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Improve range finder fault detection at low vertical speed #23878

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merged 2 commits into from
Nov 5, 2024
Merged

Improve range finder fault detection at low vertical speed #23878

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7520b30
ekf2-rng-kin: allow invalidating at any vertical speed
bresch Nov 1, 2024
60dab19
Merge branch 'main' into pr-ekf2_range_kin_low_speed
bresch Nov 5, 2024
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8 changes: 2 additions & 6 deletions src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -74,19 +74,15 @@ void RangeFinderConsistencyCheck::update(float dist_bottom, float dist_bottom_va

void RangeFinderConsistencyCheck::updateConsistency(float vz, uint64_t time_us)
{
if (fabsf(vz) < _min_vz_for_valid_consistency) {
// We can only check consistency if there is vertical motion
return;
}

if (fabsf(_signed_test_ratio_lpf.getState()) >= 1.f) {
if ((time_us - _time_last_horizontal_motion) > _signed_test_ratio_tau) {
_is_kinematically_consistent = false;
_time_last_inconsistent_us = time_us;
}

} else {
if ((_test_ratio < 1.f)
if ((fabsf(vz) > _min_vz_for_valid_consistency)
&& (_test_ratio < 1.f)
&& ((time_us - _time_last_inconsistent_us) > _consistency_hyst_time_us)
) {
_is_kinematically_consistent = true;
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