[新特性追踪][PX4] MC_HTE(hover thrust estimator)提升多旋翼稳定性

分享 斯东 ⋅ 于 2020-03-19 03:36:27 ⋅ 472 阅读

Summary of the changes:

  • Use a low-passed value of the signed innovation test ratio to trigger
    the state variance boost. The threshold of 0.2 has been chosen using log
    replay and simulation scenarii.
  • Do not reset the learned accel noise during a state variance boost.
    After a few tests, this does not seem to help at all.
  • Continue to learn the accel noise even if the measurement got rejected
    to avoid ignoring sudden changes of noise
  • Lower the acceleration noise time constant and increase min/max
    values to avoid learning quickly a small variance that could temporary
    destabilize the filter
  • Update filter time constants. Increasing the speed of the residual lpf
    improves the quality of the learned accel noise

PR列表:
初步实现:
Hover thrust estimator #13981
https://github.com/PX4/Firmware/pull/13981

改名:
move hover_thrust_estimator to new module (mc_hover_thrust_estimator) #14182
https://github.com/PX4/Firmware/pull/14182

改进:
MC_HTE: Stability improvements #14378
https://github.com/PX4/Firmware/pull/14378

正式启用:
HTE: enable by default #14419
https://github.com/PX4/Firmware/pull/14419

Replay from log https://review.px4.io/plot_app?log=82ee3e29-5422-450b-8030-df6a93b81a88 (given by the test team: #14182 (comment))
Original data:
file
Replayed with tunning proposed by this PR:
file

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