ekf2: publish GNSS, rng and EV height biases

msg/CMakeLists.txt

@@ -70,7 +70,7 @@ set(msg_files
 	estimator_aid_source_1d.msg
 	estimator_aid_source_2d.msg
 	estimator_aid_source_3d.msg
-	estimator_baro_bias.msg
+	estimator_bias.msg
 	estimator_event_flags.msg
 	estimator_gps_status.msg
 	estimator_innovations.msg

msg/estimator_bias.msg

@@ -8,3 +8,6 @@ float32 bias_var		# estimated barometric altitude bias variance (m^2)
 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_bias
+# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias estimator_ev_hgt_bias

src/modules/ekf2/EKF/ekf.h

@@ -392,6 +392,9 @@ public:
 	bool isYawEmergencyEstimateAvailable() const;
 
 	const BiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
+	const BiasEstimator::status &getGpsHgtBiasEstimatorStatus() const { return _gps_hgt_b_est.getStatus(); }
+	const BiasEstimator::status &getRngHgtBiasEstimatorStatus() const { return _rng_hgt_b_est.getStatus(); }
+	const BiasEstimator::status &getEvHgtBiasEstimatorStatus() const { return _ev_hgt_b_est.getStatus(); }
 
 	const auto &aid_src_airspeed() const { return _aid_src_airspeed; }
 

src/modules/ekf2/EKF/estimator_interface.h

@@ -257,6 +257,8 @@ public:
 
 	const baroSample &get_baro_sample_delayed() const { return _baro_sample_delayed; }
 	const gpsSample &get_gps_sample_delayed() const { return _gps_sample_delayed; }
+	const rangeSample &get_rng_sample_delayed() { return *(_range_sensor.getSampleAddress()); }
+	const extVisionSample &get_ev_sample_delayed() const { return _ev_sample_delayed; }
 
 	const bool &global_origin_valid() const { return _NED_origin_initialised; }
 	const MapProjection &global_origin() const { return _pos_ref; }

src/modules/ekf2/EKF2.cpp

@@ -604,6 +604,9 @@ void EKF2::Run()
 
 			// publish status/logging messages
 			PublishBaroBias(now);
+			PublishGnssHgtBias(now);
+			PublishRngHgtBias(now);
+			PublishEvHgtBias(now);
 			PublishEventFlags(now);
 			PublishGpsStatus(now);
 			PublishInnovations(now);
@@ -699,22 +702,63 @@ void EKF2::PublishBaroBias(const hrt_abstime &timestamp)
 		const BiasEstimator::status &status = _ekf.getBaroBiasEstimatorStatus();
 
 		if (fabsf(status.bias - _last_baro_bias_published) > 0.001f) {
-			estimator_baro_bias_s baro_bias{};
+			_estimator_baro_bias_pub.publish(fillEstimatorBiasMsg(status, _ekf.get_baro_sample_delayed().time_us, timestamp,
-			baro_bias.timestamp_sample = _ekf.get_baro_sample_delayed().time_us;
+							 _device_id_baro));
-			baro_bias.baro_device_id = _device_id_baro;
-			baro_bias.bias = status.bias;
-			baro_bias.bias_var = status.bias_var;
-			baro_bias.innov = status.innov;
-			baro_bias.innov_var = status.innov_var;
-			baro_bias.innov_test_ratio = status.innov_test_ratio;
-			baro_bias.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
-			_estimator_baro_bias_pub.publish(baro_bias);
 
 			_last_baro_bias_published = status.bias;
 		}
 	}
 }
 
+void EKF2::PublishGnssHgtBias(const hrt_abstime &timestamp)
+{
+	const BiasEstimator::status &status = _ekf.getGpsHgtBiasEstimatorStatus();
+
+	if (fabsf(status.bias - _last_gnss_hgt_bias_published) > 0.001f) {
+		_estimator_gnss_hgt_bias_pub.publish(fillEstimatorBiasMsg(status, _ekf.get_gps_sample_delayed().time_us, timestamp));
+
+		_last_gnss_hgt_bias_published = status.bias;
+	}
+}
+
+void EKF2::PublishRngHgtBias(const hrt_abstime &timestamp)
+{
+	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;
+	}
+}
+
+void EKF2::PublishEvHgtBias(const hrt_abstime &timestamp)
+{
+	const BiasEstimator::status &status = _ekf.getEvHgtBiasEstimatorStatus();
+
+	if (fabsf(status.bias - _last_ev_hgt_bias_published) > 0.001f) {
+		_estimator_ev_hgt_bias_pub.publish(fillEstimatorBiasMsg(status, _ekf.get_ev_sample_delayed().time_us, timestamp));
+
+		_last_ev_hgt_bias_published = status.bias;
+	}
+}
+
+estimator_bias_s EKF2::fillEstimatorBiasMsg(const BiasEstimator::status &status, uint64_t timestamp_sample_us,
+		uint64_t timestamp, uint32_t device_id)
+{
+	estimator_bias_s bias{};
+	bias.timestamp_sample = timestamp_sample_us;
+	bias.baro_device_id = device_id;
+	bias.bias = status.bias;
+	bias.bias_var = status.bias_var;
+	bias.innov = status.innov;
+	bias.innov_var = status.innov_var;
+	bias.innov_test_ratio = status.innov_test_ratio;
+	bias.timestamp = _replay_mode ? timestamp : hrt_absolute_time();
+
+	return bias;
+}
+
 void EKF2::PublishEventFlags(const hrt_abstime &timestamp)
 {
 	// information events

src/modules/ekf2/EKF2.hpp

@@ -67,7 +67,7 @@
 #include <uORB/topics/airspeed_validated.h>
 #include <uORB/topics/distance_sensor.h>
 #include <uORB/topics/ekf2_timestamps.h>
-#include <uORB/topics/estimator_baro_bias.h>
+#include <uORB/topics/estimator_bias.h>
 #include <uORB/topics/estimator_event_flags.h>
 #include <uORB/topics/estimator_gps_status.h>
 #include <uORB/topics/estimator_innovations.h>
@@ -137,6 +137,11 @@ private:
 	void PublishAidSourceStatus(const hrt_abstime &timestamp);
 	void PublishAttitude(const hrt_abstime &timestamp);
 	void PublishBaroBias(const hrt_abstime &timestamp);
+	void PublishGnssHgtBias(const hrt_abstime &timestamp);
+	void PublishRngHgtBias(const hrt_abstime &timestamp);
+	void PublishEvHgtBias(const hrt_abstime &timestamp);
+	estimator_bias_s fillEstimatorBiasMsg(const BiasEstimator::status &status, uint64_t timestamp_sample_us,
+					      uint64_t timestamp, uint32_t device_id = 0);
 	void PublishEventFlags(const hrt_abstime &timestamp);
 	void PublishGlobalPosition(const hrt_abstime &timestamp);
 	void PublishGpsStatus(const hrt_abstime &timestamp);
@@ -269,6 +274,9 @@ private:
 	hrt_abstime _status_aux_vel_pub_last{0};
 
 	float _last_baro_bias_published{};
+	float _last_gnss_hgt_bias_published{};
+	float _last_rng_hgt_bias_published{};
+	float _last_ev_hgt_bias_published{};
 
 	float _airspeed_scale_factor{1.0f}; ///< scale factor correction applied to airspeed measurements
 	hrt_abstime _airspeed_validated_timestamp_last{0};
@@ -312,7 +320,10 @@ private:
 	uint32_t _filter_information_event_changes{0};
 
 	uORB::PublicationMulti<ekf2_timestamps_s>            _ekf2_timestamps_pub{ORB_ID(ekf2_timestamps)};
-	uORB::PublicationMulti<estimator_baro_bias_s>        _estimator_baro_bias_pub{ORB_ID(estimator_baro_bias)};
+	uORB::PublicationMulti<estimator_bias_s>             _estimator_baro_bias_pub{ORB_ID(estimator_baro_bias)};
+	uORB::PublicationMulti<estimator_bias_s>             _estimator_gnss_hgt_bias_pub{ORB_ID(estimator_gnss_hgt_bias)};
+	uORB::PublicationMulti<estimator_bias_s>             _estimator_rng_hgt_bias_pub{ORB_ID(estimator_rng_hgt_bias)};
+	uORB::PublicationMulti<estimator_bias_s>             _estimator_ev_hgt_bias_pub{ORB_ID(estimator_ev_hgt_bias)};
 	uORB::PublicationMultiData<estimator_event_flags_s>  _estimator_event_flags_pub{ORB_ID(estimator_event_flags)};
 	uORB::PublicationMulti<estimator_gps_status_s>       _estimator_gps_status_pub{ORB_ID(estimator_gps_status)};
 	uORB::PublicationMulti<estimator_innovations_s>      _estimator_innovation_test_ratios_pub{ORB_ID(estimator_innovation_test_ratios)};

src/modules/logger/logged_topics.cpp

@@ -144,6 +144,9 @@ 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_hgt_bias", 500);
 	add_topic("estimator_event_flags", 0);
 	add_topic("estimator_gps_status", 1000);
 	add_topic("estimator_innovation_test_ratios", 500);
@@ -158,6 +161,9 @@ void LoggedTopics::add_default_topics()
 	add_topic("yaw_estimator_status", 1000);
 
 	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_hgt_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);
 	add_optional_topic_multi("estimator_innovation_test_ratios", 500, MAX_ESTIMATOR_INSTANCES);
@@ -241,6 +247,9 @@ 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_hgt_bias");
 	add_topic("estimator_event_flags");
 	add_topic("estimator_gps_status");
 	add_topic("estimator_innovation_test_ratios");