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move more ekf function implementations to cpp

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This commit is contained in:
Marco Hauswirth
2024-09-23 13:48:26 +02:00
committed by Daniel Agar
parent e3f138862a
commit 8afd267509
2 changed files with 132 additions and 126 deletions
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src/modules/ekf2/EKF/ekf.h
+4 -126
View File
@@ -135,92 +135,9 @@ public:
const Vector3f &getFlowRefBodyRate() const { return _ref_body_rate; } const Vector3f &getFlowRefBodyRate() const { return _ref_body_rate; }
#endif // CONFIG_EKF2_OPTICAL_FLOW #endif // CONFIG_EKF2_OPTICAL_FLOW
float getHeadingInnov() const float getHeadingInnov() const;
{ float getHeadingInnovVar() const;
#if defined(CONFIG_EKF2_MAGNETOMETER) float getHeadingInnovRatio() const;
if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
return Vector3f(_aid_src_mag.innovation).max();
}
#endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_GNSS_YAW)
if (_control_status.flags.gnss_yaw) {
return _aid_src_gnss_yaw.innovation;
}
#endif // CONFIG_EKF2_GNSS_YAW
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_control_status.flags.ev_yaw) {
return _aid_src_ev_yaw.innovation;
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
return 0.f;
}
float getHeadingInnovVar() const
{
#if defined(CONFIG_EKF2_MAGNETOMETER)
if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
return Vector3f(_aid_src_mag.innovation_variance).max();
}
#endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_GNSS_YAW)
if (_control_status.flags.gnss_yaw) {
return _aid_src_gnss_yaw.innovation_variance;
}
#endif // CONFIG_EKF2_GNSS_YAW
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_control_status.flags.ev_yaw) {
return _aid_src_ev_yaw.innovation_variance;
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
return 0.f;
}
float getHeadingInnovRatio() const
{
#if defined(CONFIG_EKF2_MAGNETOMETER)
if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
return Vector3f(_aid_src_mag.test_ratio).max();
}
#endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_GNSS_YAW)
if (_control_status.flags.gnss_yaw) {
return _aid_src_gnss_yaw.test_ratio;
}
#endif // CONFIG_EKF2_GNSS_YAW
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_control_status.flags.ev_yaw) {
return _aid_src_ev_yaw.test_ratio;
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
return 0.f;
}
#if defined(CONFIG_EKF2_DRAG_FUSION) #if defined(CONFIG_EKF2_DRAG_FUSION)
const auto &aid_src_drag() const { return _aid_src_drag; } const auto &aid_src_drag() const { return _aid_src_drag; }
@@ -862,46 +779,7 @@ private:
float getMagDeclination(); float getMagDeclination();
#endif // CONFIG_EKF2_MAGNETOMETER #endif // CONFIG_EKF2_MAGNETOMETER
void clearInhibitedStateKalmanGains(VectorState &K) const void clearInhibitedStateKalmanGains(VectorState &K) const;
{
for (unsigned i = 0; i < State::gyro_bias.dof; i++) {
if (_gyro_bias_inhibit[i]) {
K(State::gyro_bias.idx + i) = 0.f;
}
}
for (unsigned i = 0; i < State::accel_bias.dof; i++) {
if (_accel_bias_inhibit[i]) {
K(State::accel_bias.idx + i) = 0.f;
}
}
#if defined(CONFIG_EKF2_MAGNETOMETER)
if (!_control_status.flags.mag) {
for (unsigned i = 0; i < State::mag_I.dof; i++) {
K(State::mag_I.idx + i) = 0.f;
}
}
if (!_control_status.flags.mag) {
for (unsigned i = 0; i < State::mag_B.dof; i++) {
K(State::mag_B.idx + i) = 0.f;
}
}
#endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_WIND)
if (!_control_status.flags.wind) {
for (unsigned i = 0; i < State::wind_vel.dof; i++) {
K(State::wind_vel.idx + i) = 0.f;
}
}
#endif // CONFIG_EKF2_WIND
}
// limit the diagonal of the covariance matrix // limit the diagonal of the covariance matrix
void constrainStateVariances(); void constrainStateVariances();
src/modules/ekf2/EKF/ekf_helper.cpp
+128
View File
@@ -1194,3 +1194,131 @@ void Ekf::updateAidSourceStatus(estimator_aid_source1d_s &status, const uint64_t
// reset // reset
status.fused = false; status.fused = false;
} }
void Ekf::clearInhibitedStateKalmanGains(VectorState &K) const
{
for (unsigned i = 0; i < State::gyro_bias.dof; i++) {
if (_gyro_bias_inhibit[i]) {
K(State::gyro_bias.idx + i) = 0.f;
}
}
for (unsigned i = 0; i < State::accel_bias.dof; i++) {
if (_accel_bias_inhibit[i]) {
K(State::accel_bias.idx + i) = 0.f;
}
}
#if defined(CONFIG_EKF2_MAGNETOMETER)
if (!_control_status.flags.mag) {
for (unsigned i = 0; i < State::mag_I.dof; i++) {
K(State::mag_I.idx + i) = 0.f;
}
}
if (!_control_status.flags.mag) {
for (unsigned i = 0; i < State::mag_B.dof; i++) {
K(State::mag_B.idx + i) = 0.f;
}
}
#endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_WIND)
if (!_control_status.flags.wind) {
for (unsigned i = 0; i < State::wind_vel.dof; i++) {
K(State::wind_vel.idx + i) = 0.f;
}
}
#endif // CONFIG_EKF2_WIND
}
float Ekf::getHeadingInnov() const
{
#if defined(CONFIG_EKF2_MAGNETOMETER)
if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
return Vector3f(_aid_src_mag.innovation).max();
}
#endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_GNSS_YAW)
if (_control_status.flags.gnss_yaw) {
return _aid_src_gnss_yaw.innovation;
}
#endif // CONFIG_EKF2_GNSS_YAW
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_control_status.flags.ev_yaw) {
return _aid_src_ev_yaw.innovation;
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
return 0.f;
}
float Ekf::getHeadingInnovVar() const
{
#if defined(CONFIG_EKF2_MAGNETOMETER)
if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
return Vector3f(_aid_src_mag.innovation_variance).max();
}
#endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_GNSS_YAW)
if (_control_status.flags.gnss_yaw) {
return _aid_src_gnss_yaw.innovation_variance;
}
#endif // CONFIG_EKF2_GNSS_YAW
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_control_status.flags.ev_yaw) {
return _aid_src_ev_yaw.innovation_variance;
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
return 0.f;
}
float Ekf::getHeadingInnovRatio() const
{
#if defined(CONFIG_EKF2_MAGNETOMETER)
if (_control_status.flags.mag_hdg || _control_status.flags.mag_3D) {
return Vector3f(_aid_src_mag.test_ratio).max();
}
#endif // CONFIG_EKF2_MAGNETOMETER
#if defined(CONFIG_EKF2_GNSS_YAW)
if (_control_status.flags.gnss_yaw) {
return _aid_src_gnss_yaw.test_ratio;
}
#endif // CONFIG_EKF2_GNSS_YAW
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_control_status.flags.ev_yaw) {
return _aid_src_ev_yaw.test_ratio;
}
#endif // CONFIG_EKF2_EXTERNAL_VISION
return 0.f;
}