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AHRS: add option to disable EKF innovation check for airspeed #28257

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merged 2 commits into from
Sep 29, 2024
Merged

AHRS: add option to disable EKF innovation check for airspeed #28257

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2eb11bb
AP_AHRS: add option to disable the EKF check for airspeed
tridge Sep 28, 2024
8b6e0e7
autotest: force use of airspeed in GliderPullup
tridge Sep 28, 2024
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5 changes: 5 additions & 0 deletions Tools/autotest/arduplane.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6175,11 +6175,16 @@ def GliderPullup(self):
defaults_filepath="Tools/autotest/default_params/glider.parm",
wipe=True)

self.set_parameter('LOG_DISARMED', 1)

self.set_parameters({
"PUP_ENABLE": 1,
"SERVO6_FUNCTION": 0, # balloon lift
"SERVO10_FUNCTION": 156, # lift release
"EK3_IMU_MASK": 1, # lane switches just make log harder to read
"AHRS_OPTIONS": 4, # don't disable airspeed based on EKF checks
"ARSPD_OPTIONS": 0, # don't disable airspeed
"ARSPD_WIND_GATE": 0,
})

self.set_servo(6, 1000)
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7 changes: 4 additions & 3 deletions libraries/AP_AHRS/AP_AHRS.cpp
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Expand Up @@ -189,8 +189,8 @@ const AP_Param::GroupInfo AP_AHRS::var_info[] = {

// @Param: OPTIONS
// @DisplayName: Optional AHRS behaviour
// @Description: This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating.
// @Bitmask: 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL
// @Description: This controls optional AHRS behaviour. Setting DisableDCMFallbackFW will change the AHRS behaviour for fixed wing aircraft in fly-forward flight to not fall back to DCM when the EKF stops navigating. Setting DisableDCMFallbackVTOL will change the AHRS behaviour for fixed wing aircraft in non fly-forward (VTOL) flight to not fall back to DCM when the EKF stops navigating. Setting DontDisableAirspeedUsingEKF disables the EKF based innovation check for airspeed consistency
// @Bitmask: 0:DisableDCMFallbackFW, 1:DisableDCMFallbackVTOL, 2:DontDisableAirspeedUsingEKF
// @User: Advanced
AP_GROUPINFO("OPTIONS", 18, AP_AHRS, _options, 0),

Expand Down Expand Up @@ -915,7 +915,8 @@ bool AP_AHRS::_should_use_airspeed_sensor(uint8_t airspeed_index) const
return false;
}
nav_filter_status filter_status;
if (fly_forward &&
if (!option_set(Options::DISABLE_AIRSPEED_EKF_CHECK) &&
fly_forward &&
hal.util->get_soft_armed() &&
get_filter_status(filter_status) &&
(filter_status.flags.rejecting_airspeed && !filter_status.flags.dead_reckoning)) {
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1 change: 1 addition & 0 deletions libraries/AP_AHRS/AP_AHRS.h
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Expand Up @@ -1018,6 +1018,7 @@ class AP_AHRS {
enum class Options : uint16_t {
DISABLE_DCM_FALLBACK_FW=(1U<<0),
DISABLE_DCM_FALLBACK_VTOL=(1U<<1),
DISABLE_AIRSPEED_EKF_CHECK=(1U<<2),
};
AP_Int16 _options;

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