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Rename IMU biases

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kamilritz
2019-12-05 20:09:34 +11:00
committed by Paul Riseborough
parent dae8c2f8dc
commit 07e804676c
7 changed files with 46 additions and 47 deletions
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EKF/covariance.cpp
+11 -10
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@@ -148,13 +148,13 @@ void Ekf::predictCovariance()
float dvy = _imu_sample_delayed.delta_vel(1);
float dvz = _imu_sample_delayed.delta_vel(2);
float dax_b = _state.gyro_bias(0);
float day_b = _state.gyro_bias(1);
float daz_b = _state.gyro_bias(2);
float dax_b = _state.delta_ang_bias(0);
float day_b = _state.delta_ang_bias(1);
float daz_b = _state.delta_ang_bias(2);
float dvx_b = _state.accel_bias(0);
float dvy_b = _state.accel_bias(1);
float dvz_b = _state.accel_bias(2);
float dvx_b = _state.delta_vel_bias(0);
float dvy_b = _state.delta_vel_bias(1);
float dvz_b = _state.delta_vel_bias(2);
float dt = math::constrain(_imu_sample_delayed.delta_ang_dt, 0.5f * FILTER_UPDATE_PERIOD_S, 2.0f * FILTER_UPDATE_PERIOD_S);
float dt_inv = 1.0f / dt;
@@ -337,7 +337,7 @@ void Ekf::predictCovariance()
SPP[10] = SF[16];
// covariance update
float nextP[24][24];
float nextP[24][24] = {};
// calculate variances and upper diagonal covariances for quaternion, velocity, position and gyro bias states
nextP[0][0] = P[0][0] + P[1][0]*SF[9] + P[2][0]*SF[11] + P[3][0]*SF[10] + P[10][0]*SF[14] + P[11][0]*SF[15] + P[12][0]*SPP[10] + (daxVar*SQ[10])/4 + SF[9]*(P[0][1] + P[1][1]*SF[9] + P[2][1]*SF[11] + P[3][1]*SF[10] + P[10][1]*SF[14] + P[11][1]*SF[15] + P[12][1]*SPP[10]) + SF[11]*(P[0][2] + P[1][2]*SF[9] + P[2][2]*SF[11] + P[3][2]*SF[10] + P[10][2]*SF[14] + P[11][2]*SF[15] + P[12][2]*SPP[10]) + SF[10]*(P[0][3] + P[1][3]*SF[9] + P[2][3]*SF[11] + P[3][3]*SF[10] + P[10][3]*SF[14] + P[11][3]*SF[15] + P[12][3]*SPP[10]) + SF[14]*(P[0][10] + P[1][10]*SF[9] + P[2][10]*SF[11] + P[3][10]*SF[10] + P[10][10]*SF[14] + P[11][10]*SF[15] + P[12][10]*SPP[10]) + SF[15]*(P[0][11] + P[1][11]*SF[9] + P[2][11]*SF[11] + P[3][11]*SF[10] + P[10][11]*SF[14] + P[11][11]*SF[15] + P[12][11]*SPP[10]) + SPP[10]*(P[0][12] + P[1][12]*SF[9] + P[2][12]*SF[11] + P[3][12]*SF[10] + P[10][12]*SF[14] + P[11][12]*SF[15] + P[12][12]*SPP[10]) + (dayVar*sq(q2))/4 + (dazVar*sq(q3))/4;
@@ -822,13 +822,14 @@ void Ekf::fixCovarianceErrors()
float down_dvel_bias = 0.0f;
for (uint8_t axis_index = 0; axis_index < 3; axis_index++) {
down_dvel_bias += _state.accel_bias(axis_index) * _R_to_earth(2, axis_index);
down_dvel_bias += _state.delta_vel_bias(axis_index) * _R_to_earth(2, axis_index);
}
// check that the vertical component of accel bias is consistent with both the vertical position and velocity innovation
bool bad_acc_bias = (fabsf(down_dvel_bias) > dVel_bias_lim
&& down_dvel_bias * _vel_pos_innov[2] < 0.0f
&& down_dvel_bias * _vel_pos_innov[5] < 0.0f);
&& ( (down_dvel_bias * _gps_vel_innov(2) < 0.0f && _control_status.flags.gps)
|| (down_dvel_bias * _ev_vel_innov(2) < 0.0f && _control_status.flags.ev_vel) )
&& down_dvel_bias * _gps_pos_innov(2) < 0.0f);
// record the pass/fail
if (!bad_acc_bias) {