Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

EKF2: vision attitude error filter #21791

Merged
merged 2 commits into from
Jul 3, 2023
Merged

EKF2: vision attitude error filter #21791

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
f467eee
ekf2-ev: filter q_error for frame correction
bresch Jun 29, 2023
57ca621
ekf2: filter EV attitude error centrally
bresch Jul 3, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions src/modules/ekf2/EKF/ekf.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -1003,6 +1003,7 @@ class Ekf final : public EstimatorInterface
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
// control fusion of external vision observations
void controlExternalVisionFusion();
void updateEvAttitudeErrorFilter(extVisionSample &ev_sample, bool ev_reset);
void controlEvHeightFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, estimator_aid_source1d_s &aid_src);
void controlEvPosFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, estimator_aid_source2d_s &aid_src);
void controlEvVelFusion(const extVisionSample &ev_sample, const bool common_starting_conditions_passing, const bool ev_reset, const bool quality_sufficient, estimator_aid_source3d_s &aid_src);
Expand Down Expand Up @@ -1160,6 +1161,8 @@ class Ekf final : public EstimatorInterface
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
HeightBiasEstimator _ev_hgt_b_est{HeightSensor::EV, _height_sensor_ref};
PositionBiasEstimator _ev_pos_b_est{static_cast<uint8_t>(PositionSensor::EV), _position_sensor_ref};
AlphaFilter<AxisAnglef> _ev_q_error_filt{0.001f};
bool _ev_q_error_initialized{false};
#endif // CONFIG_EKF2_EXTERNAL_VISION

// Resets the main Nav EKf yaw to the estimator from the EKF-GSF yaw estimator
Expand Down
18 changes: 18 additions & 0 deletions src/modules/ekf2/EKF/ev_control.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -58,6 +58,7 @@ void Ekf::controlExternalVisionFusion()
&& ((_params.ev_quality_minimum <= 0) || (_ext_vision_buffer->get_newest().quality >= _params.ev_quality_minimum)) // newest quality sufficient
&& isNewestSampleRecent(_time_last_ext_vision_buffer_push, EV_MAX_INTERVAL);

updateEvAttitudeErrorFilter(ev_sample, ev_reset);
controlEvYawFusion(ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_yaw);
controlEvVelFusion(ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_vel);
controlEvPosFusion(ev_sample, starting_conditions_passing, ev_reset, quality_sufficient, _aid_src_ev_pos);
Expand All @@ -84,3 +85,20 @@ void Ekf::controlExternalVisionFusion()
ECL_WARN("vision data stopped");
}
}

void Ekf::updateEvAttitudeErrorFilter(extVisionSample &ev_sample, bool ev_reset)
{
const AxisAnglef q_error((_state.quat_nominal * ev_sample.quat.inversed()).normalized());

if (!q_error.isAllFinite()) {
return;
}

if (!_ev_q_error_initialized || ev_reset) {
_ev_q_error_filt.reset(q_error);
_ev_q_error_initialized = true;

} else {
_ev_q_error_filt.update(q_error);
}
}
3 changes: 1 addition & 2 deletions src/modules/ekf2/EKF/ev_height_control.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -56,10 +56,9 @@ void Ekf::controlEvHeightFusion(const extVisionSample &ev_sample, const bool com
Matrix3f pos_cov{matrix::diag(ev_sample.position_var)};

// rotate EV to the EKF reference frame unless we're operating entirely in vision frame
// TODO: only necessary if there's a roll/pitch offset between VIO and EKF
if (!(_control_status.flags.ev_yaw && _control_status.flags.ev_pos)) {

const Quatf q_error((_state.quat_nominal * ev_sample.quat.inversed()).normalized());
const Quatf q_error(_ev_q_error_filt.getState());

if (q_error.isAllFinite()) {
const Dcmf R_ev_to_ekf(q_error);
Expand Down
3 changes: 1 addition & 2 deletions src/modules/ekf2/EKF/ev_pos_control.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -95,8 +95,7 @@ void Ekf::controlEvPosFusion(const extVisionSample &ev_sample, const bool common

} else {
// rotate EV to the EKF reference frame
const Quatf q_error((_state.quat_nominal * ev_sample.quat.inversed()).normalized());
const Dcmf R_ev_to_ekf = Dcmf(q_error);
const Dcmf R_ev_to_ekf = Dcmf(_ev_q_error_filt.getState());

pos = R_ev_to_ekf * ev_sample.pos - pos_offset_earth;
pos_cov = R_ev_to_ekf * matrix::diag(ev_sample.position_var) * R_ev_to_ekf.transpose();
Expand Down
3 changes: 1 addition & 2 deletions src/modules/ekf2/EKF/ev_vel_control.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -80,8 +80,7 @@ void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, const bool common

} else {
// rotate EV to the EKF reference frame
const Quatf q_error((_state.quat_nominal * ev_sample.quat.inversed()).normalized());
const Dcmf R_ev_to_ekf = Dcmf(q_error);
const Dcmf R_ev_to_ekf = Dcmf(_ev_q_error_filt.getState());

vel = R_ev_to_ekf * ev_sample.vel - vel_offset_earth;
vel_cov = R_ev_to_ekf * matrix::diag(ev_sample.velocity_var) * R_ev_to_ekf.transpose();
Expand Down
Loading