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ekf2: fusion helper consistency

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- yaw fusion use measurementUpdate()
 - fuseVelPosHeight() respect _accel_bias_inhibit (like measurementUpdate())
This commit is contained in:
Daniel Agar
2022-10-17 10:17:31 -04:00
committed by GitHub
parent 7bc90c7f00
commit 116bb6049f
4 changed files with 33 additions and 58 deletions
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src/modules/ekf2/EKF/mag_fusion.cpp
+13 -33
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@@ -629,48 +629,28 @@ bool Ekf::fuseYaw(const float innovation, const float variance, estimator_aid_so
_innov_check_fail_status.flags.reject_yaw = false;
}
// apply covariance correction via P_new = (I -K*H)*P
// first calculate expression for KHP
// then calculate P - KHP
SquareMatrix24f KHP;
float KH[4];
// copy observation jacobian
SparseVector24f<0,1,2,3> Hfusion;
Hfusion.at<0>() = H_YAW(0);
Hfusion.at<1>() = H_YAW(1);
Hfusion.at<2>() = H_YAW(2);
Hfusion.at<3>() = H_YAW(3);
for (unsigned row = 0; row < _k_num_states; row++) {
KH[0] = Kfusion(row) * H_YAW(0);
KH[1] = Kfusion(row) * H_YAW(1);
KH[2] = Kfusion(row) * H_YAW(2);
KH[3] = Kfusion(row) * H_YAW(3);
for (unsigned column = 0; column < _k_num_states; column++) {
float tmp = KH[0] * P(0, column);
tmp += KH[1] * P(1, column);
tmp += KH[2] * P(2, column);
tmp += KH[3] * P(3, column);
KHP(row, column) = tmp;
}
}
const bool healthy = checkAndFixCovarianceUpdate(KHP);
_fault_status.flags.bad_hdg = !healthy;
if (healthy) {
// apply the covariance corrections
P -= KHP;
fixCovarianceErrors(true);
// apply the state corrections
fuse(Kfusion, aid_src_status.innovation);
if (measurementUpdate(Kfusion, Hfusion, aid_src_status.innovation)) {
_time_last_heading_fuse = _imu_sample_delayed.time_us;
aid_src_status.time_last_fuse = _imu_sample_delayed.time_us;
aid_src_status.fused = true;
_fault_status.flags.bad_hdg = false;
return true;
}
// otherwise
aid_src_status.fused = false;
_fault_status.flags.bad_hdg = true;
return false;
}