void DeclarativeWebContainer::setForeground(bool active)
{
if (m_foreground != active) {
m_foreground = active;
if (!m_foreground) {
// Respect content height when browser brought back from home
resetHeight(true);
}
emit foregroundChanged();
}
}
DeclarativeWebContainer::DeclarativeWebContainer(QQuickItem *parent)
: QQuickItem(parent)
, m_webPage(0)
, m_model(0)
, m_webPageComponent(0)
, m_settingManager(SettingManager::instance())
, m_foreground(true)
, m_allowHiding(true)
, m_popupActive(false)
, m_portrait(true)
, m_fullScreenMode(false)
, m_fullScreenHeight(0.0)
, m_inputPanelVisible(false)
, m_inputPanelHeight(0.0)
, m_inputPanelOpenHeight(0.0)
, m_toolbarHeight(0.0)
, m_tabId(0)
, m_loading(false)
, m_loadProgress(0)
, m_canGoForward(false)
, m_canGoBack(false)
, m_realNavigation(false)
, m_completed(false)
, m_initialized(false)
{
m_webPages.reset(new WebPages(this));
setFlag(QQuickItem::ItemHasContents, true);
connect(DownloadManager::instance(), SIGNAL(downloadStarted()), this, SLOT(onDownloadStarted()));
connect(QMozContext::GetInstance(), SIGNAL(onInitialized()), this, SLOT(initialize()));
connect(this, SIGNAL(portraitChanged()), this, SLOT(resetHeight()));
connect(this, SIGNAL(enabledChanged()), this, SLOT(handleEnabledChanged()));
QString cacheLocation = QStandardPaths::writableLocation(QStandardPaths::CacheLocation);
QDir dir(cacheLocation);
if(!dir.exists() && !dir.mkpath(cacheLocation)) {
qWarning() << "Can't create directory "+ cacheLocation;
return;
}
connect(this, SIGNAL(heightChanged()), this, SLOT(sendVkbOpenCompositionMetrics()));
connect(this, SIGNAL(widthChanged()), this, SLOT(sendVkbOpenCompositionMetrics()));
qApp->installEventFilter(this);
}
void Ekf::controlExternalVisionFusion()
{
// Check for new exernal vision data
if (_ev_data_ready) {
// external vision position aiding selection logic
if ((_params.fusion_mode & MASK_USE_EVPOS) && !_control_status.flags.ev_pos && _control_status.flags.tilt_align && _control_status.flags.yaw_align) {
// check for a exernal vision measurement that has fallen behind the fusion time horizon
if (_time_last_imu - _time_last_ext_vision < 2 * EV_MAX_INTERVAL) {
// turn on use of external vision measurements for position and height
_control_status.flags.ev_pos = true;
ECL_INFO("EKF switching to external vision position fusion");
// turn off other forms of height aiding
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = false;
_control_status.flags.rng_hgt = false;
// reset the position, height and velocity
resetPosition();
resetVelocity();
resetHeight();
}
}
// external vision yaw aiding selection logic
if ((_params.fusion_mode & MASK_USE_EVYAW) && !_control_status.flags.ev_yaw && _control_status.flags.tilt_align) {
// check for a exernal vision measurement that has fallen behind the fusion time horizon
if (_time_last_imu - _time_last_ext_vision < 2 * EV_MAX_INTERVAL) {
// reset the yaw angle to the value from the observaton quaternion
// get the roll, pitch, yaw estimates from the quaternion states
matrix::Quaternion<float> q_init(_state.quat_nominal(0), _state.quat_nominal(1), _state.quat_nominal(2),
_state.quat_nominal(3));
matrix::Euler<float> euler_init(q_init);
// get initial yaw from the observation quaternion
extVisionSample ev_newest = _ext_vision_buffer.get_newest();
matrix::Quaternion<float> q_obs(ev_newest.quat(0), ev_newest.quat(1), ev_newest.quat(2), ev_newest.quat(3));
matrix::Euler<float> euler_obs(q_obs);
euler_init(2) = euler_obs(2);
// save a copy of the quaternion state for later use in calculating the amount of reset change
Quaternion quat_before_reset = _state.quat_nominal;
// calculate initial quaternion states for the ekf
_state.quat_nominal = Quaternion(euler_init);
// calculate the amount that the quaternion has changed by
_state_reset_status.quat_change = _state.quat_nominal * quat_before_reset.inversed();
// add the reset amount to the output observer buffered data
outputSample output_states;
unsigned output_length = _output_buffer.get_length();
for (unsigned i=0; i < output_length; i++) {
output_states = _output_buffer.get_from_index(i);
output_states.quat_nominal *= _state_reset_status.quat_change;
_output_buffer.push_to_index(i,output_states);
}
// capture the reset event
_state_reset_status.quat_counter++;
// flag the yaw as aligned
_control_status.flags.yaw_align = true;
// turn on fusion of external vision yaw measurements and disable all magnetoemter fusion
_control_status.flags.ev_yaw = true;
_control_status.flags.mag_hdg = false;
_control_status.flags.mag_3D = false;
_control_status.flags.mag_dec = false;
ECL_INFO("EKF switching to external vision yaw fusion");
}
}
// determine if we should use the height observation
if (_params.vdist_sensor_type == VDIST_SENSOR_EV) {
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = false;
_control_status.flags.rng_hgt = false;
_control_status.flags.ev_hgt = true;
_fuse_height = true;
}
// determine if we should use the horizontal position observations
if (_control_status.flags.ev_pos) {
_fuse_pos = true;
// correct position and height for offset relative to IMU
Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;
Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
_ev_sample_delayed.posNED(0) -= pos_offset_earth(0);
_ev_sample_delayed.posNED(1) -= pos_offset_earth(1);
_ev_sample_delayed.posNED(2) -= pos_offset_earth(2);
}
// determine if we should use the yaw observation
if (_control_status.flags.ev_yaw) {
fuseHeading();
}
}
}
void Ekf::controlHeightSensorTimeouts()
{
/*
* Handle the case where we have not fused height measurements recently and
* uncertainty exceeds the max allowable. Reset using the best available height
* measurement source, continue using it after the reset and declare the current
* source failed if we have switched.
*/
// check for inertial sensing errors as evidenced by the vertical innovations having the same sign and not stale
bool bad_vert_accel = (_control_status.flags.baro_hgt && // we can only run this check if vertical position and velocity observations are indepedant
(_vel_pos_innov[5] * _vel_pos_innov[2] > 0.0f) && // vertical position and velocity sensors are in agreement
((_imu_sample_delayed.time_us - _baro_sample_delayed.time_us) < 2 * BARO_MAX_INTERVAL) && // vertical position data is fresh
((_imu_sample_delayed.time_us - _gps_sample_delayed.time_us) < 2 * GPS_MAX_INTERVAL) && // vertical velocity data is freshs
_vel_pos_test_ratio[2] > 1.0f && // vertical velocty innovations have failed innovation consistency checks
_vel_pos_test_ratio[5] > 1.0f); // vertical position innovations have failed innovation consistency checks
// record time of last bad vert accel
if (bad_vert_accel) {
_time_bad_vert_accel = _time_last_imu;
}
if ((P[9][9] > sq(_params.hgt_reset_lim)) && ((_time_last_imu - _time_last_hgt_fuse) > 5e6)) {
// boolean that indicates we will do a height reset
bool reset_height = false;
// handle the case where we are using baro for height
if (_control_status.flags.baro_hgt) {
// check if GPS height is available
gpsSample gps_init = _gps_buffer.get_newest();
bool gps_hgt_available = ((_time_last_imu - gps_init.time_us) < 2 * GPS_MAX_INTERVAL);
bool gps_hgt_accurate = (gps_init.vacc < _params.req_vacc);
baroSample baro_init = _baro_buffer.get_newest();
bool baro_hgt_available = ((_time_last_imu - baro_init.time_us) < 2 * BARO_MAX_INTERVAL);
// check for inertial sensing errors in the last 10 seconds
bool prev_bad_vert_accel = (_time_last_imu - _time_bad_vert_accel < 10E6);
// reset to GPS if adequate GPS data is available and the timeout cannot be blamed on IMU data
bool reset_to_gps = gps_hgt_available && gps_hgt_accurate && !_gps_hgt_faulty && !prev_bad_vert_accel;
// reset to GPS if GPS data is available and there is no Baro data
reset_to_gps = reset_to_gps || (gps_hgt_available && !baro_hgt_available);
// reset to Baro if we are not doing a GPS reset and baro data is available
bool reset_to_baro = !reset_to_gps && baro_hgt_available;
if (reset_to_gps) {
// set height sensor health
_baro_hgt_faulty = true;
_gps_hgt_faulty = false;
// declare the GPS height healthy
_gps_hgt_faulty = false;
// reset the height mode
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = true;
_control_status.flags.rng_hgt = false;
_control_status.flags.ev_hgt = false;
// request a reset
reset_height = true;
ECL_INFO("EKF baro hgt timeout - reset to GPS");
} else if (reset_to_baro){
// set height sensor health
_baro_hgt_faulty = false;
// reset the height mode
_control_status.flags.baro_hgt = true;
_control_status.flags.gps_hgt = false;
_control_status.flags.rng_hgt = false;
_control_status.flags.ev_hgt = false;
// request a reset
reset_height = true;
ECL_INFO("EKF baro hgt timeout - reset to baro");
} else {
// we have nothing we can reset to
// deny a reset
reset_height = false;
}
}
// handle the case we are using GPS for height
if (_control_status.flags.gps_hgt) {
// check if GPS height is available
gpsSample gps_init = _gps_buffer.get_newest();
bool gps_hgt_available = ((_time_last_imu - gps_init.time_us) < 2 * GPS_MAX_INTERVAL);
bool gps_hgt_accurate = (gps_init.vacc < _params.req_vacc);
// check the baro height source for consistency and freshness
baroSample baro_init = _baro_buffer.get_newest();
bool baro_data_fresh = ((_time_last_imu - baro_init.time_us) < 2 * BARO_MAX_INTERVAL);
float baro_innov = _state.pos(2) - (_hgt_sensor_offset - baro_init.hgt + _baro_hgt_offset);
bool baro_data_consistent = fabsf(baro_innov) < (sq(_params.baro_noise) + P[8][8]) * sq(_params.baro_innov_gate);
// if baro data is acceptable and GPS data is inaccurate, reset height to baro
bool reset_to_baro = baro_data_consistent && baro_data_fresh && !_baro_hgt_faulty && !gps_hgt_accurate;
// if GPS height is unavailable and baro data is available, reset height to baro
reset_to_baro = reset_to_baro || (!gps_hgt_available && baro_data_fresh);
// if we cannot switch to baro and GPS data is available, reset height to GPS
bool reset_to_gps = !reset_to_baro && gps_hgt_available;
if (reset_to_baro) {
// set height sensor health
_gps_hgt_faulty = true;
_baro_hgt_faulty = false;
// reset the height mode
_control_status.flags.baro_hgt = true;
_control_status.flags.gps_hgt = false;
_control_status.flags.rng_hgt = false;
_control_status.flags.ev_hgt = false;
// request a reset
reset_height = true;
ECL_INFO("EKF gps hgt timeout - reset to baro");
} else if (reset_to_gps) {
// set height sensor health
_gps_hgt_faulty = false;
// reset the height mode
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = true;
_control_status.flags.rng_hgt = false;
_control_status.flags.ev_hgt = false;
// request a reset
reset_height = true;
ECL_INFO("EKF gps hgt timeout - reset to GPS");
} else {
// we have nothing to reset to
reset_height = false;
}
}
// handle the case we are using range finder for height
if (_control_status.flags.rng_hgt) {
// check if range finder data is available
rangeSample rng_init = _range_buffer.get_newest();
bool rng_data_available = ((_time_last_imu - rng_init.time_us) < 2 * RNG_MAX_INTERVAL);
// check if baro data is available
baroSample baro_init = _baro_buffer.get_newest();
bool baro_data_available = ((_time_last_imu - baro_init.time_us) < 2 * BARO_MAX_INTERVAL);
// reset to baro if we have no range data and baro data is available
bool reset_to_baro = !rng_data_available && baro_data_available;
// reset to range data if it is available
bool reset_to_rng = rng_data_available;
if (reset_to_baro) {
// set height sensor health
_rng_hgt_faulty = true;
_baro_hgt_faulty = false;
// reset the height mode
_control_status.flags.baro_hgt = true;
_control_status.flags.gps_hgt = false;
_control_status.flags.rng_hgt = false;
_control_status.flags.ev_hgt = false;
// request a reset
reset_height = true;
ECL_INFO("EKF rng hgt timeout - reset to baro");
} else if (reset_to_rng) {
// set height sensor health
_rng_hgt_faulty = false;
// reset the height mode
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = false;
_control_status.flags.rng_hgt = true;
_control_status.flags.ev_hgt = false;
// request a reset
reset_height = true;
ECL_INFO("EKF rng hgt timeout - reset to rng hgt");
} else {
// we have nothing to reset to
reset_height = false;
}
}
// handle the case where we are using external vision data for height
if (_control_status.flags.ev_hgt) {
// check if vision data is available
extVisionSample ev_init = _ext_vision_buffer.get_newest();
bool ev_data_available = ((_time_last_imu - ev_init.time_us) < 2 * EV_MAX_INTERVAL);
// check if baro data is available
baroSample baro_init = _baro_buffer.get_newest();
bool baro_data_available = ((_time_last_imu - baro_init.time_us) < 2 * BARO_MAX_INTERVAL);
// reset to baro if we have no vision data and baro data is available
bool reset_to_baro = !ev_data_available && baro_data_available;
// reset to ev data if it is available
bool reset_to_ev = ev_data_available;
if (reset_to_baro) {
// set height sensor health
_rng_hgt_faulty = true;
_baro_hgt_faulty = false;
// reset the height mode
_control_status.flags.baro_hgt = true;
_control_status.flags.gps_hgt = false;
_control_status.flags.rng_hgt = false;
_control_status.flags.ev_hgt = false;
// request a reset
reset_height = true;
ECL_INFO("EKF ev hgt timeout - reset to baro");
} else if (reset_to_ev) {
// reset the height mode
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = false;
_control_status.flags.rng_hgt = false;
_control_status.flags.ev_hgt = true;
// request a reset
reset_height = true;
ECL_INFO("EKF ev hgt timeout - reset to ev hgt");
} else {
// we have nothing to reset to
reset_height = false;
}
}
// Reset vertical position and velocity states to the last measurement
if (reset_height) {
resetHeight();
// Reset the timout timer
_time_last_hgt_fuse = _time_last_imu;
}
}
}
void Ekf::controlExternalVisionAiding()
{
// external vision position aiding selection logic
if ((_params.fusion_mode & MASK_USE_EVPOS) && !_control_status.flags.ev_pos && _control_status.flags.tilt_align && _control_status.flags.yaw_align) {
// check for a exernal vision measurement that has fallen behind the fusion time horizon
if (_time_last_imu - _time_last_ext_vision < 2 * EV_MAX_INTERVAL) {
// turn on use of external vision measurements for position and height
_control_status.flags.ev_pos = true;
printf("EKF switching to external vision position fusion\n");
// turn off other forms of height aiding
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = false;
_control_status.flags.rng_hgt = false;
// reset the position, height and velocity
resetPosition();
resetVelocity();
resetHeight();
}
}
// external vision yaw aiding selection logic
if ((_params.fusion_mode & MASK_USE_EVYAW) && !_control_status.flags.ev_yaw && _control_status.flags.tilt_align) {
// check for a exernal vision measurement that has fallen behind the fusion time horizon
if (_time_last_imu - _time_last_ext_vision < 2 * EV_MAX_INTERVAL) {
// reset the yaw angle to the value from the observaton quaternion
// get the roll, pitch, yaw estimates from the quaternion states
matrix::Quaternion<float> q_init(_state.quat_nominal(0), _state.quat_nominal(1), _state.quat_nominal(2),
_state.quat_nominal(3));
matrix::Euler<float> euler_init(q_init);
// get initial yaw from the observation quaternion
extVisionSample ev_newest = _ext_vision_buffer.get_newest();
matrix::Quaternion<float> q_obs(ev_newest.quat(0), ev_newest.quat(1), ev_newest.quat(2), ev_newest.quat(3));
matrix::Euler<float> euler_obs(q_obs);
euler_init(2) = euler_obs(2);
// save a copy of the quaternion state for later use in calculating the amount of reset change
Quaternion quat_before_reset = _state.quat_nominal;
// calculate initial quaternion states for the ekf
_state.quat_nominal = Quaternion(euler_init);
// calculate the amount that the quaternion has changed by
_state_reset_status.quat_change = _state.quat_nominal * quat_before_reset.inversed();
// add the reset amount to the output observer buffered data
outputSample output_states;
unsigned output_length = _output_buffer.get_length();
for (unsigned i=0; i < output_length; i++) {
output_states = _output_buffer.get_from_index(i);
output_states.quat_nominal *= _state_reset_status.quat_change;
_output_buffer.push_to_index(i,output_states);
}
// capture the reset event
_state_reset_status.quat_counter++;
// flag the yaw as aligned
_control_status.flags.yaw_align = true;
// turn on fusion of external vision yaw measurements and disable all magnetoemter fusion
_control_status.flags.ev_yaw = true;
_control_status.flags.mag_hdg = false;
_control_status.flags.mag_3D = false;
_control_status.flags.mag_dec = false;
printf("EKF switching to external vision yaw fusion\n");
}
}
}
void Ekf::controlFusionModes()
{
// Determine the vehicle status
calculateVehicleStatus();
// Get the magnetic declination
calcMagDeclination();
// Check for tilt convergence during initial alignment
// filter the tilt error vector using a 1 sec time constant LPF
float filt_coef = 1.0f * _imu_sample_delayed.delta_ang_dt;
_tilt_err_length_filt = filt_coef * _tilt_err_vec.norm() + (1.0f - filt_coef) * _tilt_err_length_filt;
// Once the tilt error has reduced sufficiently, initialise the yaw and magnetic field states
if (_tilt_err_length_filt < 0.005f && !_control_status.flags.tilt_align) {
_control_status.flags.tilt_align = true;
_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
}
// optical flow fusion mode selection logic
// to start using optical flow data we need angular alignment complete, and fresh optical flow and height above terrain data
if ((_params.fusion_mode & MASK_USE_OF) && !_control_status.flags.opt_flow && _control_status.flags.tilt_align
&& (_time_last_imu - _time_last_optflow) < 5e5 && (_time_last_imu - _time_last_hagl_fuse) < 5e5) {
// If the heading is not aligned, reset the yaw and magnetic field states
if (!_control_status.flags.yaw_align) {
_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
}
// If the heading is valid, start using optical flow aiding
if (_control_status.flags.yaw_align) {
// set the flag and reset the fusion timeout
_control_status.flags.opt_flow = true;
_time_last_of_fuse = _time_last_imu;
// if we are not using GPS and are in air, then we need to reset the velocity to be consistent with the optical flow reading
if (!_control_status.flags.gps) {
// calculate the rotation matrix from body to earth frame
matrix::Dcm<float> body_to_earth(_state.quat_nominal);
// constrain height above ground to be above minimum possible
float heightAboveGndEst = fmaxf((_terrain_vpos - _state.pos(2)), _params.rng_gnd_clearance);
// calculate absolute distance from focal point to centre of frame assuming a flat earth
float range = heightAboveGndEst / body_to_earth(2, 2);
if (_in_air && (range - _params.rng_gnd_clearance) > 0.3f && _flow_sample_delayed.dt > 0.05f) {
// calculate X and Y body relative velocities from OF measurements
Vector3f vel_optflow_body;
vel_optflow_body(0) = - range * _flow_sample_delayed.flowRadXYcomp(1) / _flow_sample_delayed.dt;
vel_optflow_body(1) = range * _flow_sample_delayed.flowRadXYcomp(0) / _flow_sample_delayed.dt;
vel_optflow_body(2) = 0.0f;
// rotate from body to earth frame
Vector3f vel_optflow_earth;
vel_optflow_earth = body_to_earth * vel_optflow_body;
// take x and Y components
_state.vel(0) = vel_optflow_earth(0);
_state.vel(1) = vel_optflow_earth(1);
} else {
_state.vel.setZero();
}
}
}
} else if (!(_params.fusion_mode & MASK_USE_OF)) {
_control_status.flags.opt_flow = false;
}
// GPS fusion mode selection logic
// To start use GPS we need angular alignment completed, the local NED origin set and fresh GPS data
if ((_params.fusion_mode & MASK_USE_GPS) && !_control_status.flags.gps) {
if (_control_status.flags.tilt_align && (_time_last_imu - _time_last_gps) < 5e5 && _NED_origin_initialised
&& (_time_last_imu - _last_gps_fail_us > 5e6)) {
// If the heading is not aligned, reset the yaw and magnetic field states
if (!_control_status.flags.yaw_align) {
_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
}
// If the heading is valid start using gps aiding
if (_control_status.flags.yaw_align) {
_control_status.flags.gps = true;
_time_last_gps = _time_last_imu;
// if we are not already aiding with optical flow, then we need to reset the position and velocity
if (!_control_status.flags.opt_flow) {
_control_status.flags.gps = resetPosition();
_control_status.flags.gps = resetVelocity();
}
}
}
} else if (!(_params.fusion_mode & MASK_USE_GPS)) {
_control_status.flags.gps = false;
}
// handle the case when we are relying on GPS fusion and lose it
if (_control_status.flags.gps && !_control_status.flags.opt_flow) {
// We are relying on GPS aiding to constrain attitude drift so after 10 seconds without aiding we need to do something
if ((_time_last_imu - _time_last_pos_fuse > 10e6) && (_time_last_imu - _time_last_vel_fuse > 10e6)) {
if (_time_last_imu - _time_last_gps > 5e5) {
// if we don't have gps then we need to switch to the non-aiding mode, zero the veloity states
// and set the synthetic GPS position to the current estimate
_control_status.flags.gps = false;
_last_known_posNE(0) = _state.pos(0);
_last_known_posNE(1) = _state.pos(1);
_state.vel.setZero();
} else {
// Reset states to the last GPS measurement
resetPosition();
resetVelocity();
}
}
}
/*
* Handle the case where we have not fused height measurements recently and
* uncertainty exceeds the max allowable. Reset using the best available height
* measurement source, continue using it after the reset and declare the current
* source failed if we have switched.
*/
if ((P[8][8] > sq(_params.hgt_reset_lim)) && ((_time_last_imu - _time_last_hgt_fuse) > 5e6)) {
// handle the case where we are using baro for height
if (_control_status.flags.baro_hgt) {
// check if GPS height is available
gpsSample gps_init = _gps_buffer.get_newest();
bool gps_hgt_available = ((_time_last_imu - gps_init.time_us) < 2 * GPS_MAX_INTERVAL);
bool gps_hgt_accurate = (gps_init.vacc < _params.req_vacc);
baroSample baro_init = _baro_buffer.get_newest();
bool baro_hgt_available = ((_time_last_imu - baro_init.time_us) < 2 * BARO_MAX_INTERVAL);
// use the gps if it is accurate or there is no baro data available
if (gps_hgt_available && (gps_hgt_accurate || !baro_hgt_available)) {
// declare the baro as unhealthy
_baro_hgt_faulty = true;
// set the height mode to the GPS
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = true;
_control_status.flags.rng_hgt = false;
// adjust the height offset so we can use the GPS
_hgt_sensor_offset = _state.pos(2) + gps_init.hgt - _gps_alt_ref;
if (!baro_hgt_available) {
printf("EKF baro hgt timeout - switching to gps\n");
}
}
}
// handle the case we are using GPS for height
if (_control_status.flags.gps_hgt) {
// check if GPS height is available
gpsSample gps_init = _gps_buffer.get_newest();
bool gps_hgt_available = ((_time_last_imu - gps_init.time_us) < 2 * GPS_MAX_INTERVAL);
bool gps_hgt_accurate = (gps_init.vacc < _params.req_vacc);
// check the baro height source for consistency and freshness
baroSample baro_init = _baro_buffer.get_newest();
bool baro_data_fresh = ((_time_last_imu - baro_init.time_us) < 2 * BARO_MAX_INTERVAL);
float baro_innov = _state.pos(2) - (_hgt_sensor_offset - baro_init.hgt + _baro_hgt_offset);
bool baro_data_consistent = fabsf(baro_innov) < (sq(_params.baro_noise) + P[8][8]) * sq(_params.baro_innov_gate);
// if baro data is consistent and fresh or GPS height is unavailable or inaccurate, we switch to baro for height
if ((baro_data_consistent && baro_data_fresh) || !gps_hgt_available || !gps_hgt_accurate) {
// declare the GPS height unhealthy
_gps_hgt_faulty = true;
// set the height mode to the baro
_control_status.flags.baro_hgt = true;
_control_status.flags.gps_hgt = false;
_control_status.flags.rng_hgt = false;
printf("EKF gps hgt timeout - switching to baro\n");
}
}
// handle the case we are using range finder for height
if (_control_status.flags.rng_hgt) {
// check if range finder data is available
rangeSample rng_init = _range_buffer.get_newest();
bool rng_data_available = ((_time_last_imu - rng_init.time_us) < 2 * RNG_MAX_INTERVAL);
// check if baro data is available
baroSample baro_init = _baro_buffer.get_newest();
bool baro_data_available = ((_time_last_imu - baro_init.time_us) < 2 * BARO_MAX_INTERVAL);
// check if baro data is consistent
float baro_innov = _state.pos(2) - (_hgt_sensor_offset - baro_init.hgt + _baro_hgt_offset);
bool baro_data_consistent = sq(baro_innov) < (sq(_params.baro_noise) + P[8][8]) * sq(_params.baro_innov_gate);
// switch to baro if necessary or preferable
bool switch_to_baro = (!rng_data_available && baro_data_available) || (baro_data_consistent && baro_data_available);
if (switch_to_baro) {
// declare the range finder height unhealthy
_rng_hgt_faulty = true;
// set the height mode to the baro
_control_status.flags.baro_hgt = true;
_control_status.flags.gps_hgt = false;
_control_status.flags.rng_hgt = false;
printf("EKF rng hgt timeout - switching to baro\n");
}
}
// Reset vertical position and velocity states to the last measurement
resetHeight();
}
// handle the case when we are relying on optical flow fusion and lose it
if (_control_status.flags.opt_flow && !_control_status.flags.gps) {
// We are relying on flow aiding to constrain attitude drift so after 5s without aiding we need to do something
if ((_time_last_imu - _time_last_of_fuse > 5e6)) {
// Switch to the non-aiding mode, zero the veloity states
// and set the synthetic position to the current estimate
_control_status.flags.opt_flow = false;
_last_known_posNE(0) = _state.pos(0);
_last_known_posNE(1) = _state.pos(1);
_state.vel.setZero();
}
}
// Determine if we should use simple magnetic heading fusion which works better when there are large external disturbances
// or the more accurate 3-axis fusion
if (_params.mag_fusion_type == MAG_FUSE_TYPE_AUTO) {
if (!_control_status.flags.armed) {
// use heading fusion for initial startup
_control_status.flags.mag_hdg = true;
_control_status.flags.mag_2D = false;
_control_status.flags.mag_3D = false;
} else {
if (_control_status.flags.in_air) {
// if transitioning into 3-axis fusion mode, we need to initialise the yaw angle and field states
if (!_control_status.flags.mag_3D) {
_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
}
// use 3D mag fusion when airborne
_control_status.flags.mag_hdg = false;
_control_status.flags.mag_2D = false;
_control_status.flags.mag_3D = true;
} else {
// use heading fusion when on the ground
_control_status.flags.mag_hdg = true;
_control_status.flags.mag_2D = false;
_control_status.flags.mag_3D = false;
}
}
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_HEADING) {
// always use heading fusion
_control_status.flags.mag_hdg = true;
_control_status.flags.mag_2D = false;
_control_status.flags.mag_3D = false;
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_2D) {
// always use 2D mag fusion
_control_status.flags.mag_hdg = false;
_control_status.flags.mag_2D = true;
_control_status.flags.mag_3D = false;
} else if (_params.mag_fusion_type == MAG_FUSE_TYPE_3D) {
// if transitioning into 3-axis fusion mode, we need to initialise the yaw angle and field states
if (!_control_status.flags.mag_3D) {
_control_status.flags.yaw_align = resetMagHeading(_mag_sample_delayed.mag);
}
// always use 3-axis mag fusion
_control_status.flags.mag_hdg = false;
_control_status.flags.mag_2D = false;
_control_status.flags.mag_3D = true;
} else {
// do no magnetometer fusion at all
_control_status.flags.mag_hdg = false;
_control_status.flags.mag_2D = false;
_control_status.flags.mag_3D = false;
}
// if we are using 3-axis magnetometer fusion, but without external aiding, then the declination must be fused as an observation to prevent long term heading drift
// fusing declination when gps aiding is available is optional, but recommneded to prevent problem if the vehicle is static for extended periods of time
if (_control_status.flags.mag_3D && (!_control_status.flags.gps || (_params.mag_declination_source & MASK_FUSE_DECL))) {
_control_status.flags.mag_dec = true;
} else {
_control_status.flags.mag_dec = false;
}
// Control the soure of height measurements for the main filter
if ((_params.vdist_sensor_type == VDIST_SENSOR_BARO && !_baro_hgt_faulty) || _control_status.flags.baro_hgt) {
_control_status.flags.baro_hgt = true;
_control_status.flags.gps_hgt = false;
_control_status.flags.rng_hgt = false;
} else if ((_params.vdist_sensor_type == VDIST_SENSOR_GPS && !_gps_hgt_faulty) || _control_status.flags.gps_hgt) {
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = true;
_control_status.flags.rng_hgt = false;
} else if (_params.vdist_sensor_type == VDIST_SENSOR_RANGE && !_rng_hgt_faulty) {
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = false;
_control_status.flags.rng_hgt = true;
}
// Placeholder for control of wind velocity states estimation
// TODO add methods for true airspeed and/or sidelsip fusion or some type of drag force measurement
if (false) {
_control_status.flags.wind = false;
}
// Store the status to enable change detection
_control_status_prev.value = _control_status.value;
}
