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EKF2: centralized auto-generated state (#22183)

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* ekf2_derivation: use single source of state definition

The state is defined as an ordered dictionary of group elements and
everything else is generated using that state definition

* ekf2: generated state sample add const reference getter

---------

Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
Co-authored-by: Daniel Agar <daniel@agar.ca>
This commit is contained in:
Mathieu Bresciani
2023-10-06 10:28:21 -04:00
committed by GitHub
co-authored by bresch Daniel Agar
parent 2e1d5687f9
commit 05fd8c5976
15 changed files with 279 additions and 206 deletions
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src/modules/ekf2/EKF/ekf.h
+2 -2
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@@ -304,7 +304,7 @@ public:
void getGravityInnovRatio(float &grav_innov_ratio) const { grav_innov_ratio = Vector3f(_aid_src_gravity.test_ratio).max(); }
// get the state vector at the delayed time horizon
matrix::Vector<float, State::size> getStateAtFusionHorizonAsVector() const;
const matrix::Vector<float, State::size> &getStateAtFusionHorizonAsVector() const { return _state.vector(); }
// get the wind velocity in m/s
const Vector2f &getWindVelocity() const { return _state.wind_vel; };
@@ -585,7 +585,7 @@ private:
Vector3f _ang_rate_delayed_raw{}; ///< uncorrected angular rate vector at fusion time horizon (rad/sec)
stateSample _state{}; ///< state struct of the ekf running at the delayed time horizon
StateSample _state{}; ///< state struct of the ekf running at the delayed time horizon
bool _filter_initialised{false}; ///< true when the EKF sttes and covariances been initialised