Terrain fusion aid selection fix #837
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bresch
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I fixed all the unit tests and placed the modifications in the commit that breaks them: 99f2e33 |
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This PR started to have too many changes so I pulled the sensor_simulator bugfix in #838 |
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Extracted the aid bitmask feedback to #839 |
bresch
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| @@ -89,8 +89,8 @@ TEST_F(EkfFlowTest, resetToFlowVelocityInAir) | |||
| const Vector2f simulated_horz_velocity(0.5f, -0.2f); | |||
| flowSample flow_sample = _sensor_simulator._flow.dataAtRest(); | |||
| flow_sample.flow_xy_rad = | |||
| Vector2f(- simulated_horz_velocity(1) * flow_sample.dt / estimated_distance_to_ground, | |||
| simulated_horz_velocity(0) * flow_sample.dt / estimated_distance_to_ground); | |||
| Vector2f( simulated_horz_velocity(1) * flow_sample.dt / estimated_distance_to_ground, | |||
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Do you know why this was passing the test before even tough I got the signs wrong.
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Yes, because the test was just for the reset counter. There is still a bug in the flow reset that always initializes with zero. The value isn't important.
| EXPECT_TRUE(_ekf_wrapper.isIntendingTerrainFlowFusion()); | ||
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| const float estimated_distance_to_ground = _ekf->getTerrainVertPos(); | ||
| EXPECT_NEAR(estimated_distance_to_ground, flow_height, 0.5f); |
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Do you have an idea why the error is here higher?
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I think this is because the range finder fusion is stronger than the optical flow one. If we let it run more, it will converge to the true value.
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@kamilritz Thanks for the review, I'll make the required modifications |
one can set the position rate = velocity to obtain consistent gps data
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@kamilritz Updated, please could you review again? |
I tried to split the fixes properly in different commits.
Summary of the fixes:
get feedback in the log from the aiding sources currently used by the terrain estimator (will require Firmware update to actually log the data)edit: moved to Terrain estimate: Added height above ground source bitmask #839fix sensor simulator that was updating the ekf faster than IMU data (this created instability of the filter in dynamic unit tests) FYI @kamilritzedit: moved to sensor_simulator: update EKF at IMU rate #838Due to theedit: fixed in #838sensor_simulatorupdate rate fix, a lot of unit tests are now failing (because EKF prediction step runs slower) and I'm currently fixing them.