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[RELEASE/1.13] EKF2: ZVU improvements #20613

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merged 1 commit into from
Nov 15, 2022
Merged

[RELEASE/1.13] EKF2: ZVU improvements #20613

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11 changes: 11 additions & 0 deletions src/modules/ekf2/EKF/estimator_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -528,6 +528,17 @@ bool EstimatorInterface::isHorizontalAidingActive() const
return getNumberOfActiveHorizontalAidingSources() > 0;
}

bool EstimatorInterface::isVerticalVelocityAidingActive() const
{
return getNumberOfActiveVerticalVelocityAidingSources() > 0;
}

int EstimatorInterface::getNumberOfActiveVerticalVelocityAidingSources() const
{
return int(_control_status.flags.gps)
+ int(_control_status.flags.ev_vel);
}

void EstimatorInterface::printBufferAllocationFailed(const char *buffer_name)
{
if (buffer_name) {
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3 changes: 3 additions & 0 deletions src/modules/ekf2/EKF/estimator_interface.h
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Expand Up @@ -181,6 +181,9 @@ class EstimatorInterface

int getNumberOfActiveHorizontalAidingSources() const;

bool isVerticalVelocityAidingActive() const;
int getNumberOfActiveVerticalVelocityAidingSources() const;

const matrix::Quatf &getQuaternion() const { return _output_new.quat_nominal; }

// get the velocity of the body frame origin in local NED earth frame
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7 changes: 5 additions & 2 deletions src/modules/ekf2/EKF/zero_velocity_update.cpp
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Expand Up @@ -45,13 +45,16 @@ void Ekf::controlZeroVelocityUpdate()

if (zero_velocity_update_data_ready) {
const bool continuing_conditions_passing = _control_status.flags.vehicle_at_rest
&& _control_status_prev.flags.vehicle_at_rest;
&& _control_status_prev.flags.vehicle_at_rest
&& !isVerticalVelocityAidingActive(); // otherwise the filter is "too rigid" to follow a position drift

if (continuing_conditions_passing) {
Vector3f vel_obs{0, 0, 0};
Vector3f innovation = _state.vel - vel_obs;

const float obs_var = sq(0.001f);
// Set a low variance initially for faster leveling and higher
// later to let the states follow the measurements
const float obs_var = _control_status.flags.tilt_align ? sq(0.2f) : sq(0.001f);
Vector3f innov_var{
P(4, 4) + obs_var,
P(5, 5) + obs_var,
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