ekf2: move estimator_status test ratios to filtered values

Tools/ecl_ekf/plotting/pdf_report.py

@@ -223,7 +223,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
         data_plot.save()
         data_plot.close()
 
-        # plot innovation_check_flags summary
+        # plot innovation flags summary
         data_plot = CheckFlagsPlot(
             status_flags_time, estimator_status_flags, [['reject_hor_vel', 'reject_hor_pos'], ['reject_ver_vel', 'reject_ver_pos',
                                                                                'reject_hagl'],

boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld

@@ -154,7 +154,6 @@
 *(.text._ZN3Ekf20updateIMUBiasInhibitERKN9estimator9imuSampleE)
 *(.text._ZN9Commander13dataLinkCheckEv)
 *(.text._ZN17FlightModeManager10switchTaskE15FlightTaskIndex)
-*(.text._ZNK3Ekf26get_innovation_test_statusERtRfS1_S1_S1_S1_S1_S1_)
 *(.text._ZN12PX4Gyroscope9set_scaleEf)
 *(.text._ZN12FailsafeBase6updateERKyRKNS_5StateEbbRK16failsafe_flags_s)
 *(.text._ZN18MavlinkStreamDebug4sendEv)

msg/EstimatorStatus.msg

@@ -69,27 +69,14 @@ uint32 filter_fault_flags	# Bitmask to indicate EKF internal faults
 
 float32 pos_horiz_accuracy # 1-Sigma estimated horizontal position accuracy relative to the estimators origin (m)
 float32 pos_vert_accuracy # 1-Sigma estimated vertical position accuracy relative to the estimators origin (m)
-uint16 innovation_check_flags # Bitmask to indicate pass/fail status of innovation consistency checks
-# 0 - true if velocity observations have been rejected
-# 1 - true if horizontal position observations have been rejected
-# 2 - true if true if vertical position observations have been rejected
-# 3 - true if the X magnetometer observation has been rejected
-# 4 - true if the Y magnetometer observation has been rejected
-# 5 - true if the Z magnetometer observation has been rejected
-# 6 - true if the yaw observation has been rejected
-# 7 - true if the airspeed observation has been rejected
-# 8 - true if the synthetic sideslip observation has been rejected
-# 9 - true if the height above ground observation has been rejected
-# 10 - true if the X optical flow observation has been rejected
-# 11 - true if the Y optical flow observation has been rejected
 
-float32 mag_test_ratio # ratio of the largest magnetometer innovation component to the innovation test limit
+float32 mag_test_ratio # low-pass filtered ratio of the largest magnetometer innovation component to the innovation test limit
-float32 vel_test_ratio # ratio of the largest velocity innovation component to the innovation test limit
+float32 vel_test_ratio # low-pass filtered ratio of the largest velocity innovation component to the innovation test limit
-float32 pos_test_ratio # ratio of the largest horizontal position innovation component to the innovation test limit
+float32 pos_test_ratio # low-pass filtered ratio of the largest horizontal position innovation component to the innovation test limit
-float32 hgt_test_ratio # ratio of the vertical position innovation to the innovation test limit
+float32 hgt_test_ratio # low-pass filtered ratio of the vertical position innovation to the innovation test limit
-float32 tas_test_ratio # ratio of the true airspeed innovation to the innovation test limit
+float32 tas_test_ratio # low-pass filtered ratio of the true airspeed innovation to the innovation test limit
-float32 hagl_test_ratio # ratio of the height above ground innovation to the innovation test limit
+float32 hagl_test_ratio # low-pass filtered ratio of the height above ground innovation to the innovation test limit
-float32 beta_test_ratio # ratio of the synthetic sideslip innovation to the innovation test limit
+float32 beta_test_ratio # low-pass filtered ratio of the synthetic sideslip innovation to the innovation test limit
 
 uint16 solution_status_flags # Bitmask indicating which filter kinematic state outputs are valid for flight control use.
 # 0 - True if the attitude estimate is good

src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.cpp

@@ -151,6 +151,8 @@ void AuxGlobalPosition::update(Ekf &ekf, const estimator::imuSample &imu_delayed
 #if defined(MODULE_NAME)
 		aid_src.timestamp = hrt_absolute_time();
 		_estimator_aid_src_aux_global_position_pub.publish(aid_src);
+
+		_test_ratio_filtered = math::max(fabsf(aid_src.test_ratio_filtered[0]), fabsf(aid_src.test_ratio_filtered[1]));
 #endif // MODULE_NAME
 
 	} else if ((_state != State::stopped) && isTimedOut(_time_last_buffer_push, imu_delayed.time_us, (uint64_t)5e6)) {

src/modules/ekf2/EKF/aid_sources/aux_global_position/aux_global_position.hpp

@@ -74,6 +74,8 @@ public:
 		updateParams();
 	}
 
+	float test_ratio_filtered() const { return _test_ratio_filtered; }
+
 private:
 	bool isTimedOut(uint64_t last_sensor_timestamp, uint64_t time_delayed_us, uint64_t timeout_period) const
 	{
@@ -106,6 +108,8 @@ private:
 
 	State _state{State::stopped};
 
+	float _test_ratio_filtered{INFINITY};
+
 #if defined(MODULE_NAME)
 	struct reset_counters_s {
 		uint8_t lat_lon{};

src/modules/ekf2/EKF/ekf.h

@@ -383,13 +383,17 @@ public:
 		*counter = _state_reset_status.reset_count.quat;
 	}
 
-	// get EKF innovation consistency check status information comprising of:
+	float getHeadingInnovationTestRatio() const;
-	// status - a bitmask integer containing the pass/fail status for each EKF measurement innovation consistency check
+
-	// Innovation Test Ratios - these are the ratio of the innovation to the acceptance threshold.
+	float getVelocityInnovationTestRatio() const;
-	// A value > 1 indicates that the sensor measurement has exceeded the maximum acceptable level and has been rejected by the EKF
+
-	// Where a measurement type is a vector quantity, eg magnetometer, GPS position, etc, the maximum value is returned.
+	float getHorizontalPositionInnovationTestRatio() const;
-	void get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas,
+	float getVerticalPositionInnovationTestRatio() const;
-					float &hagl, float &beta) const;
+
+	float getAirspeedInnovationTestRatio() const;
+	float getSyntheticSideslipInnovationTestRatio() const;
+
+	float getHeightAboveGroundInnovationTestRatio() const;
 
 	// return a bitmask integer that describes which state estimates are valid
 	void get_ekf_soln_status(uint16_t *status) const;

src/modules/ekf2/EKF/ekf_helper.cpp

@@ -301,131 +301,196 @@ void Ekf::resetAccelBias()
 	resetAccelBiasCov();
 }
 
-void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, float &pos, float &hgt, float &tas,
+float Ekf::getHeadingInnovationTestRatio() const
-				     float &hagl, float &beta) const
 {
-	// return the integer bitmask containing the consistency check pass/fail status
+	// return the largest heading innovation test ratio
-	status = _innov_check_fail_status.value;
+	float test_ratio = 0.f;
-
-	// return the largest magnetometer innovation test ratio
-	mag = 0.f;
 
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 	if (_control_status.flags.mag_hdg ||_control_status.flags.mag_3D) {
-		mag = math::max(mag, sqrtf(Vector3f(_aid_src_mag.test_ratio).max()));
+		for (auto &test_ratio_filtered : _aid_src_mag.test_ratio_filtered) {
+			test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered));
+		}
 	}
 #endif // CONFIG_EKF2_MAGNETOMETER
 
 #if defined(CONFIG_EKF2_GNSS_YAW)
 	if (_control_status.flags.gps_yaw) {
-		mag = math::max(mag, sqrtf(_aid_src_gnss_yaw.test_ratio));
+		test_ratio = math::max(test_ratio, fabsf(_aid_src_gnss_yaw.test_ratio_filtered));
 	}
 #endif // CONFIG_EKF2_GNSS_YAW
 
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	if (_control_status.flags.ev_yaw) {
-		mag = math::max(mag, sqrtf(_aid_src_ev_yaw.test_ratio));
+		test_ratio = math::max(test_ratio, fabsf(_aid_src_ev_yaw.test_ratio_filtered));
 	}
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 
-	// return the largest velocity and position innovation test ratio
+	return sqrtf(test_ratio);
-	vel = NAN;
+}
-	pos = NAN;
+
+float Ekf::getVelocityInnovationTestRatio() const
+{
+	// return the largest velocity innovation test ratio
+	float test_ratio = -1.f;
 
 #if defined(CONFIG_EKF2_GNSS)
 	if (_control_status.flags.gps) {
-		float gps_vel = sqrtf(Vector3f(_aid_src_gnss_vel.test_ratio).max());
+		for (int i = 0; i < 3; i++) {
-		vel = math::max(gps_vel, FLT_MIN);
+			test_ratio = math::max(test_ratio, fabsf(_aid_src_gnss_vel.test_ratio_filtered[i]));
-
+		}
-		float gps_pos = sqrtf(Vector2f(_aid_src_gnss_pos.test_ratio).max());
-		pos = math::max(gps_pos, FLT_MIN);
 	}
 #endif // CONFIG_EKF2_GNSS
 
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	if (_control_status.flags.ev_vel) {
-		float ev_vel = sqrtf(Vector3f(_aid_src_ev_vel.test_ratio).max());
+		for (int i = 0; i < 3; i++) {
-		vel = math::max(vel, ev_vel, FLT_MIN);
+			test_ratio = math::max(test_ratio, fabsf(_aid_src_ev_vel.test_ratio_filtered[i]));
-	}
+		}
-
-	if (_control_status.flags.ev_pos) {
-		float ev_pos = sqrtf(Vector2f(_aid_src_ev_pos.test_ratio).max());
-		pos = math::max(pos, ev_pos, FLT_MIN);
 	}
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 
 #if defined(CONFIG_EKF2_OPTICAL_FLOW)
 	if (isOnlyActiveSourceOfHorizontalAiding(_control_status.flags.opt_flow)) {
-		float of_vel = sqrtf(Vector2f(_aid_src_optical_flow.test_ratio).max());
+		for (auto &test_ratio_filtered : _aid_src_optical_flow.test_ratio_filtered) {
-		vel = math::max(of_vel, FLT_MIN);
+			test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered));
+		}
 	}
 #endif // CONFIG_EKF2_OPTICAL_FLOW
 
+	if (PX4_ISFINITE(test_ratio) && (test_ratio >= 0.f)) {
+		return sqrtf(test_ratio);
+	}
+
+	return NAN;
+}
+
+float Ekf::getHorizontalPositionInnovationTestRatio() const
+{
+	// return the largest position innovation test ratio
+	float test_ratio = -1.f;
+
+#if defined(CONFIG_EKF2_GNSS)
+	if (_control_status.flags.gps) {
+		for (auto &test_ratio_filtered : _aid_src_gnss_pos.test_ratio_filtered) {
+			test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered));
+		}
+	}
+#endif // CONFIG_EKF2_GNSS
+
+#if defined(CONFIG_EKF2_EXTERNAL_VISION)
+	if (_control_status.flags.ev_pos) {
+		for (auto &test_ratio_filtered : _aid_src_ev_pos.test_ratio_filtered) {
+			test_ratio = math::max(test_ratio, fabsf(test_ratio_filtered));
+		}
+	}
+#endif // CONFIG_EKF2_EXTERNAL_VISION
+
+#if defined(CONFIG_EKF2_AUX_GLOBAL_POSITION) && defined(MODULE_NAME)
+	if (_control_status.flags.aux_gpos) {
+		test_ratio = math::max(test_ratio, fabsf(_aux_global_position.test_ratio_filtered()));
+	}
+#endif // CONFIG_EKF2_AUX_GLOBAL_POSITION
+
+	if (PX4_ISFINITE(test_ratio) && (test_ratio >= 0.f)) {
+		return sqrtf(test_ratio);
+	}
+
+	return NAN;
+}
+
+float Ekf::getVerticalPositionInnovationTestRatio() const
+{
 	// return the combined vertical position innovation test ratio
 	float hgt_sum = 0.f;
 	int n_hgt_sources = 0;
 
 #if defined(CONFIG_EKF2_BAROMETER)
 	if (_control_status.flags.baro_hgt) {
-		hgt_sum += sqrtf(_aid_src_baro_hgt.test_ratio);
+		hgt_sum += sqrtf(fabsf(_aid_src_baro_hgt.test_ratio_filtered));
 		n_hgt_sources++;
 	}
 #endif // CONFIG_EKF2_BAROMETER
 
 #if defined(CONFIG_EKF2_GNSS)
 	if (_control_status.flags.gps_hgt) {
-		hgt_sum += sqrtf(_aid_src_gnss_hgt.test_ratio);
+		hgt_sum += sqrtf(fabsf(_aid_src_gnss_hgt.test_ratio_filtered));
 		n_hgt_sources++;
 	}
 #endif // CONFIG_EKF2_GNSS
 
 #if defined(CONFIG_EKF2_RANGE_FINDER)
 	if (_control_status.flags.rng_hgt) {
-		hgt_sum += sqrtf(_aid_src_rng_hgt.test_ratio);
+		hgt_sum += sqrtf(fabsf(_aid_src_rng_hgt.test_ratio_filtered));
 		n_hgt_sources++;
 	}
 #endif // CONFIG_EKF2_RANGE_FINDER
 
 #if defined(CONFIG_EKF2_EXTERNAL_VISION)
 	if (_control_status.flags.ev_hgt) {
-		hgt_sum += sqrtf(_aid_src_ev_hgt.test_ratio);
+		hgt_sum += sqrtf(fabsf(_aid_src_ev_hgt.test_ratio_filtered));
 		n_hgt_sources++;
 	}
 #endif // CONFIG_EKF2_EXTERNAL_VISION
 
 	if (n_hgt_sources > 0) {
-		hgt = math::max(hgt_sum / static_cast<float>(n_hgt_sources), FLT_MIN);
+		return math::max(hgt_sum / static_cast<float>(n_hgt_sources), FLT_MIN);
-
-	} else {
-		hgt = NAN;
 	}
 
+	return NAN;
+}
+
+float Ekf::getAirspeedInnovationTestRatio() const
+{
 #if defined(CONFIG_EKF2_AIRSPEED)
-	// return the airspeed fusion innovation test ratio
+	if (_control_status.flags.fuse_aspd) {
-	tas = sqrtf(_aid_src_airspeed.test_ratio);
+		// return the airspeed fusion innovation test ratio
+		return sqrtf(fabsf(_aid_src_airspeed.test_ratio_filtered));
+	}
 #endif // CONFIG_EKF2_AIRSPEED
 
-	hagl = NAN;
+	return NAN;
+}
+
+float Ekf::getSyntheticSideslipInnovationTestRatio() const
+{
+#if defined(CONFIG_EKF2_SIDESLIP)
+	if (_control_status.flags.fuse_beta) {
+		// return the synthetic sideslip innovation test ratio
+		return sqrtf(fabsf(_aid_src_sideslip.test_ratio_filtered));
+	}
+#endif // CONFIG_EKF2_SIDESLIP
+
+	return NAN;
+}
+
+float Ekf::getHeightAboveGroundInnovationTestRatio() const
+{
+	float test_ratio = -1.f;
+
 #if defined(CONFIG_EKF2_TERRAIN)
 # if defined(CONFIG_EKF2_RANGE_FINDER)
 	if (_hagl_sensor_status.flags.range_finder) {
 		// return the terrain height innovation test ratio
-		hagl = sqrtf(_aid_src_terrain_range_finder.test_ratio);
+		test_ratio = math::max(test_ratio, fabsf(_aid_src_terrain_range_finder.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
-		hagl = sqrtf(math::max(_aid_src_terrain_optical_flow.test_ratio[0], _aid_src_terrain_optical_flow.test_ratio[1]));
+		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_TERRAIN
 
-#if defined(CONFIG_EKF2_SIDESLIP)
+	if (PX4_ISFINITE(test_ratio) && (test_ratio >= 0.f)) {
-	// return the synthetic sideslip innovation test ratio
+		return sqrtf(test_ratio);
-	beta = sqrtf(_aid_src_sideslip.test_ratio);
+	}
-#endif // CONFIG_EKF2_SIDESLIP
+
+	return NAN;
 }
 
 void Ekf::get_ekf_soln_status(uint16_t *status) const

src/modules/ekf2/EKF2.cpp

@@ -1802,15 +1802,13 @@ void EKF2::PublishStatus(const hrt_abstime &timestamp)
 	status.control_mode_flags = _ekf.control_status().value;
 	status.filter_fault_flags = _ekf.fault_status().value;
 
-	uint16_t innov_check_flags_temp = 0;
+	status.mag_test_ratio = _ekf.getHeadingInnovationTestRatio();
-	_ekf.get_innovation_test_status(innov_check_flags_temp, status.mag_test_ratio,
+	status.vel_test_ratio = _ekf.getVelocityInnovationTestRatio();
-					status.vel_test_ratio, status.pos_test_ratio,
+	status.pos_test_ratio = _ekf.getHorizontalPositionInnovationTestRatio();
-					status.hgt_test_ratio, status.tas_test_ratio,
+	status.hgt_test_ratio = _ekf.getVerticalPositionInnovationTestRatio();
-					status.hagl_test_ratio, status.beta_test_ratio);
+	status.tas_test_ratio = _ekf.getAirspeedInnovationTestRatio();
-
+	status.hagl_test_ratio = _ekf.getHeightAboveGroundInnovationTestRatio();
-	// Bit mismatch between ecl and Firmware, combine the 2 first bits to preserve msg definition
+	status.beta_test_ratio = _ekf.getSyntheticSideslipInnovationTestRatio();
-	// TODO: legacy use only, those flags are also in estimator_status_flags
-	status.innovation_check_flags = (innov_check_flags_temp >> 1) | (innov_check_flags_temp & 0x1);
 
 	_ekf.get_ekf_lpos_accuracy(&status.pos_horiz_accuracy, &status.pos_vert_accuracy);
 	_ekf.get_ekf_soln_status(&status.solution_status_flags);

src/modules/mavlink/streams/HIGH_LATENCY2.hpp

@@ -309,8 +309,7 @@ private:
 
 		if (_estimator_status_sub.update(&estimator_status)) {
 			if (estimator_status.gps_check_fail_flags > 0 ||
-			    estimator_status.filter_fault_flags > 0 ||
+			    estimator_status.filter_fault_flags > 0) {
-			    estimator_status.innovation_check_flags > 0) {
 
 				msg->failure_flags |= HL_FAILURE_FLAG_ESTIMATOR;
 			}