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local position acceleration: use mean value between two publications #24105

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local position acceleration: use mean value between two publications #24105

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21 changes: 17 additions & 4 deletions src/modules/ekf2/EKF2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -731,6 +731,10 @@ void EKF2::Run()
_ekf.setIMUData(imu_sample_new);
PublishAttitude(now); // publish attitude immediately (uses quaternion from output predictor)

// accumulate delta velocity to compute mean acceleration
delta_vel_ += _ekf.getVelocityDerivative() * imu_sample_new.delta_vel_dt;
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We could do this directly in the output predictor so that getVelocityDerivative() returns the average.

vel_integ_duration_ += imu_sample_new.delta_vel_dt;

// integrate time to monitor time slippage
if (_start_time_us > 0) {
_integrated_time_us += imu_dt;
Expand Down Expand Up @@ -1555,10 +1559,19 @@ void EKF2::PublishLocalPosition(const hrt_abstime &timestamp)
lpos.z_deriv = _ekf.getVerticalPositionDerivative();

// Acceleration of body origin in local frame
const Vector3f vel_deriv{_ekf.getVelocityDerivative()};
lpos.ax = vel_deriv(0);
lpos.ay = vel_deriv(1);
lpos.az = vel_deriv(2);
if (vel_integ_duration_ > 0.001f) {
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Suggested change
if (vel_integ_duration_ > 0.001f) {
if (vel_integ_duration_ > FLT_EPSILON) {

lpos.ax = delta_vel_(0) / vel_integ_duration_;
lpos.ay = delta_vel_(1) / vel_integ_duration_;
lpos.az = delta_vel_(2) / vel_integ_duration_;

} else {
lpos.ax = 0.f;
lpos.ay = 0.f;
lpos.az = 0.f;
}

delta_vel_.setZero();
vel_integ_duration_ = 0.f;

lpos.xy_valid = _ekf.isLocalHorizontalPositionValid();
lpos.v_xy_valid = _ekf.isLocalHorizontalPositionValid();
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3 changes: 3 additions & 0 deletions src/modules/ekf2/EKF2.hpp
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Expand Up @@ -280,6 +280,9 @@ class EKF2 final : public ModuleParams, public px4::ScheduledWorkItem
perf_counter_t _ekf_update_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": EKF update")};
perf_counter_t _msg_missed_imu_perf{perf_alloc(PC_COUNT, MODULE_NAME": IMU message missed")};

Vector3f delta_vel_{0.f, 0.f, 0.f};
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Suggested change
Vector3f delta_vel_{0.f, 0.f, 0.f};
Vector3f _delta_vel{0.f, 0.f, 0.f};

float vel_integ_duration_{0};
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Suggested change
float vel_integ_duration_{0};
float _delta_vel_dt{0};


InFlightCalibration _accel_cal{};
InFlightCalibration _gyro_cal{};

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