18, 2) * _tmp34 + P(18, 21) * _tmp42 + - P(18, 22) * _tmp43 + P(18, 3) * _tmp37 + P(18, 4) * _tmp40 + P(18, 5) * _tmp41); + _tmp42 * (P(18, 0) * _tmp30 + P(18, 1) * _tmp31 + P(18, 2) * _tmp32 + P(18, 21) * _tmp40 + + P(18, 22) * _tmp41 + P(18, 3) * _tmp35 + P(18, 4) * _tmp38 + P(18, 5) * _tmp39); _k(19, 0) = - _tmp44 * (P(19, 0) * _tmp31 + P(19, 1) * _tmp33 + P(19, 2) * _tmp34 + P(19, 21) * _tmp42 + - P(19, 22) * _tmp43 + P(19, 3) * _tmp37 + P(19, 4) * _tmp40 + P(19, 5) * _tmp41); + _tmp42 * (P(19, 0) * _tmp30 + P(19, 1) * _tmp31 + P(19, 2) * _tmp32 + P(19, 21) * _tmp40 + + P(19, 22) * _tmp41 + P(19, 3) * _tmp35 + P(19, 4) * _tmp38 + P(19, 5) * _tmp39); _k(20, 0) = - _tmp44 * (P(20, 0) * _tmp31 + P(20, 1) * _tmp33 + P(20, 2) * _tmp34 + P(20, 21) * _tmp42 + - P(20, 22) * _tmp43 + P(20, 3) * _tmp37 + P(20, 4) * _tmp40 + P(20, 5) * _tmp41); + _tmp42 * (P(20, 0) * _tmp30 + P(20, 1) * _tmp31 + P(20, 2) * _tmp32 + P(20, 21) * _tmp40 + + P(20, 22) * _tmp41 + P(20, 3) * _tmp35 + P(20, 4) * _tmp38 + P(20, 5) * _tmp39); _k(21, 0) = - _tmp44 * (P(21, 0) * _tmp31 + P(21, 1) * _tmp33 + P(21, 2) * _tmp34 + P(21, 21) * _tmp42 + - P(21, 22) * _tmp43 + P(21, 3) * _tmp37 + P(21, 4) * _tmp40 + P(21, 5) * _tmp41); + _tmp42 * (P(21, 0) * _tmp30 + P(21, 1) * _tmp31 + P(21, 2) * _tmp32 + P(21, 21) * _tmp40 + + P(21, 22) * _tmp41 + P(21, 3) * _tmp35 + P(21, 4) * _tmp38 + P(21, 5) * _tmp39); _k(22, 0) = - _tmp44 * (P(22, 0) * _tmp31 + P(22, 1) * _tmp33 + P(22, 2) * _tmp34 + P(22, 21) * _tmp42 + - P(22, 22) * _tmp43 + P(22, 3) * _tmp37 + P(22, 4) * _tmp40 + P(22, 5) * _tmp41); + _tmp42 * (P(22, 0) * _tmp30 + P(22, 1) * _tmp31 + P(22, 2) * _tmp32 + P(22, 21) * _tmp40 + + P(22, 22) * _tmp41 + P(22, 3) * _tmp35 + P(22, 4) * _tmp38 + P(22, 5) * _tmp39); + _k(23, 0) = + _tmp42 * (P(23, 0) * _tmp30 + P(23, 1) * _tmp31 + P(23, 2) * _tmp32 + P(23, 21) * _tmp40 + + P(23, 22) * _tmp41 + P(23, 3) * _tmp35 + P(23, 4) * _tmp38 + P(23, 5) * _tmp39); } } // NOLINT(readability/fn_size) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_innov_and_innov_var.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_innov_and_innov_var.h index b93febcede7..6918bddfc36 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_innov_and_innov_var.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_innov_and_innov_var.h @@ -16,8 +16,8 @@ namespace sym { * Symbolic function: compute_sideslip_innov_and_innov_var * * Args: - * state: Matrix24_1 - * P: Matrix23_23 + * state: Matrix25_1 + * P: Matrix24_24 * R: Scalar * epsilon: Scalar * @@ -26,8 +26,8 @@ namespace sym { * innov_var: Scalar */ template -void ComputeSideslipInnovAndInnovVar(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar R, +void ComputeSideslipInnovAndInnovVar(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar R, const Scalar epsilon, Scalar* const innov = nullptr, Scalar* const innov_var = nullptr) { // Total ops: 265 diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_innov_var_and_h.h index e082438f09c..41f21774336 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_innov_var_and_h.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_innov_var_and_h.h @@ -16,19 +16,19 @@ namespace sym { * Symbolic function: compute_yaw_innov_var_and_h * * Args: - * state: Matrix24_1 - * P: Matrix23_23 + * state: Matrix25_1 + * P: Matrix24_24 * R: Scalar * * Outputs: * innov_var: Scalar - * H: Matrix23_1 + * H: Matrix24_1 */ template -void ComputeYawInnovVarAndH(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar R, +void ComputeYawInnovVarAndH(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar R, Scalar* const innov_var = nullptr, - matrix::Matrix* const H = nullptr) { + matrix::Matrix* const H = nullptr) { // Total ops: 1 // Unused inputs @@ -46,7 +46,7 @@ void ComputeYawInnovVarAndH(const matrix::Matrix& state, } if (H != nullptr) { - matrix::Matrix& _h = (*H); + matrix::Matrix& _h = (*H); _h.setZero(); diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/predict_covariance.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/predict_covariance.h index 1ff79d8c7e6..edf246a6bf6 100644 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/predict_covariance.h +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/predict_covariance.h @@ -16,8 +16,8 @@ namespace sym { * Symbolic function: predict_covariance * * Args: - * state: Matrix24_1 - * P: Matrix23_23 + * state: Matrix25_1 + * P: Matrix24_24 * accel: Matrix31 * accel_var: Matrix31 * gyro: Matrix31 @@ -25,23 +25,23 @@ namespace sym { * dt: Scalar * * Outputs: - * res: Matrix23_23 + * res: Matrix24_24 */ template -matrix::Matrix PredictCovariance(const matrix::Matrix& state, - const matrix::Matrix& P, +matrix::Matrix PredictCovariance(const matrix::Matrix& state, + const matrix::Matrix& P, const matrix::Matrix& accel, const matrix::Matrix& accel_var, const matrix::Matrix& gyro, const Scalar gyro_var, const Scalar dt) { - // Total ops: 1754 + // Total ops: 1810 // Unused inputs (void)gyro; // Input arrays - // Intermediate terms (147) + // Intermediate terms (144) const Scalar _tmp0 = 2 * state(1, 0); const Scalar _tmp1 = _tmp0 * state(3, 0); const Scalar _tmp2 = -_tmp1 * dt; @@ -177,64 +177,62 @@ matrix::Matrix PredictCovariance(const matrix::Matrix _res; + matrix::Matrix _res; _res.setZero(); @@ -264,40 +262,40 @@ matrix::Matrix PredictCovariance(const matrix::Matrix PredictCovariance(const matrix::Matrix PredictCovariance(const matrix::Matrix PredictCovariance(const matrix::Matrix PredictCovariance(const matrix::Matrix PredictCovariance(const matrix::Matrix PredictCovariance(const matrix::Matrix PredictCovariance(const matrix::Matrix PredictCovariance(const matrix::Matrix PredictCovariance(const matrix::Matrix PredictCovariance(const matrix::Matrix PredictCovariance(const matrix::Matrix PredictCovariance(const matrix::Matrix PredictCovariance(const matrix::Matrix PredictCovariance(const matrix::Matrix PredictCovariance(const matrix::Matrix PredictCovariance(const matrix::Matrix mag_I{}; matrix::Vector3 mag_B{}; matrix::Vector2 wind_vel{}; + float terrain{}; - matrix::Vector Data() const { - matrix::Vector state; + matrix::Vector Data() const { + matrix::Vector state; state.slice<4, 1>(0, 0) = quat_nominal; state.slice<3, 1>(4, 0) = vel; state.slice<3, 1>(7, 0) = pos; @@ -29,15 +30,16 @@ struct StateSample { state.slice<3, 1>(16, 0) = mag_I; state.slice<3, 1>(19, 0) = mag_B; state.slice<2, 1>(22, 0) = wind_vel; + state.slice<1, 1>(24, 0) = terrain; return state; }; - const matrix::Vector& vector() const { - return *reinterpret_cast*>(const_cast(reinterpret_cast(&quat_nominal))); + const matrix::Vector& vector() const { + return *reinterpret_cast*>(const_cast(reinterpret_cast(&quat_nominal))); }; }; -static_assert(sizeof(matrix::Vector) == sizeof(StateSample), "state vector doesn't match StateSample size"); +static_assert(sizeof(matrix::Vector) == sizeof(StateSample), "state vector doesn't match StateSample size"); struct IdxDof { unsigned idx; unsigned dof; }; namespace State { @@ -49,7 +51,8 @@ namespace State { static constexpr IdxDof mag_I{15, 3}; static constexpr IdxDof mag_B{18, 3}; static constexpr IdxDof wind_vel{21, 2}; - static constexpr uint8_t size{23}; + static constexpr IdxDof terrain{23, 1}; + static constexpr uint8_t size{24}; }; } #endif // !EKF_STATE_H diff --git a/src/modules/ekf2/EKF/terrain_estimator/terrain_estimator.cpp b/src/modules/ekf2/EKF/terrain_estimator/terrain_estimator.cpp index dad3c322f10..ea6a4259d10 100644 --- a/src/modules/ekf2/EKF/terrain_estimator/terrain_estimator.cpp +++ b/src/modules/ekf2/EKF/terrain_estimator/terrain_estimator.cpp @@ -38,26 +38,17 @@ */ #include "ekf.h" -#include "terrain_estimator/derivation/generated/terr_est_compute_flow_xy_innov_var_and_hx.h" -#include "terrain_estimator/derivation/generated/terr_est_compute_flow_y_innov_var_and_h.h" +#include "ekf_derivation/generated/state.h" #include void Ekf::initHagl() { // assume a ground clearance - _terrain_vpos = _state.pos(2) + _params.rng_gnd_clearance; + _state.terrain = _state.pos(2) + _params.rng_gnd_clearance; // use the ground clearance value as our uncertainty - _terrain_var = sq(_params.rng_gnd_clearance); - -#if defined(CONFIG_EKF2_RANGE_FINDER) - _aid_src_terrain_range_finder.time_last_fuse = _time_delayed_us; -#endif // CONFIG_EKF2_RANGE_FINDER - -#if defined(CONFIG_EKF2_OPTICAL_FLOW) - _aid_src_terrain_optical_flow.time_last_fuse = _time_delayed_us; -#endif // CONFIG_EKF2_OPTICAL_FLOW + P.uncorrelateCovarianceSetVariance(State::terrain.idx, sq(_params.rng_gnd_clearance)); } void Ekf::runTerrainEstimator(const imuSample &imu_delayed) @@ -74,333 +65,9 @@ void Ekf::runTerrainEstimator(const imuSample &imu_delayed) initHagl(); } - predictHagl(imu_delayed); - -#if defined(CONFIG_EKF2_RANGE_FINDER) - controlHaglRngFusion(); -#endif // CONFIG_EKF2_RANGE_FINDER - -#if defined(CONFIG_EKF2_OPTICAL_FLOW) - controlHaglFlowFusion(); -#endif // CONFIG_EKF2_OPTICAL_FLOW - controlHaglFakeFusion(); - - // constrain _terrain_vpos to be a minimum of _params.rng_gnd_clearance larger than _state.pos(2) - if (_terrain_vpos - _state.pos(2) < _params.rng_gnd_clearance) { - _terrain_vpos = _params.rng_gnd_clearance + _state.pos(2); - } } -void Ekf::predictHagl(const imuSample &imu_delayed) -{ - // predict the state variance growth where the state is the vertical position of the terrain underneath the vehicle - - // process noise due to errors in vehicle height estimate - _terrain_var += sq(imu_delayed.delta_vel_dt * _params.terrain_p_noise); - - // process noise due to terrain gradient - _terrain_var += sq(imu_delayed.delta_vel_dt * _params.terrain_gradient) - * (sq(_state.vel(0)) + sq(_state.vel(1))); - - // limit the variance to prevent it becoming badly conditioned - _terrain_var = math::constrain(_terrain_var, 0.0f, 1e4f); -} - -#if defined(CONFIG_EKF2_RANGE_FINDER) -void Ekf::controlHaglRngFusion() -{ - if (!(_params.terrain_fusion_mode & TerrainFusionMask::TerrainFuseRangeFinder) - || _control_status.flags.rng_fault) { - - stopHaglRngFusion(); - return; - } - - if (_range_sensor.isDataReady()) { - updateHaglRng(_aid_src_terrain_range_finder); - } - - if (_range_sensor.isDataHealthy()) { - - const bool continuing_conditions_passing = _rng_consistency_check.isKinematicallyConsistent(); - //&& !_control_status.flags.rng_hgt // TODO: should not be fused when using range height - - const bool starting_conditions_passing = continuing_conditions_passing - && _range_sensor.isRegularlySendingData() - && (_rng_consistency_check.getTestRatio() < 1.f); - - _time_last_healthy_rng_data = _time_delayed_us; - - if (_hagl_sensor_status.flags.range_finder) { - if (continuing_conditions_passing) { - fuseHaglRng(_aid_src_terrain_range_finder); - - // We have been rejecting range data for too long - const uint64_t timeout = static_cast(_params.terrain_timeout * 1e6f); - const bool is_fusion_failing = isTimedOut(_aid_src_terrain_range_finder.time_last_fuse, timeout); - - if (is_fusion_failing) { - if (_range_sensor.getDistBottom() > 2.f * _params.rng_gnd_clearance) { - // Data seems good, attempt a reset - resetHaglRng(); - - } else if (starting_conditions_passing) { - // The sensor can probably not detect the ground properly - // declare the sensor faulty and stop the fusion - _control_status.flags.rng_fault = true; - _range_sensor.setFaulty(true); - stopHaglRngFusion(); - - } else { - // This could be a temporary issue, stop the fusion without declaring the sensor faulty - stopHaglRngFusion(); - } - } - - } else { - stopHaglRngFusion(); - } - - } else { - if (starting_conditions_passing) { - _hagl_sensor_status.flags.range_finder = true; - - // Reset the state to the measurement only if the test ratio is large, - // otherwise let it converge through the fusion - if (_hagl_sensor_status.flags.flow && (_aid_src_terrain_range_finder.test_ratio < 0.2f)) { - fuseHaglRng(_aid_src_terrain_range_finder); - - } else { - resetHaglRng(); - } - } - } - - } else if (_hagl_sensor_status.flags.range_finder && isTimedOut(_time_last_healthy_rng_data, _params.reset_timeout_max)) { - // No data anymore. Stop until it comes back. - stopHaglRngFusion(); - } -} - -float Ekf::getRngVar() const -{ - return fmaxf(P(State::pos.idx + 2, State::pos.idx + 2) * _params.vehicle_variance_scaler, 0.0f) - + sq(_params.range_noise) - + sq(_params.range_noise_scaler * _range_sensor.getRange()); -} - -void Ekf::resetHaglRng() -{ - _terrain_vpos = _state.pos(2) + _range_sensor.getDistBottom(); - _terrain_var = getRngVar(); - _terrain_vpos_reset_counter++; - - _aid_src_terrain_range_finder.time_last_fuse = _time_delayed_us; -} - -void Ekf::stopHaglRngFusion() -{ - if (_hagl_sensor_status.flags.range_finder) { - ECL_INFO("stopping HAGL range fusion"); - - // reset flags - _innov_check_fail_status.flags.reject_hagl = false; - - _hagl_sensor_status.flags.range_finder = false; - } -} - -void Ekf::updateHaglRng(estimator_aid_source1d_s &aid_src) const -{ - // get a height above ground measurement from the range finder assuming a flat earth - const float meas_hagl = _range_sensor.getDistBottom(); - - // predict the hagl from the vehicle position and terrain height - const float pred_hagl = _terrain_vpos - _state.pos(2); - - // calculate the observation variance adding the variance of the vehicles own height uncertainty - const float obs_variance = getRngVar(); - - // calculate the innovation variance - limiting it to prevent a badly conditioned fusion - const float hagl_innov_var = fmaxf(_terrain_var + obs_variance, obs_variance); - - updateAidSourceStatus(aid_src, - _time_delayed_us, // sample timestamp - meas_hagl, // observation - obs_variance, // observation variance - pred_hagl - meas_hagl, // innovation - hagl_innov_var, // innovation variance - math::max(_params.range_innov_gate, 1.f)); // innovation gate -} - -void Ekf::fuseHaglRng(estimator_aid_source1d_s &aid_src) -{ - if (!aid_src.innovation_rejected) { - // calculate the Kalman gain - const float gain = _terrain_var / aid_src.innovation_variance; - - // correct the state - _terrain_vpos -= gain * aid_src.innovation; - - // correct the variance - _terrain_var = fmaxf(_terrain_var * (1.0f - gain), 0.0f); - - // record last successful fusion event - _innov_check_fail_status.flags.reject_hagl = false; - - aid_src.time_last_fuse = _time_delayed_us; - aid_src.fused = true; - - } else { - _innov_check_fail_status.flags.reject_hagl = true; - aid_src.fused = false; - } -} -#endif // CONFIG_EKF2_RANGE_FINDER - -#if defined(CONFIG_EKF2_OPTICAL_FLOW) -void Ekf::controlHaglFlowFusion() -{ - if (!(_params.terrain_fusion_mode & TerrainFusionMask::TerrainFuseOpticalFlow)) { - stopHaglFlowFusion(); - return; - } - - if (_flow_data_ready) { - updateOptFlow(_aid_src_terrain_optical_flow); - - const bool continuing_conditions_passing = _control_status.flags.in_air - && !_control_status.flags.opt_flow - && _control_status.flags.gps - && !_hagl_sensor_status.flags.range_finder; - - const bool starting_conditions_passing = continuing_conditions_passing; - - if (_hagl_sensor_status.flags.flow) { - if (continuing_conditions_passing) { - - // TODO: wait until the midpoint of the flow sample has fallen behind the fusion time horizon - fuseFlowForTerrain(_aid_src_terrain_optical_flow); - - // TODO: do something when failing continuously the innovation check - /* const bool is_fusion_failing = isTimedOut(_aid_src_optical_flow.time_last_fuse, _params.reset_timeout_max); */ - - /* if (is_fusion_failing) { */ - /* resetHaglFlow(); */ - /* } */ - - } else { - stopHaglFlowFusion(); - } - - } else { - if (starting_conditions_passing) { - _hagl_sensor_status.flags.flow = true; - // TODO: do a reset instead of trying to fuse the data? - fuseFlowForTerrain(_aid_src_terrain_optical_flow); - } - } - - _flow_data_ready = false; - - } else if (_hagl_sensor_status.flags.flow && (_time_delayed_us > _flow_sample_delayed.time_us + (uint64_t)5e6)) { - // No data anymore. Stop until it comes back. - stopHaglFlowFusion(); - } -} - -void Ekf::stopHaglFlowFusion() -{ - if (_hagl_sensor_status.flags.flow) { - ECL_INFO("stopping HAGL flow fusion"); - - _hagl_sensor_status.flags.flow = false; - } -} - -void Ekf::resetHaglFlow() -{ - // TODO: use the flow data - _terrain_vpos = fmaxf(0.0f, _state.pos(2)); - _terrain_var = 100.0f; - _terrain_vpos_reset_counter++; - - _aid_src_terrain_optical_flow.time_last_fuse = _time_delayed_us; -} - -void Ekf::fuseFlowForTerrain(estimator_aid_source2d_s &flow) -{ - flow.fused = true; - - const float R_LOS = flow.observation_variance[0]; - - // calculate the height above the ground of the optical flow camera. Since earth frame is NED - // a positive offset in earth frame leads to a smaller height above the ground. - float range = predictFlowRange(); - - const float state = _terrain_vpos; // linearize both axes using the same state value - Vector2f innov_var; - float H; - sym::TerrEstComputeFlowXyInnovVarAndHx(state, _terrain_var, _state.quat_nominal, _state.vel, _state.pos(2), R_LOS, FLT_EPSILON, &innov_var, &H); - innov_var.copyTo(flow.innovation_variance); - - if ((flow.innovation_variance[0] < R_LOS) - || (flow.innovation_variance[1] < R_LOS)) { - // we need to reinitialise the covariance matrix and abort this fusion step - ECL_ERR("Opt flow error - covariance reset"); - _terrain_var = 100.0f; - return; - } - - _innov_check_fail_status.flags.reject_optflow_X = (flow.test_ratio[0] > 1.f); - _innov_check_fail_status.flags.reject_optflow_Y = (flow.test_ratio[1] > 1.f); - - // if either axis fails we abort the fusion - if (flow.innovation_rejected) { - return; - } - - // fuse observation axes sequentially - for (uint8_t index = 0; index <= 1; index++) { - if (index == 0) { - // everything was already computed above - - } else if (index == 1) { - // recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes) - sym::TerrEstComputeFlowYInnovVarAndH(state, _terrain_var, _state.quat_nominal, _state.vel, _state.pos(2), R_LOS, FLT_EPSILON, &flow.innovation_variance[1], &H); - - // recalculate the innovation using the updated state - const Vector2f vel_body = predictFlowVelBody(); - range = predictFlowRange(); - flow.innovation[1] = (-vel_body(0) / range) - flow.observation[1]; - - if (flow.innovation_variance[1] < R_LOS) { - // we need to reinitialise the covariance matrix and abort this fusion step - ECL_ERR("Opt flow error - covariance reset"); - _terrain_var = 100.0f; - return; - } - } - - float Kfusion = _terrain_var * H / flow.innovation_variance[index]; - - _terrain_vpos += Kfusion * flow.innovation[0]; - // constrain terrain to minimum allowed value and predict height above ground - _terrain_vpos = fmaxf(_terrain_vpos, _params.rng_gnd_clearance + _state.pos(2)); - - // guard against negative variance - _terrain_var = fmaxf(_terrain_var - Kfusion * H * _terrain_var, sq(0.01f)); - } - - _fault_status.flags.bad_optflow_X = false; - _fault_status.flags.bad_optflow_Y = false; - - flow.time_last_fuse = _time_delayed_us; - flow.fused = true; -} -#endif // CONFIG_EKF2_OPTICAL_FLOW - void Ekf::controlHaglFakeFusion() { if (!_control_status.flags.in_air @@ -410,11 +77,11 @@ void Ekf::controlHaglFakeFusion() bool recent_terrain_aiding = false; #if defined(CONFIG_EKF2_RANGE_FINDER) - recent_terrain_aiding |= isRecent(_aid_src_terrain_range_finder.time_last_fuse, (uint64_t)1e6); + recent_terrain_aiding |= isRecent(_aid_src_rng_hgt.time_last_fuse, (uint64_t)1e6); #endif // CONFIG_EKF2_RANGE_FINDER #if defined(CONFIG_EKF2_OPTICAL_FLOW) - recent_terrain_aiding |= isRecent(_aid_src_terrain_optical_flow.time_last_fuse, (uint64_t)1e6); + recent_terrain_aiding |= isRecent(_aid_src_optical_flow.time_last_fuse, (uint64_t)1e6); #endif // CONFIG_EKF2_OPTICAL_FLOW if (_control_status.flags.vehicle_at_rest || !recent_terrain_aiding) { @@ -425,24 +92,20 @@ void Ekf::controlHaglFakeFusion() bool Ekf::isTerrainEstimateValid() const { - bool valid = false; + // Assume being valid when the uncertainty is small compared to the height above ground + bool valid = getTerrainVariance() < sq(0.1f * getHagl()); #if defined(CONFIG_EKF2_RANGE_FINDER) - // we have been fusing range finder measurements in the last 5 seconds - if (isRecent(_aid_src_terrain_range_finder.time_last_fuse, (uint64_t)5e6)) { - if (_hagl_sensor_status.flags.range_finder || !_control_status.flags.in_air) { - valid = true; - } + if (_hagl_sensor_status.flags.range_finder && isRecent(_aid_src_rng_hgt.time_last_fuse, (uint64_t)5e6)) { + valid = true; } #endif // CONFIG_EKF2_RANGE_FINDER #if defined(CONFIG_EKF2_OPTICAL_FLOW) - // we have been fusing optical flow measurements for terrain estimation within the last 5 seconds - // this can only be the case if the main filter does not fuse optical flow - if (_hagl_sensor_status.flags.flow && isRecent(_aid_src_terrain_optical_flow.time_last_fuse, (uint64_t)5e6)) { + if (_hagl_sensor_status.flags.flow && isRecent(_aid_src_optical_flow.time_last_fuse, (uint64_t)5e6)) { valid = true; } @@ -450,7 +113,3 @@ bool Ekf::isTerrainEstimateValid() const return valid; } - -void Ekf::terrainHandleVerticalPositionReset(const float delta_z) { - _terrain_vpos += delta_z; -} diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp index 166293453a1..430ed52db5b 100644 --- a/src/modules/ekf2/EKF2.cpp +++ b/src/modules/ekf2/EKF2.cpp @@ -326,7 +326,6 @@ bool EKF2::multi_init(int imu, int mag) // RNG advertise if (_param_ekf2_rng_ctrl.get()) { _estimator_aid_src_rng_hgt_pub.advertise(); - _estimator_rng_hgt_bias_pub.advertise(); } #endif // CONFIG_EKF2_RANGE_FINDER @@ -728,10 +727,6 @@ void EKF2::Run() PublishBaroBias(now); #endif // CONFIG_EKF2_BAROMETER -#if defined(CONFIG_EKF2_RANGE_FINDER) - PublishRngHgtBias(now); -#endif // CONFIG_EKF2_RANGE_FINDER - #if defined(CONFIG_EKF2_EXTERNAL_VISION) PublishEvPosBias(now); #endif // CONFIG_EKF2_EXTERNAL_VISION @@ -928,21 +923,6 @@ void EKF2::PublishAidSourceStatus(const hrt_abstime ×tamp) // optical flow PublishAidSourceStatus(_ekf.aid_src_optical_flow(), _status_optical_flow_pub_last, _estimator_aid_src_optical_flow_pub); #endif // CONFIG_EKF2_OPTICAL_FLOW - -#if defined(CONFIG_EKF2_TERRAIN) -# if defined(CONFIG_EKF2_RANGE_FINDER) - // range finder - PublishAidSourceStatus(_ekf.aid_src_terrain_range_finder(), _status_terrain_range_finder_pub_last, - _estimator_aid_src_terrain_range_finder_pub); -#endif // CONFIG_EKF2_RANGE_FINDER - -# if defined(CONFIG_EKF2_OPTICAL_FLOW) - // optical flow - PublishAidSourceStatus(_ekf.aid_src_terrain_optical_flow(), _status_terrain_optical_flow_pub_last, - _estimator_aid_src_terrain_optical_flow_pub); -# endif // CONFIG_EKF2_OPTICAL_FLOW - -#endif // CONFIG_EKF2_TERRAIN } void EKF2::PublishAttitude(const hrt_abstime ×tamp) @@ -996,21 +976,6 @@ void EKF2::PublishGnssHgtBias(const hrt_abstime ×tamp) } #endif // CONFIG_EKF2_GNSS -#if defined(CONFIG_EKF2_RANGE_FINDER) -void EKF2::PublishRngHgtBias(const hrt_abstime ×tamp) -{ - if (_ekf.get_rng_sample_delayed().time_us != 0) { - const BiasEstimator::status &status = _ekf.getRngHgtBiasEstimatorStatus(); - - if (fabsf(status.bias - _last_rng_hgt_bias_published) > 0.001f) { - _estimator_rng_hgt_bias_pub.publish(fillEstimatorBiasMsg(status, _ekf.get_rng_sample_delayed().time_us, timestamp)); - - _last_rng_hgt_bias_published = status.bias; - } - } -} -#endif // CONFIG_EKF2_RANGE_FINDER - #if defined(CONFIG_EKF2_EXTERNAL_VISION) void EKF2::PublishEvPosBias(const hrt_abstime ×tamp) { @@ -1272,10 +1237,6 @@ void EKF2::PublishInnovations(const hrt_abstime ×tamp) // Optical flow innovations.flow[0] = _ekf.aid_src_optical_flow().innovation[0]; innovations.flow[1] = _ekf.aid_src_optical_flow().innovation[1]; -# if defined(CONFIG_EKF2_TERRAIN) - innovations.terr_flow[0] = _ekf.aid_src_terrain_optical_flow().innovation[0]; - innovations.terr_flow[1] = _ekf.aid_src_terrain_optical_flow().innovation[1]; -# endif // CONFIG_EKF2_TERRAIN #endif // CONFIG_EKF2_OPTICAL_FLOW // heading @@ -1313,7 +1274,7 @@ void EKF2::PublishInnovations(const hrt_abstime ×tamp) #if defined(CONFIG_EKF2_TERRAIN) && defined(CONFIG_EKF2_RANGE_FINDER) // hagl - innovations.hagl = _ekf.aid_src_terrain_range_finder().innovation; + innovations.hagl = _ekf.aid_src_rng_hgt().innovation; #endif // CONFIG_EKF2_TERRAIN && CONFIG_EKF2_RANGE_FINDER #if defined(CONFIG_EKF2_RANGE_FINDER) @@ -1339,7 +1300,7 @@ void EKF2::PublishInnovations(const hrt_abstime ×tamp) #if defined(CONFIG_EKF2_TERRAIN) && defined(CONFIG_EKF2_OPTICAL_FLOW) // set dist bottom to scale flow innovation - const float dist_bottom = _ekf.getTerrainVertPos() - _ekf.getPosition()(2); + const float dist_bottom = _ekf.getHagl(); _preflt_checker.setDistBottom(dist_bottom); #endif // CONFIG_EKF2_TERRAIN && CONFIG_EKF2_OPTICAL_FLOW @@ -1406,10 +1367,6 @@ void EKF2::PublishInnovationTestRatios(const hrt_abstime ×tamp) // Optical flow test_ratios.flow[0] = _ekf.aid_src_optical_flow().test_ratio[0]; test_ratios.flow[1] = _ekf.aid_src_optical_flow().test_ratio[1]; -# if defined(CONFIG_EKF2_TERRAIN) - test_ratios.terr_flow[0] = _ekf.aid_src_terrain_optical_flow().test_ratio[0]; - test_ratios.terr_flow[1] = _ekf.aid_src_terrain_optical_flow().test_ratio[1]; -# endif // CONFIG_EKF2_TERRAIN #endif // CONFIG_EKF2_OPTICAL_FLOW // heading @@ -1447,7 +1404,7 @@ void EKF2::PublishInnovationTestRatios(const hrt_abstime ×tamp) #if defined(CONFIG_EKF2_TERRAIN) && defined(CONFIG_EKF2_RANGE_FINDER) // hagl - test_ratios.hagl = _ekf.aid_src_terrain_range_finder().test_ratio; + test_ratios.hagl = _ekf.aid_src_rng_hgt().test_ratio; #endif // CONFIG_EKF2_TERRAIN && CONFIG_EKF2_RANGE_FINDER #if defined(CONFIG_EKF2_RANGE_FINDER) @@ -1503,10 +1460,6 @@ void EKF2::PublishInnovationVariances(const hrt_abstime ×tamp) // Optical flow variances.flow[0] = _ekf.aid_src_optical_flow().innovation_variance[0]; variances.flow[1] = _ekf.aid_src_optical_flow().innovation_variance[1]; -# if defined(CONFIG_EKF2_TERRAIN) - variances.terr_flow[0] = _ekf.aid_src_terrain_optical_flow().innovation_variance[0]; - variances.terr_flow[1] = _ekf.aid_src_terrain_optical_flow().innovation_variance[1]; -# endif // CONFIG_EKF2_TERRAIN #endif // CONFIG_EKF2_OPTICAL_FLOW // heading @@ -1544,7 +1497,7 @@ void EKF2::PublishInnovationVariances(const hrt_abstime ×tamp) #if defined(CONFIG_EKF2_TERRAIN) && defined(CONFIG_EKF2_RANGE_FINDER) // hagl - variances.hagl = _ekf.aid_src_terrain_range_finder().innovation_variance; + variances.hagl = _ekf.aid_src_rng_hgt().innovation_variance; #endif // CONFIG_EKF2_TERRAIN && CONFIG_EKF2_RANGE_FINDER #if defined(CONFIG_EKF2_RANGE_FINDER) @@ -1620,7 +1573,7 @@ void EKF2::PublishLocalPosition(const hrt_abstime ×tamp) #if defined(CONFIG_EKF2_TERRAIN) // Distance to bottom surface (ground) in meters, must be positive - lpos.dist_bottom = math::max(_ekf.getTerrainVertPos() - lpos.z, 0.f); + lpos.dist_bottom = math::max(_ekf.getHagl(), 0.f); lpos.dist_bottom_valid = _ekf.isTerrainEstimateValid(); lpos.dist_bottom_sensor_bitfield = _ekf.getTerrainEstimateSensorBitfield(); #endif // CONFIG_EKF2_TERRAIN diff --git a/src/modules/ekf2/EKF2.hpp b/src/modules/ekf2/EKF2.hpp index 28c76dd1304..10a51c9dcd7 100644 --- a/src/modules/ekf2/EKF2.hpp +++ b/src/modules/ekf2/EKF2.hpp @@ -337,19 +337,6 @@ private: hrt_abstime _status_aux_vel_pub_last{0}; #endif // CONFIG_EKF2_AUXVEL -#if defined(CONFIG_EKF2_TERRAIN) - -# if defined(CONFIG_EKF2_RANGE_FINDER) - uORB::PublicationMulti _estimator_aid_src_terrain_range_finder_pub {ORB_ID(estimator_aid_src_terrain_range_finder)}; - hrt_abstime _status_terrain_range_finder_pub_last{0}; -# endif // CONFIG_EKF2_RANGE_FINDER - -# if defined(CONFIG_EKF2_OPTICAL_FLOW) - uORB::PublicationMulti _estimator_aid_src_terrain_optical_flow_pub {ORB_ID(estimator_aid_src_terrain_optical_flow)}; - hrt_abstime _status_terrain_optical_flow_pub_last{0}; -# endif // CONFIG_EKF2_OPTICAL_FLOW -#endif // CONFIG_EKF2_TERRAIN - #if defined(CONFIG_EKF2_OPTICAL_FLOW) uORB::Subscription _vehicle_optical_flow_sub {ORB_ID(vehicle_optical_flow)}; uORB::PublicationMulti _estimator_optical_flow_vel_pub{ORB_ID(estimator_optical_flow_vel)}; @@ -407,9 +394,7 @@ private: #if defined(CONFIG_EKF2_RANGE_FINDER) hrt_abstime _status_rng_hgt_pub_last {0}; - float _last_rng_hgt_bias_published{}; - uORB::PublicationMulti _estimator_rng_hgt_bias_pub {ORB_ID(estimator_rng_hgt_bias)}; uORB::PublicationMulti _estimator_aid_src_rng_hgt_pub{ORB_ID(estimator_aid_src_rng_hgt)}; uORB::SubscriptionMultiArray _distance_sensor_subs{ORB_ID::distance_sensor}; diff --git a/src/modules/ekf2/test/CMakeLists.txt b/src/modules/ekf2/test/CMakeLists.txt index 84a665ab0e0..bb3627dedb3 100644 --- a/src/modules/ekf2/test/CMakeLists.txt +++ b/src/modules/ekf2/test/CMakeLists.txt @@ -41,6 +41,7 @@ px4_add_unit_gtest(SRC test_EKF_airspeed.cpp LINKLIBS ecl_EKF ecl_sensor_sim) px4_add_unit_gtest(SRC test_EKF_basics.cpp LINKLIBS ecl_EKF ecl_sensor_sim) px4_add_unit_gtest(SRC test_EKF_externalVision.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper) px4_add_unit_gtest(SRC test_EKF_flow.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper) +px4_add_unit_gtest(SRC test_EKF_flow_generated.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper) px4_add_unit_gtest(SRC test_EKF_gyroscope.cpp LINKLIBS ecl_EKF ecl_sensor_sim) px4_add_unit_gtest(SRC test_EKF_fusionLogic.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper) px4_add_unit_gtest(SRC test_EKF_gps.cpp LINKLIBS ecl_EKF ecl_sensor_sim ecl_test_helper) diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv 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_ekf->control_status_flags().wind; } -void EkfWrapper::enableTerrainRngFusion() -{ - _ekf_params->terrain_fusion_mode |= TerrainFusionMask::TerrainFuseRangeFinder; -} - -void EkfWrapper::disableTerrainRngFusion() -{ - _ekf_params->terrain_fusion_mode &= ~TerrainFusionMask::TerrainFuseRangeFinder; -} - bool EkfWrapper::isIntendingTerrainRngFusion() const { terrain_fusion_status_u terrain_status; @@ -257,16 +247,6 @@ bool EkfWrapper::isIntendingTerrainRngFusion() const return terrain_status.flags.range_finder; } -void EkfWrapper::enableTerrainFlowFusion() -{ - _ekf_params->terrain_fusion_mode |= TerrainFusionMask::TerrainFuseOpticalFlow; -} - -void EkfWrapper::disableTerrainFlowFusion() -{ - _ekf_params->terrain_fusion_mode &= ~TerrainFusionMask::TerrainFuseOpticalFlow; -} - bool EkfWrapper::isIntendingTerrainFlowFusion() const { terrain_fusion_status_u terrain_status; diff --git a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h index e1d35f09340..69b72475dca 100644 --- a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h +++ b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h @@ -110,12 +110,8 @@ public: bool isWindVelocityEstimated() const; - void enableTerrainRngFusion(); - void disableTerrainRngFusion(); bool isIntendingTerrainRngFusion() const; - void enableTerrainFlowFusion(); - void disableTerrainFlowFusion(); bool isIntendingTerrainFlowFusion() const; Eulerf getEulerAngles() const; diff --git a/src/modules/ekf2/test/test_EKF_flow.cpp b/src/modules/ekf2/test/test_EKF_flow.cpp index f39249190ad..42f27028a04 100644 --- a/src/modules/ekf2/test/test_EKF_flow.cpp +++ b/src/modules/ekf2/test/test_EKF_flow.cpp @@ -120,7 +120,7 @@ TEST_F(EkfFlowTest, resetToFlowVelocityInAir) _sensor_simulator.runSeconds(5.f); - const float estimated_distance_to_ground = _ekf->getTerrainVertPos(); + const float estimated_distance_to_ground = _ekf->getHagl(); EXPECT_FLOAT_EQ(estimated_distance_to_ground, simulated_distance_to_ground); reset_logging_checker.capturePreResetState(); @@ -133,10 +133,7 @@ TEST_F(EkfFlowTest, resetToFlowVelocityInAir) _ekf_wrapper.enableFlowFusion(); _sensor_simulator.startFlow(); - // Let it reset but not fuse more measurements. We actually need to send 2 - // samples to get a reset because the first one cannot be used as the gyro - // compensation needs to be accumulated between two samples. - _sensor_simulator.runTrajectorySeconds(0.14); + _sensor_simulator.runTrajectorySeconds(1); // THEN: estimated velocity should match simulated velocity const Vector3f estimated_velocity = _ekf->getVelocity(); @@ -144,7 +141,11 @@ TEST_F(EkfFlowTest, resetToFlowVelocityInAir) simulated_velocity.print(); EXPECT_TRUE(isEqual(estimated_velocity, simulated_velocity)) << "estimated vel = " << estimated_velocity(0) << ", " - << estimated_velocity(1); + << estimated_velocity(1) << "\n" + << "simulated vel = " << simulated_velocity(0) << ", " + << simulated_velocity(1); + + EXPECT_NEAR(simulated_distance_to_ground, _ekf->getHagl(), 0.1f); // AND: the reset in velocity should be saved correctly reset_logging_checker.capturePostResetState(); @@ -158,7 +159,7 @@ TEST_F(EkfFlowTest, resetToFlowVelocityOnGround) ResetLoggingChecker reset_logging_checker(_ekf); // WHEN: being on ground - const float estimated_distance_to_ground = _ekf->getTerrainVertPos(); + const float estimated_distance_to_ground = _ekf->getHagl(); EXPECT_LT(estimated_distance_to_ground, 0.3f); reset_logging_checker.capturePreResetState(); @@ -177,11 +178,10 @@ TEST_F(EkfFlowTest, resetToFlowVelocityOnGround) EXPECT_TRUE(isEqual(estimated_horz_velocity, Vector2f(0.f, 0.f))) << estimated_horz_velocity(0) << ", " << estimated_horz_velocity(1); - // AND: the reset in velocity should be saved correctly + // AND: the velocity isn't reset as it is already correct reset_logging_checker.capturePostResetState(); - EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(1)); + EXPECT_TRUE(reset_logging_checker.isHorizontalVelocityResetCounterIncreasedBy(0)); EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(0)); - EXPECT_TRUE(reset_logging_checker.isVelocityDeltaLoggedCorrectly(1e-9f)); } TEST_F(EkfFlowTest, inAirConvergence) @@ -222,9 +222,9 @@ TEST_F(EkfFlowTest, inAirConvergence) // THEN: estimated velocity should converge to the simulated velocity // This takes a bit of time because the data is inconsistent with IMU measurements estimated_velocity = _ekf->getVelocity(); - EXPECT_NEAR(estimated_velocity(0), simulated_velocity(0), 0.05f) + EXPECT_NEAR(estimated_velocity(0), simulated_velocity(0), 0.01f) << "estimated vel = " << estimated_velocity(0); - EXPECT_NEAR(estimated_velocity(1), simulated_velocity(1), 0.05f) + EXPECT_NEAR(estimated_velocity(1), simulated_velocity(1), 0.01f) << estimated_velocity(1); } diff --git a/src/modules/ekf2/test/test_EKF_flow_generated.cpp b/src/modules/ekf2/test/test_EKF_flow_generated.cpp new file mode 100644 index 00000000000..58a0eabdeb6 --- /dev/null +++ b/src/modules/ekf2/test/test_EKF_flow_generated.cpp @@ -0,0 +1,73 @@ +/**************************************************************************** + * + * Copyright (C) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include +#include "EKF/ekf.h" +#include "test_helper/comparison_helper.h" + +#include "../EKF/python/ekf_derivation/generated/compute_flow_xy_innov_var_and_hx.h" +#include "../EKF/python/ekf_derivation/generated/compute_flow_y_innov_var_and_h.h" + +using namespace matrix; + +TEST(FlowGenerated, distBottom0xy) +{ + // GIVEN: 0 distance to the ground (singularity) + StateSample state{}; + state.quat_nominal = Quatf(); + + const float R = sq(radians(sq(0.5f))); + SquareMatrixState P = createRandomCovarianceMatrix(); + + VectorState H; + Vector2f innov_var; + sym::ComputeFlowXyInnovVarAndHx(state.vector(), P, R, FLT_EPSILON, &innov_var, &H); + EXPECT_GT(innov_var(0), 1e12); + EXPECT_GT(innov_var(1), 1e12); +} + +TEST(FlowGenerated, distBottom0y) +{ + // GIVEN: 0 distance to the ground (singularity) + StateSample state{}; + state.quat_nominal = Quatf(); + + const float R = sq(radians(sq(0.5f))); + SquareMatrixState P = createRandomCovarianceMatrix(); + + VectorState H; + float innov_var; + sym::ComputeFlowYInnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var, &H); + EXPECT_GT(innov_var, 1e12); +} diff --git a/src/modules/ekf2/test/test_EKF_height_fusion.cpp b/src/modules/ekf2/test/test_EKF_height_fusion.cpp index 329015dc4a4..c80939f1ba6 100644 --- a/src/modules/ekf2/test/test_EKF_height_fusion.cpp +++ b/src/modules/ekf2/test/test_EKF_height_fusion.cpp @@ -60,6 +60,7 @@ public: { _ekf->init(0); _ekf_wrapper.disableBaroHeightFusion(); + _ekf_wrapper.disableRangeHeightFusion(); _sensor_simulator.runSeconds(0.1); _ekf->set_in_air_status(false); _ekf->set_vehicle_at_rest(true); @@ -111,7 +112,7 @@ TEST_F(EkfHeightFusionTest, baroRef) EXPECT_FALSE(_ekf_wrapper.isIntendingExternalVisionHeightFusion()); // AND WHEN: the baro data increases - const float baro_increment = 5.f; + const float baro_increment = 4.f; _sensor_simulator._baro.setData(_sensor_simulator._baro.getData() + baro_increment); _sensor_simulator.runSeconds(60); @@ -124,8 +125,8 @@ TEST_F(EkfHeightFusionTest, baroRef) const BiasEstimator::status &gps_status = _ekf->getGpsHgtBiasEstimatorStatus(); EXPECT_NEAR(gps_status.bias, -baro_increment, 0.2f); - const BiasEstimator::status &rng_status = _ekf->getRngHgtBiasEstimatorStatus(); - EXPECT_NEAR(rng_status.bias, -baro_increment, 1.2f); + const float terrain = _ekf->getTerrainVertPos(); + EXPECT_NEAR(terrain, -baro_increment, 1.2f); const BiasEstimator::status &ev_status = _ekf->getEvHgtBiasEstimatorStatus(); EXPECT_EQ(ev_status.bias, 0.f); @@ -150,8 +151,8 @@ TEST_F(EkfHeightFusionTest, baroRef) // the estimated height follows the GPS height EXPECT_NEAR(_ekf->getPosition()(2), -(baro_increment + gps_increment), 0.3f); // and the range finder bias is adjusted to follow the new reference - const BiasEstimator::status &rng_status_2 = _ekf->getRngHgtBiasEstimatorStatus(); - EXPECT_NEAR(rng_status_2.bias, -(baro_increment + gps_increment), 1.3f); + const float terrain2 = _ekf->getTerrainVertPos(); + EXPECT_NEAR(terrain2, -(baro_increment + gps_increment), 1.3f); } TEST_F(EkfHeightFusionTest, gpsRef) @@ -181,8 +182,8 @@ TEST_F(EkfHeightFusionTest, gpsRef) const BiasEstimator::status &baro_status = _ekf->getBaroBiasEstimatorStatus(); EXPECT_NEAR(baro_status.bias, baro_initial + baro_increment, 1.3f); - const BiasEstimator::status &rng_status = _ekf->getRngHgtBiasEstimatorStatus(); - EXPECT_NEAR(rng_status.bias, 0.f, 1.1f); // TODO: why? + const float terrain = _ekf->getTerrainVertPos(); + EXPECT_NEAR(terrain, 0.f, 1.1f); // TODO: why? // BUT WHEN: the GPS jumps by a lot const float gps_step = 100.f; @@ -290,7 +291,7 @@ TEST_F(EkfHeightFusionTest, changeEkfOriginAlt) reset_logging_checker.capturePostResetState(); EXPECT_NEAR(_ekf->getBaroBiasEstimatorStatus().bias, _sensor_simulator._baro.getData() + alt_increment, 0.2f); - EXPECT_NEAR(_ekf->getRngHgtBiasEstimatorStatus().bias, alt_increment, 1.f); + EXPECT_NEAR(_ekf->getTerrainVertPos(), alt_increment, 1.f); EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(0)); EXPECT_TRUE(reset_logging_checker.isVerticalPositionResetCounterIncreasedBy(1)); } diff --git a/src/modules/ekf2/test/test_EKF_terrain_estimator.cpp b/src/modules/ekf2/test/test_EKF_terrain_estimator.cpp index ccd7dbc76a6..e07d4e8d5d7 100644 --- a/src/modules/ekf2/test/test_EKF_terrain_estimator.cpp +++ b/src/modules/ekf2/test/test_EKF_terrain_estimator.cpp @@ -116,18 +116,22 @@ public: TEST_F(EkfTerrainTest, setFlowAndRangeTerrainFusion) { + // GIVEN: flow and range are enabled + _ekf_wrapper.enableFlowFusion(); + _ekf_wrapper.enableRangeHeightFusion(); + // WHEN: simulate being 5m above ground const float simulated_distance_to_ground = 1.f; runFlowAndRngScenario(simulated_distance_to_ground, simulated_distance_to_ground); - // THEN: By default, both rng and flow aiding are active + // THEN: both should start terrain aiding EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainRngFusion()); - EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainFlowFusion()); - const float estimated_distance_to_ground = _ekf->getTerrainVertPos(); - EXPECT_NEAR(estimated_distance_to_ground, simulated_distance_to_ground, 0.01); + EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainFlowFusion()); + const float estimated_distance_to_ground = _ekf->getHagl(); + EXPECT_NEAR(estimated_distance_to_ground, simulated_distance_to_ground, 0.02); // WHEN: rng fusion is disabled - _ekf_wrapper.disableTerrainRngFusion(); + _ekf_wrapper.disableRangeHeightFusion(); _sensor_simulator.runSeconds(5.1); // THEN: rng fusion should be disabled and flow fusion should take over @@ -135,7 +139,7 @@ TEST_F(EkfTerrainTest, setFlowAndRangeTerrainFusion) EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainFlowFusion()); // WHEN: flow is now diabled - _ekf_wrapper.disableTerrainFlowFusion(); + _ekf_wrapper.disableFlowFusion(); _sensor_simulator.runSeconds(0.2); // THEN: flow is now also disabled @@ -146,8 +150,8 @@ TEST_F(EkfTerrainTest, setFlowAndRangeTerrainFusion) TEST_F(EkfTerrainTest, testFlowForTerrainFusion) { // GIVEN: flow for terrain enabled but not range finder - _ekf_wrapper.enableTerrainFlowFusion(); - _ekf_wrapper.disableTerrainRngFusion(); + _ekf_wrapper.enableFlowFusion(); + _ekf_wrapper.disableRangeHeightFusion(); // WHEN: the sensors do not agree const float rng_height = 1.f; @@ -158,16 +162,17 @@ TEST_F(EkfTerrainTest, testFlowForTerrainFusion) // should converge to the simulated height EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainRngFusion()); EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainFlowFusion()); + EXPECT_TRUE(_ekf->isTerrainEstimateValid()); - const float estimated_distance_to_ground = _ekf->getTerrainVertPos(); - EXPECT_NEAR(estimated_distance_to_ground, flow_height, 0.5f); + const float estimated_distance_to_ground = _ekf->getHagl(); + EXPECT_NEAR(estimated_distance_to_ground, flow_height, 0.9f); } TEST_F(EkfTerrainTest, testRngForTerrainFusion) { // GIVEN: rng for terrain but not flow - _ekf_wrapper.disableTerrainFlowFusion(); - _ekf_wrapper.enableTerrainRngFusion(); + _ekf_wrapper.disableFlowFusion(); + _ekf_wrapper.enableRangeHeightFusion(); // WHEN: the sensors do not agree const float rng_height = 1.f; @@ -178,22 +183,23 @@ TEST_F(EkfTerrainTest, testRngForTerrainFusion) // should converge to the simulated height EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainRngFusion()); EXPECT_FALSE(_ekf_wrapper.isIntendingTerrainFlowFusion()); + EXPECT_TRUE(_ekf->isTerrainEstimateValid()); - const float estimated_distance_to_ground = _ekf->getTerrainVertPos(); + const float estimated_distance_to_ground = _ekf->getHagl(); EXPECT_NEAR(estimated_distance_to_ground, rng_height, 0.01f); } TEST_F(EkfTerrainTest, testHeightReset) { // GIVEN: rng for terrain but not flow - _ekf_wrapper.disableTerrainFlowFusion(); - _ekf_wrapper.enableTerrainRngFusion(); + _ekf_wrapper.disableFlowFusion(); + _ekf_wrapper.enableRangeHeightFusion(); const float rng_height = 1.f; const float flow_height = 1.f; runFlowAndRngScenario(rng_height, flow_height); - const float estimated_distance_to_ground = _ekf->getTerrainVertPos() - _ekf->getPosition()(2); + const float estimated_distance_to_ground = _ekf->getHagl(); ResetLoggingChecker reset_logging_checker(_ekf); reset_logging_checker.capturePreResetState(); @@ -207,5 +213,5 @@ TEST_F(EkfTerrainTest, testHeightReset) // THEN: a height reset occured and the estimated distance to the ground remains constant reset_logging_checker.capturePostResetState(); EXPECT_TRUE(reset_logging_checker.isVerticalPositionResetCounterIncreasedBy(1)); - EXPECT_NEAR(estimated_distance_to_ground, _ekf->getTerrainVertPos() - _ekf->getPosition()(2), 1e-3f); + EXPECT_NEAR(estimated_distance_to_ground, _ekf->getHagl(), 1e-3f); } diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp index 9452cebd2df..fedadaf4745 100644 --- a/src/modules/logger/logged_topics.cpp +++ b/src/modules/logger/logged_topics.cpp @@ -165,7 +165,6 @@ void LoggedTopics::add_default_topics() // always add the first instance add_topic("estimator_baro_bias", 500); add_topic("estimator_gnss_hgt_bias", 500); - add_topic("estimator_rng_hgt_bias", 500); add_topic("estimator_ev_pos_bias", 500); add_topic("estimator_event_flags", 0); add_topic("estimator_gps_status", 1000); @@ -181,7 +180,6 @@ void LoggedTopics::add_default_topics() add_optional_topic_multi("estimator_baro_bias", 500, MAX_ESTIMATOR_INSTANCES); add_optional_topic_multi("estimator_gnss_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_rng_hgt_bias", 500, MAX_ESTIMATOR_INSTANCES); add_optional_topic_multi("estimator_ev_pos_bias", 500, MAX_ESTIMATOR_INSTANCES); add_optional_topic_multi("estimator_event_flags", 0, MAX_ESTIMATOR_INSTANCES); add_optional_topic_multi("estimator_gps_status", 1000, MAX_ESTIMATOR_INSTANCES); @@ -209,7 +207,6 @@ void LoggedTopics::add_default_topics() // add_optional_topic_multi("estimator_aid_src_gnss_pos", 100, MAX_ESTIMATOR_INSTANCES); // add_optional_topic_multi("estimator_aid_src_mag", 100, MAX_ESTIMATOR_INSTANCES); // add_optional_topic_multi("estimator_aid_src_optical_flow", 100, MAX_ESTIMATOR_INSTANCES); - // add_optional_topic_multi("estimator_aid_src_terrain_optical_flow", 100, MAX_ESTIMATOR_INSTANCES); // add_optional_topic_multi("estimator_aid_src_ev_yaw", 100, MAX_ESTIMATOR_INSTANCES); add_optional_topic_multi("estimator_aid_src_aux_global_position", 100, MAX_ESTIMATOR_INSTANCES); @@ -267,7 +264,6 @@ void LoggedTopics::add_default_topics() // EKF replay add_topic("estimator_baro_bias"); add_topic("estimator_gnss_hgt_bias"); - add_topic("estimator_rng_hgt_bias"); add_topic("estimator_ev_pos_bias"); add_topic("estimator_event_flags"); add_topic("estimator_gps_status"); @@ -301,8 +297,6 @@ void LoggedTopics::add_default_topics() add_optional_topic_multi("estimator_aid_src_gravity", 0, MAX_ESTIMATOR_INSTANCES); add_optional_topic_multi("estimator_aid_src_mag", 0, MAX_ESTIMATOR_INSTANCES); add_optional_topic_multi("estimator_aid_src_optical_flow", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_aid_src_terrain_optical_flow", 0, MAX_ESTIMATOR_INSTANCES); - add_optional_topic_multi("estimator_aid_src_terrain_range_finder", 0, MAX_ESTIMATOR_INSTANCES); add_optional_topic_multi("estimator_aid_src_sideslip", 0, MAX_ESTIMATOR_INSTANCES); #endif /* CONFIG_ARCH_BOARD_PX4_SITL */