fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 20:13:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF2: Error-State Kalman Filter (#22262)

Browse Source 
* ekf derivation: change to error state formulation
* ekf2: update auto-generated code for error-state
* ekf2: adjust ekf2 code for error state formulation
* ekf2_tests: adjust unit tests for error-state EKF
* update change indicator for error-state EKF
* ekf2_derivation: allow disabling mag and wind states

---------

Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
This commit is contained in:
Mathieu Bresciani
2023-10-31 10:02:18 -04:00
committed by GitHub
co-authored by bresch
parent d7f388e590
commit 0d6c2c8ce9
51 changed files with 2667 additions and 4089 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/control.cpp
+1 -1
View File
@@ -68,7 +68,7 @@ void Ekf::controlFusionModes(const imuSample &imu_delayed)
// monitor the tilt alignment
if (!_control_status.flags.tilt_align) {
// whilst we are aligning the tilt, monitor the variances
const Vector3f angle_err_var_vec = calcRotVecVariances();
const Vector3f angle_err_var_vec = getQuaternionVariance();
// Once the tilt variances have reduced to equivalent of 3deg uncertainty
// and declare the tilt alignment complete