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EKF/common.h

@@ -80,8 +80,8 @@ struct flow_message {
 };
 
 struct ext_vision_message {
-	Vector3f pos;	///< XYZ position in earth frame (m) - Z must be aligned with down axis
-	Vector3f vel;	///< XYZ velocity in earth frame (m/sec) - Z must be aligned with down axis
+	Vector3f pos;	///< XYZ position in external vision's local reference frame (m) - Z must be aligned with down axis
+	Vector3f vel;	///< XYZ velocity in external vision's local reference frame (m/sec) - Z must be aligned with down axis
 	Quatf quat;		///< quaternion defining rotation from body to earth frame
 	float posErr;		///< 1-Sigma horizontal position accuracy (m)
 	float hgtErr;		///< 1-Sigma height accuracy (m)
@@ -153,8 +153,8 @@ struct flowSample {
 };
 
 struct extVisionSample {
-	Vector3f pos;	///< XYZ position in earth frame (m) - Z must be aligned with down axis
-	Vector3f vel;	///< XYZ velocity in earth frame (m/sec) - Z must be aligned with down axis
+	Vector3f pos;	///< XYZ position in external vision's local reference frame (m) - Z must be aligned with down axis
+	Vector3f vel;	///< XYZ velocity in external vision's local reference frame (m/sec) - Z must be aligned with down axis
 	Quatf quat;		///< quaternion defining rotation from body to earth frame
 	float posErr;		///< 1-Sigma horizontal position accuracy (m)
 	float hgtErr;		///< 1-Sigma height accuracy (m)
@@ -441,18 +441,18 @@ union filter_control_status_u {
 	struct {
 		uint32_t tilt_align  : 1; ///< 0 - true if the filter tilt alignment is complete
 		uint32_t yaw_align   : 1; ///< 1 - true if the filter yaw alignment is complete
-		uint32_t gps         : 1; ///< 2 - true if GPS measurements are being fused
-		uint32_t opt_flow    : 1; ///< 3 - true if optical flow measurements are being fused
-		uint32_t mag_hdg     : 1; ///< 4 - true if a simple magnetic yaw heading is being fused
-		uint32_t mag_3D      : 1; ///< 5 - true if 3-axis magnetometer measurement are being fused
-		uint32_t mag_dec     : 1; ///< 6 - true if synthetic magnetic declination measurements are being fused
+		uint32_t gps         : 1; ///< 2 - true if GPS measurement fusion is intended
+		uint32_t opt_flow    : 1; ///< 3 - true if optical flow measurements fusion is intended
+		uint32_t mag_hdg     : 1; ///< 4 - true if a simple magnetic yaw heading fusion is intended
+		uint32_t mag_3D      : 1; ///< 5 - true if 3-axis magnetometer measurement fusion is inteded
+		uint32_t mag_dec     : 1; ///< 6 - true if synthetic magnetic declination measurements fusion is intended
 		uint32_t in_air      : 1; ///< 7 - true when the vehicle is airborne
 		uint32_t wind        : 1; ///< 8 - true when wind velocity is being estimated
 		uint32_t baro_hgt    : 1; ///< 9 - true when baro height is being fused as a primary height reference
 		uint32_t rng_hgt     : 1; ///< 10 - true when range finder height is being fused as a primary height reference
 		uint32_t gps_hgt     : 1; ///< 11 - true when GPS height is being fused as a primary height reference
-		uint32_t ev_pos      : 1; ///< 12 - true when local position data from external vision is being fused
-		uint32_t ev_yaw      : 1; ///< 13 - true when yaw data from external vision measurements is being fused
+		uint32_t ev_pos      : 1; ///< 12 - true when local position data fusion from external vision is intended
+		uint32_t ev_yaw      : 1; ///< 13 - true when yaw data from external vision measurements fusion is intended
 		uint32_t ev_hgt      : 1; ///< 14 - true when height data from external vision measurements is being fused
 		uint32_t fuse_beta   : 1; ///< 15 - true when synthetic sideslip measurements are being fused
 		uint32_t mag_field_disturbed : 1; ///< 16 - true when the mag field does not match the expected strength
@@ -461,14 +461,15 @@ union filter_control_status_u {
 		uint32_t fuse_aspd   : 1; ///< 19 - true when airspeed measurements are being fused
 		uint32_t gnd_effect  : 1; ///< 20 - true when protection from ground effect induced static pressure rise is active
 		uint32_t rng_stuck   : 1; ///< 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
-		uint32_t gps_yaw     : 1; ///< 22 - true when yaw (not ground course) data from a GPS receiver is being fused
+		uint32_t gps_yaw     : 1; ///< 22 - true when yaw (not ground course) data fusion from a GPS receiver is intended
 		uint32_t mag_aligned_in_flight   : 1; ///< 23 - true when the in-flight mag field alignment has been completed
-		uint32_t ev_vel      : 1; ///< 24 - true when local earth frame velocity data from external vision measurements are being fused
+		uint32_t ev_vel      : 1; ///< 24 - true when local frame velocity data fusion from external vision measurements is intended
 		uint32_t synthetic_mag_z : 1; ///< 25 - true when we are using a synthesized measurement for the magnetometer Z component
 	} flags;
 	uint32_t value;
 };
 
+ // Mavlink bitmask containing state of estimator solution
 union ekf_solution_status {
 	struct {
 		uint16_t attitude           : 1; ///< 0 - True if the attitude estimate is good

EKF/ekf_helper.cpp

@@ -1333,7 +1333,7 @@ void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, f
 void Ekf::get_ekf_soln_status(uint16_t *status)
 {
 	ekf_solution_status soln_status;
-
+	// TODO: Is this accurate enough?
 	soln_status.flags.attitude = _control_status.flags.tilt_align && _control_status.flags.yaw_align && (_fault_status.value == 0);
 	soln_status.flags.velocity_horiz = (_control_status.flags.gps || _control_status.flags.ev_pos|| _control_status.flags.ev_vel || _control_status.flags.opt_flow || (_control_status.flags.fuse_beta && _control_status.flags.fuse_aspd)) && (_fault_status.value == 0);
 	soln_status.flags.velocity_vert = (_control_status.flags.baro_hgt || _control_status.flags.ev_hgt || _control_status.flags.gps_hgt || _control_status.flags.rng_hgt) && (_fault_status.value == 0);

EKF/estimator_interface.h

@@ -540,16 +540,19 @@ class EstimatorInterface
 	bool _drag_buffer_fail{false};
 	bool _auxvel_buffer_fail{false};
 
-	uint64_t _time_last_imu{0};	// timestamp of last imu sample in microseconds
-	uint64_t _time_last_gps{0};	// timestamp of last gps measurement in microseconds
-	uint64_t _time_last_mag{0};	// timestamp of last magnetometer measurement in microseconds
-	uint64_t _time_last_baro{0};	// timestamp of last barometer measurement in microseconds
-	uint64_t _time_last_range{0};	// timestamp of last range measurement in microseconds
-	uint64_t _time_last_airspeed{0};	// timestamp of last airspeed measurement in microseconds
-	uint64_t _time_last_ext_vision{0}; // timestamp of last external vision measurement in microseconds
+	// timestamps of latest in buffer saved measurement in microseconds
+	uint64_t _time_last_imu{0};
+	uint64_t _time_last_gps{0};
+	uint64_t _time_last_mag{0};
+	uint64_t _time_last_baro{0};
+	uint64_t _time_last_range{0};
+	uint64_t _time_last_airspeed{0};
+	uint64_t _time_last_ext_vision{0};
 	uint64_t _time_last_optflow{0};
-	uint64_t _time_last_gnd_effect_on{0};	//last time the baro ground effect compensation was turned on externally (uSec)
 	uint64_t _time_last_auxvel{0};
+	//last time the baro ground effect compensation was turned on externally (uSec)
+	uint64_t _time_last_gnd_effect_on{0};
+
 
 	fault_status_u _fault_status{};