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EKF: Consolidate range finder checking #477
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This brings all the range finder data checks (excluding innovation consistency checks) into one place and eliminates the need to perform range checking external to the library. The hard coded optical flow tilt limit is changed to use the same value as the range finder. Variable names are changed to make a clear distinction between the max/min values calculated by the stuck range check and the max/min valid values for the sensor.
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Reversion test using replay data: https://logs.px4.io/plot_app?log=a56f0800-6944-4f46-8171-4a7fab048923 |
priseborough
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Jul 11, 2018
ChristophTobler
approved these changes
Jul 12, 2018
mhkabir
reviewed
Jul 12, 2018
| @@ -282,7 +282,7 @@ struct parameters { | |||
| float max_vel_for_range_aid{1.0f}; ///< maximum ground velocity for which we allow to use the range finder as height source (if range_aid == 1) | |||
| int32_t range_aid{0}; ///< allow switching primary height source to range finder if certian conditions are met | |||
| float range_aid_innov_gate{1.0f}; ///< gate size used for innovation consistency checks for range aid fusion | |||
| float range_cos_max_tilt{0.7071f}; ///< cosine of the maximum tilt angle from the vertical that permits use of range finder data | |||
| float range_cos_max_tilt{0.7071f}; ///< cosine of the maximum tilt angle from the vertical that permits use of range finder and flow data | |||
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It would be good to mention explicitly the value of this angle.
mhkabir
reviewed
Jul 12, 2018
| if (_rng_check_min_val < 0.1f || _range_sample_delayed.rng < _rng_check_min_val) { | ||
| _rng_check_min_val = _range_sample_delayed.rng; | ||
| if (_rng_stuck_min_val < 0.1f || _range_sample_delayed.rng < _rng_stuck_min_val) { | ||
| _rng_stuck_min_val = _range_sample_delayed.rng; |
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Off topic for this PR, but I would prefer if the stuck range checks eventually got pulled out of the ecl EKF and into the specific driver of the device which exhibits this failure mode. Generally I am not aware of any recent Lidar sensor which still exhibits this issue.
This could be a part of the cleanup for PX4/PX4-Autopilot#9861.
mhkabir
reviewed
Jul 12, 2018
| @@ -598,7 +598,7 @@ class Ekf : public EstimatorInterface | |||
| void rangeAidConditionsMet(); | |||
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| // check for "stuck" range finder measurements when rng was not valid for certain period | |||
mhkabir
approved these changes
Jul 12, 2018
LorenzMeier
approved these changes
Jul 12, 2018
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DESCRIPTION
This brings all the range finder data checks (excluding innovation consistency checks) into one place and eliminates the need to perform range checking external to the library. Having checks in multiple places has previously resulted in unintended loss of functionality over time which had to be fixed by #476. This PR should reduce the likelihood of this type of bug being introduced in the future.
The hard coded optical flow tilt limit has also been changed to use the same value as the range finder for consistency.
Variable names have been changed changed to make a clear distinction between the max/min values calculated by by the stuck range check and the max/min valid values published by the sensor.
TESTING
For full test coverage we would need to check: