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ekf2: use global definition of quaternion error

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This commit is contained in:
bresch
2024-04-05 22:26:03 -04:00
committed by Daniel Agar
parent 3931379efe
commit 12fefbcfbd
23 changed files with 1345 additions and 1168 deletions
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src/modules/ekf2/test/test_EKF_flow.cpp
+4 -2
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@@ -258,10 +258,12 @@ TEST_F(EkfFlowTest, yawMotionCorrectionWithAutopilotGyroData)
// THEN: the flow due to the yaw rotation and the offsets is canceled
// and the velocity estimate stays 0
// FIXME: the estimate isn't perfect 0 mainly because the mag simulated measurement isn't rotating
// and this creates an incorrect Z gyro bias which is used to compensate for the apparent flow
const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity());
EXPECT_NEAR(estimated_horz_velocity(0), 0.f, 0.01f)
EXPECT_NEAR(estimated_horz_velocity(0), 0.f, 0.02f)
<< "estimated vel = " << estimated_horz_velocity(0);
EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.01f)
EXPECT_NEAR(estimated_horz_velocity(1), 0.f, 0.02f)
<< "estimated vel = " << estimated_horz_velocity(1);
}
src/modules/ekf2/test/test_EKF_initialization.cpp
+1 -1
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@@ -78,7 +78,7 @@ public:
void quaternionVarianceBigEnoughAfterOrientationInitialization(float quat_variance_limit = 0.00001f)
{
const matrix::Vector3f quat_variance = _ekf->getQuaternionVariance();
const matrix::Vector3f quat_variance = _ekf->getRotVarBody();
EXPECT_TRUE(quat_variance(0) > quat_variance_limit) << "quat_variance(3): " << quat_variance(0);
EXPECT_TRUE(quat_variance(1) > quat_variance_limit) << "quat_variance(1): " << quat_variance(1);
EXPECT_TRUE(quat_variance(2) > quat_variance_limit) << "quat_variance(2): " << quat_variance(2);
src/modules/ekf2/test/test_EKF_yaw_fusion_generated.cpp
+2 -3
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@@ -42,9 +42,8 @@ using namespace matrix;
Vector3f getRotVarNed(const Quatf &q, const SquareMatrixState &P)
{
constexpr auto S = State::quat_nominal;
matrix::SquareMatrix3f rot_cov_body = P.slice<S.dof, S.dof>(S.idx, S.idx);
auto R_to_earth = Dcmf(q);
return matrix::SquareMatrix<float, State::quat_nominal.dof>(R_to_earth * rot_cov_body * R_to_earth.T()).diag();
matrix::SquareMatrix3f rot_cov_ned = P.slice<S.dof, S.dof>(S.idx, S.idx);
return rot_cov_ned.diag();
}
TEST(YawFusionGenerated, positiveVarianceAllOrientations)