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EKF: Add method to set diagonals in covariance matrix

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Paul Riseborough
2017-11-13 07:05:56 +11:00
parent 32de90b9ef
commit 141264fe63
2 changed files with 19 additions and 1 deletions
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EKF/ekf.h
+5 -1
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@@ -596,9 +596,13 @@ private:
// zero the specified range of columns in the state covariance matrix
void zeroCols(float (&cov_mat)[_k_num_states][_k_num_states], uint8_t first, uint8_t last);
// zero the specified range of off diagonals the state covariance matrix
// zero the specified range of off diagonals in the state covariance matrix
void zeroOffDiag(float (&cov_mat)[_k_num_states][_k_num_states], uint8_t first, uint8_t last);
// zero the specified range of off diagonals in the state covariance matrix
// set the diagonals to the supplied value
void setDiag(float (&cov_mat)[_k_num_states][_k_num_states], uint8_t first, uint8_t last, float variance);
// calculate the measurement variance for the optical flow sensor
float calcOptFlowMeasVar();