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SIH: ellipsoidal earth #23974

Merged
merged 13 commits into from
Nov 29, 2024
Merged

SIH: ellipsoidal earth #23974

merged 13 commits into from
Nov 29, 2024

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bresch
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@bresch bresch commented Nov 19, 2024 •
edited
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requires #24034

Solved Problem

I needed a simulation environment on an ellipsoidal world to test #23854 .

Solution

Run SIH in an ECEF coordinate system with a WGS84 Earth model and convert the output to the usual global (lat/lon/alt) and local tangent plane frame.
The objective is to test the robustness of the EKF by changing the Earth spin rate and radius to exaggerate the non-inertial accelerations measured when navigating on an ellipsoidal environment.

Changelog Entry

New parameter: -
TOTO: mention this in the SIH documentation

Testing:

  • quad short distances
  • quad long distances
  • fixedwing (requires SIH: fix airplane sim #24034)
  • tailsitter -> sim is also broken in main, will fix it after this is merged

@bresch bresch self-assigned this Nov 19, 2024
@bresch bresch force-pushed the pr_ekf2_ellipsoidal_sih branch from 013230e to 3d9184a Compare November 19, 2024 15:56
@bresch bresch marked this pull request as draft November 19, 2024 16:04
@bresch bresch force-pushed the pr_ekf2_ellipsoidal_sih branch 2 times, most recently from 1ecc2d0 to 33c44dc Compare November 20, 2024 10:21
@haumarco
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I don't have anything to complain about. Let's see if all the testing is successful

@bresch bresch force-pushed the pr-ekf2_gpos_rework branch 2 times, most recently from 48a3434 to 66b14f3 Compare November 21, 2024 10:50
@bresch bresch force-pushed the pr_ekf2_ellipsoidal_sih branch from 1c1404b to d483ce2 Compare November 21, 2024 10:53
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github-actions bot commented Nov 21, 2024 •
edited
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FLASH Analysis

px4_fmu-v5x 
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--------------  -------------- 
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  [DEL]    -332  [ = ]       0    ../../src/modules/ekf2/EKF/lat_lon_alt/lat_lon_alt.cpp
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px4_fmu-v6x 
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--------------  -------------- 
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Updated: 2024-11-29T12:41:11

@bresch bresch force-pushed the pr-ekf2_gpos_rework branch 3 times, most recently from 94b2686 to c4649fc Compare November 22, 2024 08:25
Base automatically changed from pr-ekf2_gpos_rework to main November 22, 2024 14:13
@bresch bresch force-pushed the pr_ekf2_ellipsoidal_sih branch from d483ce2 to d25e6a3 Compare November 22, 2024 16:46
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FLASH Analysis

px4_fmu-v5x 
    FILE SIZE        VM SIZE    
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@bresch bresch force-pushed the pr_ekf2_ellipsoidal_sih branch from d25e6a3 to feab169 Compare November 25, 2024 15:27
@bresch bresch changed the base branch from main to pr-sih_plane_fix November 25, 2024 15:28
@bresch bresch force-pushed the pr_ekf2_ellipsoidal_sih branch 3 times, most recently from d028c81 to da57330 Compare November 26, 2024 11:09
@romain-chiap
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romain-chiap commented Nov 26, 2024 •
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Happy to see that the SIH is being used :)

I tried SITL

  • make px4_sitl sihsim_quadx, I get a Preflight Fail: height estimate not stable, then it's working
  • make px4_sitl sihsim_airplane, the sih outputs nan when I arm the vehicle

I also tried HITL

  • on fmu-v5 (Pixhawk 4) and SYS_AUTOSTART=1100 (quadx), I get a few Preflight: GPS Horizontal Pos Drift too high. I can arm in Altitude mode, most of the time it doesn't allow me to arm in Position mode.
  • on fmu-v5 and SYS_AUTOSTART=1101 (airplane), the airplane is unstable when trying to takeoff in altitude or stabilized mode.

@bresch bresch force-pushed the pr_ekf2_ellipsoidal_sih branch 2 times, most recently from dddc812 to 237fbf5 Compare November 26, 2024 17:18
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bresch commented Nov 26, 2024 •
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Thanks for the tests @romain-chiap . FW sim failed because I forgot to commit some fixes in the other PR (76e9cf8). I added it and rebased this one on top; could you give it a try again please?

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Thanks, so I tried again SITL quadx and airplane: they both work fine.

I was able to reach 230km with the airplane, then I got

ERROR [vehicle_magnetometer] MAG #0 failed:  TIMEOUT!	
WARN  [health_and_arming_checks] Preflight Fail: High Accelerometer Bias
WARN  [health_and_arming_checks] Preflight Fail: No valid data from Compass 0

image

I still have the same problems on HITL: quadx can fly in altitude but not in position, FW is unstable at takeoff.

Base automatically changed from pr-sih_plane_fix to main November 27, 2024 16:14
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bresch commented Nov 28, 2024

I get a Preflight Fail: height estimate not stable, then it's working

I found the issue and fixed it here: #24050

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bresch commented Nov 28, 2024

was able to reach 230km with the airplane, then I got
ERROR [vehicle_magnetometer] MAG #0 failed: TIMEOUT!
WARN [health_and_arming_checks] Preflight Fail: High Accelerometer Bias
WARN [health_and_arming_checks] Preflight Fail: No valid data from Compass 0

Hmm, I'm wondering where this is coming from. I flew 400km at Mach 1 without issues with the quadcopter model (without drag). Did you run the sim for a really long time?

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Hmm, I'm wondering where this is coming from. I flew 400km at Mach 1 without issues with the quadcopter model (without drag). Did you run the sim for a really long time?

I flew at 12 m/s with the airplane for about 7min. I ran the STIL as fast as possible (PX4_SIM_SPEED_FACTOR=1000), which was about x44 on my laptop.

haumarco
haumarco previously approved these changes Nov 29, 2024
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haumarco and others added 12 commits November 29, 2024 11:47
@haumarco @bresch
SIH: ellipsoidal earth model
771de31 
SIH: use projection functions and constants from geo lib

SIH: remove unnecessary member variable

SIH: clarify names of rotation matrices and frames

SIH: do not store DCM corresponding to quaternion attitude

Using DCM is more efficient when more than 1 rotation needs to be done,
which is not the case here.

SIH: don't store local variable as member

SIH: use Wgs84 constants everywhere

SIH: do not store delta_quaternion

Converting an AxisAngle to a Quaternion uses the exponenial

SIH: organise ECEF member variables

SIH: add earth spin rate to gyro data

Co-authored-by: bresch <[email protected]>
@bresch
matrix: allow casting float<->double
984461d
@bresch
SIH: refactor MC ground contact
567a1a2
@bresch
SIH: rework FW ground contact
2007573
@bresch
lla: add functions to convert from and to ECEF
3ba6c37
@bresch
lla: move to lib directory
b86957e
@bresch
lla: add gravity constant at equator
2bd004b
@bresch
SIH: use LatLonAlt class
26dbba6
@bresch
SIH: add transport rate acceleration to local acceleration
dcfa917
@bresch
SIH: set GNSS delay to 0 as delay is not simulated
72b5daf
@bresch
SIH: lower IMU noise before takeoff
6a667be 
This speeds-up the EKF alignment
@haumarco @bresch
fix sih hitl plane airframe
a984d0d
@bresch bresch force-pushed the pr_ekf2_ellipsoidal_sih branch from 3b401e2 to a984d0d Compare November 29, 2024 12:11
@bresch bresch marked this pull request as ready for review November 29, 2024 12:11
@bresch bresch merged commit b06ff99 into main Nov 29, 2024
59 of 62 checks passed
@bresch bresch deleted the pr_ekf2_ellipsoidal_sih branch November 29, 2024 13:21
@romain-chiap
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Regarding the FW in HITL, I had to set the param HIL_ACT_REV to 0 to make it work. Did you give it a try?

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bresch commented Dec 3, 2024

@haumarco had it working, could you comment on that please?

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haumarco commented Dec 3, 2024

@romain-chiap
I used this PR as a basis:
#24034

and then changing HIL_ACT_REV to 1 also made it work.

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On HITL fmu-f5 it works with HIL_ACT_REV=0 and doesn't work with HIL_ACT_REV=1.
As I understand on your setup it works with HIL_ACT_REV=1 and not with HIL_ACT_REV=0. Which setup did you use?

Can we implement something that works on all platforms? Something designed for the control allocation module?

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