From 16a00eae0b284637b7413824b3760177615761d8 Mon Sep 17 00:00:00 2001 From: kamilritz Date: Sat, 27 Jun 2020 09:48:05 +0200 Subject: [PATCH] Make Kfusion a Vector24f --- CMakeLists.txt | 2 +- EKF/airspeed_fusion.cpp | 61 ++- EKF/drag_fusion.cpp | 116 ++--- EKF/ekf.h | 2 +- EKF/ekf_helper.cpp | 43 +- EKF/gps_yaw_fusion.cpp | 18 +- EKF/mag_fusion.cpp | 238 +++++----- EKF/optflow_fusion.cpp | 18 +- EKF/sideslip_fusion.cpp | 69 ++- EKF/vel_pos_fusion.cpp | 6 +- test/change_indication/iris_gps.csv | 692 ++++++++++++++-------------- 11 files changed, 619 insertions(+), 646 deletions(-) diff --git a/CMakeLists.txt b/CMakeLists.txt index 7813d4c010..920ba61f43 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -134,7 +134,7 @@ if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR) include(ExternalProject) ExternalProject_Add(matrix GIT_REPOSITORY "https://github.com/PX4/Matrix.git" - GIT_TAG d613055462bcbeacfd188cbd53de56c1dbc7b94d + GIT_TAG f529358e9ac28b0809572c14a964ba7ba691adc4 UPDATE_COMMAND "" PATCH_COMMAND "" CONFIGURE_COMMAND "" diff --git a/EKF/airspeed_fusion.cpp b/EKF/airspeed_fusion.cpp index 1821036b22..676dd32e09 100644 --- a/EKF/airspeed_fusion.cpp +++ b/EKF/airspeed_fusion.cpp @@ -49,7 +49,7 @@ void Ekf::fuseAirspeed() float SH_TAS[3] = {}; // Variable used to optimise calculations of measurement jacobian float H_TAS[24] = {}; // Observation Jacobian float SK_TAS[2] = {}; // Variable used to optimise calculations of the Kalman gain vector - float Kfusion[24] = {}; // Kalman gain vector + Vector24f Kfusion; // Kalman gain vector const float vn = _state.vel(0); // Velocity in north direction const float ve = _state.vel(1); // Velocity in east direction @@ -114,32 +114,31 @@ void Ekf::fuseAirspeed() if (!update_wind_only) { // we have no other source of aiding, so use airspeed measurements to correct states - Kfusion[0] = SK_TAS[0]*(P(0,4)*SH_TAS[2] - P(0,22)*SH_TAS[2] + P(0,5)*SK_TAS[1] - P(0,23)*SK_TAS[1] + P(0,6)*vd*SH_TAS[0]); - Kfusion[1] = SK_TAS[0]*(P(1,4)*SH_TAS[2] - P(1,22)*SH_TAS[2] + P(1,5)*SK_TAS[1] - P(1,23)*SK_TAS[1] + P(1,6)*vd*SH_TAS[0]); - Kfusion[2] = SK_TAS[0]*(P(2,4)*SH_TAS[2] - P(2,22)*SH_TAS[2] + P(2,5)*SK_TAS[1] - P(2,23)*SK_TAS[1] + P(2,6)*vd*SH_TAS[0]); - Kfusion[3] = SK_TAS[0]*(P(3,4)*SH_TAS[2] - P(3,22)*SH_TAS[2] + P(3,5)*SK_TAS[1] - P(3,23)*SK_TAS[1] + P(3,6)*vd*SH_TAS[0]); - Kfusion[4] = SK_TAS[0]*(P(4,4)*SH_TAS[2] - P(4,22)*SH_TAS[2] + P(4,5)*SK_TAS[1] - P(4,23)*SK_TAS[1] + P(4,6)*vd*SH_TAS[0]); - Kfusion[5] = SK_TAS[0]*(P(5,4)*SH_TAS[2] - P(5,22)*SH_TAS[2] + P(5,5)*SK_TAS[1] - P(5,23)*SK_TAS[1] + P(5,6)*vd*SH_TAS[0]); - Kfusion[6] = SK_TAS[0]*(P(6,4)*SH_TAS[2] - P(6,22)*SH_TAS[2] + P(6,5)*SK_TAS[1] - P(6,23)*SK_TAS[1] + P(6,6)*vd*SH_TAS[0]); - Kfusion[7] = SK_TAS[0]*(P(7,4)*SH_TAS[2] - P(7,22)*SH_TAS[2] + P(7,5)*SK_TAS[1] - P(7,23)*SK_TAS[1] + P(7,6)*vd*SH_TAS[0]); - Kfusion[8] = SK_TAS[0]*(P(8,4)*SH_TAS[2] - P(8,22)*SH_TAS[2] + P(8,5)*SK_TAS[1] - P(8,23)*SK_TAS[1] + P(8,6)*vd*SH_TAS[0]); - Kfusion[9] = SK_TAS[0]*(P(9,4)*SH_TAS[2] - P(9,22)*SH_TAS[2] + P(9,5)*SK_TAS[1] - P(9,23)*SK_TAS[1] + P(9,6)*vd*SH_TAS[0]); - Kfusion[10] = SK_TAS[0]*(P(10,4)*SH_TAS[2] - P(10,22)*SH_TAS[2] + P(10,5)*SK_TAS[1] - P(10,23)*SK_TAS[1] + P(10,6)*vd*SH_TAS[0]); - Kfusion[11] = SK_TAS[0]*(P(11,4)*SH_TAS[2] - P(11,22)*SH_TAS[2] + P(11,5)*SK_TAS[1] - P(11,23)*SK_TAS[1] + P(11,6)*vd*SH_TAS[0]); - Kfusion[12] = SK_TAS[0]*(P(12,4)*SH_TAS[2] - P(12,22)*SH_TAS[2] + P(12,5)*SK_TAS[1] - P(12,23)*SK_TAS[1] + P(12,6)*vd*SH_TAS[0]); - Kfusion[13] = SK_TAS[0]*(P(13,4)*SH_TAS[2] - P(13,22)*SH_TAS[2] + P(13,5)*SK_TAS[1] - P(13,23)*SK_TAS[1] + P(13,6)*vd*SH_TAS[0]); - Kfusion[14] = SK_TAS[0]*(P(14,4)*SH_TAS[2] - P(14,22)*SH_TAS[2] + P(14,5)*SK_TAS[1] - P(14,23)*SK_TAS[1] + P(14,6)*vd*SH_TAS[0]); - Kfusion[15] = SK_TAS[0]*(P(15,4)*SH_TAS[2] - P(15,22)*SH_TAS[2] + P(15,5)*SK_TAS[1] - P(15,23)*SK_TAS[1] + P(15,6)*vd*SH_TAS[0]); - Kfusion[16] = SK_TAS[0]*(P(16,4)*SH_TAS[2] - P(16,22)*SH_TAS[2] + P(16,5)*SK_TAS[1] - P(16,23)*SK_TAS[1] + P(16,6)*vd*SH_TAS[0]); - Kfusion[17] = SK_TAS[0]*(P(17,4)*SH_TAS[2] - P(17,22)*SH_TAS[2] + P(17,5)*SK_TAS[1] - P(17,23)*SK_TAS[1] + P(17,6)*vd*SH_TAS[0]); - Kfusion[18] = SK_TAS[0]*(P(18,4)*SH_TAS[2] - P(18,22)*SH_TAS[2] + P(18,5)*SK_TAS[1] - P(18,23)*SK_TAS[1] + P(18,6)*vd*SH_TAS[0]); - Kfusion[19] = SK_TAS[0]*(P(19,4)*SH_TAS[2] - P(19,22)*SH_TAS[2] + P(19,5)*SK_TAS[1] - P(19,23)*SK_TAS[1] + P(19,6)*vd*SH_TAS[0]); - Kfusion[20] = SK_TAS[0]*(P(20,4)*SH_TAS[2] - P(20,22)*SH_TAS[2] + P(20,5)*SK_TAS[1] - P(20,23)*SK_TAS[1] + P(20,6)*vd*SH_TAS[0]); - Kfusion[21] = SK_TAS[0]*(P(21,4)*SH_TAS[2] - P(21,22)*SH_TAS[2] + P(21,5)*SK_TAS[1] - P(21,23)*SK_TAS[1] + P(21,6)*vd*SH_TAS[0]); + Kfusion(0) = SK_TAS[0]*(P(0,4)*SH_TAS[2] - P(0,22)*SH_TAS[2] + P(0,5)*SK_TAS[1] - P(0,23)*SK_TAS[1] + P(0,6)*vd*SH_TAS[0]); + Kfusion(1) = SK_TAS[0]*(P(1,4)*SH_TAS[2] - P(1,22)*SH_TAS[2] + P(1,5)*SK_TAS[1] - P(1,23)*SK_TAS[1] + P(1,6)*vd*SH_TAS[0]); + Kfusion(2) = SK_TAS[0]*(P(2,4)*SH_TAS[2] - P(2,22)*SH_TAS[2] + P(2,5)*SK_TAS[1] - P(2,23)*SK_TAS[1] + P(2,6)*vd*SH_TAS[0]); + Kfusion(3) = SK_TAS[0]*(P(3,4)*SH_TAS[2] - P(3,22)*SH_TAS[2] + P(3,5)*SK_TAS[1] - P(3,23)*SK_TAS[1] + P(3,6)*vd*SH_TAS[0]); + Kfusion(4) = SK_TAS[0]*(P(4,4)*SH_TAS[2] - P(4,22)*SH_TAS[2] + P(4,5)*SK_TAS[1] - P(4,23)*SK_TAS[1] + P(4,6)*vd*SH_TAS[0]); + Kfusion(5) = SK_TAS[0]*(P(5,4)*SH_TAS[2] - P(5,22)*SH_TAS[2] + P(5,5)*SK_TAS[1] - P(5,23)*SK_TAS[1] + P(5,6)*vd*SH_TAS[0]); + Kfusion(6) = SK_TAS[0]*(P(6,4)*SH_TAS[2] - P(6,22)*SH_TAS[2] + P(6,5)*SK_TAS[1] - P(6,23)*SK_TAS[1] + P(6,6)*vd*SH_TAS[0]); + Kfusion(7) = SK_TAS[0]*(P(7,4)*SH_TAS[2] - P(7,22)*SH_TAS[2] + P(7,5)*SK_TAS[1] - P(7,23)*SK_TAS[1] + P(7,6)*vd*SH_TAS[0]); + Kfusion(8) = SK_TAS[0]*(P(8,4)*SH_TAS[2] - P(8,22)*SH_TAS[2] + P(8,5)*SK_TAS[1] - P(8,23)*SK_TAS[1] + P(8,6)*vd*SH_TAS[0]); + Kfusion(9) = SK_TAS[0]*(P(9,4)*SH_TAS[2] - P(9,22)*SH_TAS[2] + P(9,5)*SK_TAS[1] - P(9,23)*SK_TAS[1] + P(9,6)*vd*SH_TAS[0]); + Kfusion(10) = SK_TAS[0]*(P(10,4)*SH_TAS[2] - P(10,22)*SH_TAS[2] + P(10,5)*SK_TAS[1] - P(10,23)*SK_TAS[1] + P(10,6)*vd*SH_TAS[0]); + Kfusion(11) = SK_TAS[0]*(P(11,4)*SH_TAS[2] - P(11,22)*SH_TAS[2] + P(11,5)*SK_TAS[1] - P(11,23)*SK_TAS[1] + P(11,6)*vd*SH_TAS[0]); + Kfusion(12) = SK_TAS[0]*(P(12,4)*SH_TAS[2] - P(12,22)*SH_TAS[2] + P(12,5)*SK_TAS[1] - P(12,23)*SK_TAS[1] + P(12,6)*vd*SH_TAS[0]); + Kfusion(13) = SK_TAS[0]*(P(13,4)*SH_TAS[2] - P(13,22)*SH_TAS[2] + P(13,5)*SK_TAS[1] - P(13,23)*SK_TAS[1] + P(13,6)*vd*SH_TAS[0]); + Kfusion(14) = SK_TAS[0]*(P(14,4)*SH_TAS[2] - P(14,22)*SH_TAS[2] + P(14,5)*SK_TAS[1] - P(14,23)*SK_TAS[1] + P(14,6)*vd*SH_TAS[0]); + Kfusion(15) = SK_TAS[0]*(P(15,4)*SH_TAS[2] - P(15,22)*SH_TAS[2] + P(15,5)*SK_TAS[1] - P(15,23)*SK_TAS[1] + P(15,6)*vd*SH_TAS[0]); + Kfusion(16) = SK_TAS[0]*(P(16,4)*SH_TAS[2] - P(16,22)*SH_TAS[2] + P(16,5)*SK_TAS[1] - P(16,23)*SK_TAS[1] + P(16,6)*vd*SH_TAS[0]); + Kfusion(17) = SK_TAS[0]*(P(17,4)*SH_TAS[2] - P(17,22)*SH_TAS[2] + P(17,5)*SK_TAS[1] - P(17,23)*SK_TAS[1] + P(17,6)*vd*SH_TAS[0]); + Kfusion(18) = SK_TAS[0]*(P(18,4)*SH_TAS[2] - P(18,22)*SH_TAS[2] + P(18,5)*SK_TAS[1] - P(18,23)*SK_TAS[1] + P(18,6)*vd*SH_TAS[0]); + Kfusion(19) = SK_TAS[0]*(P(19,4)*SH_TAS[2] - P(19,22)*SH_TAS[2] + P(19,5)*SK_TAS[1] - P(19,23)*SK_TAS[1] + P(19,6)*vd*SH_TAS[0]); + Kfusion(20) = SK_TAS[0]*(P(20,4)*SH_TAS[2] - P(20,22)*SH_TAS[2] + P(20,5)*SK_TAS[1] - P(20,23)*SK_TAS[1] + P(20,6)*vd*SH_TAS[0]); + Kfusion(21) = SK_TAS[0]*(P(21,4)*SH_TAS[2] - P(21,22)*SH_TAS[2] + P(21,5)*SK_TAS[1] - P(21,23)*SK_TAS[1] + P(21,6)*vd*SH_TAS[0]); } - Kfusion[22] = SK_TAS[0]*(P(22,4)*SH_TAS[2] - P(22,22)*SH_TAS[2] + P(22,5)*SK_TAS[1] - P(22,23)*SK_TAS[1] + P(22,6)*vd*SH_TAS[0]); - Kfusion[23] = SK_TAS[0]*(P(23,4)*SH_TAS[2] - P(23,22)*SH_TAS[2] + P(23,5)*SK_TAS[1] - P(23,23)*SK_TAS[1] + P(23,6)*vd*SH_TAS[0]); - + Kfusion(22) = SK_TAS[0]*(P(22,4)*SH_TAS[2] - P(22,22)*SH_TAS[2] + P(22,5)*SK_TAS[1] - P(22,23)*SK_TAS[1] + P(22,6)*vd*SH_TAS[0]); + Kfusion(23) = SK_TAS[0]*(P(23,4)*SH_TAS[2] - P(23,22)*SH_TAS[2] + P(23,5)*SK_TAS[1] - P(23,23)*SK_TAS[1] + P(23,6)*vd*SH_TAS[0]); // Calculate measurement innovation _airspeed_innov = v_tas_pred - @@ -171,11 +170,11 @@ void Ekf::fuseAirspeed() for (unsigned row = 0; row < _k_num_states; row++) { - KH[0] = Kfusion[row] * H_TAS[4]; - KH[1] = Kfusion[row] * H_TAS[5]; - KH[2] = Kfusion[row] * H_TAS[6]; - KH[3] = Kfusion[row] * H_TAS[22]; - KH[4] = Kfusion[row] * H_TAS[23]; + KH[0] = Kfusion(row) * H_TAS[4]; + KH[1] = Kfusion(row) * H_TAS[5]; + KH[2] = Kfusion(row) * H_TAS[6]; + KH[3] = Kfusion(row) * H_TAS[22]; + KH[4] = Kfusion(row) * H_TAS[23]; for (unsigned column = 0; column < _k_num_states; column++) { float tmp = KH[0] * P(4,column); diff --git a/EKF/drag_fusion.cpp b/EKF/drag_fusion.cpp index dbe152b4b7..2dfb2613ca 100644 --- a/EKF/drag_fusion.cpp +++ b/EKF/drag_fusion.cpp @@ -48,7 +48,7 @@ void Ekf::fuseDrag() float SH_ACC[4] = {}; // Variable used to optimise calculations of measurement jacobian float H_ACC[24] = {}; // Observation Jacobian float SK_ACC[9] = {}; // Variable used to optimise calculations of the Kalman gain vector - float Kfusion[24] = {}; // Kalman gain vector + Vector24f Kfusion; // Kalman gain vector // TODO: resolve variance vs stdDev bug const float R_ACC = _params.drag_noise; // observation noise variance in specific force drag (m/sec**2)**2 @@ -120,30 +120,30 @@ void Ekf::fuseDrag() SK_ACC[5] = 2.0f*q0*q2 - 2.0f*q1*q3; SK_ACC[6] = SH_ACC[3]; // Don't allow modification of any states other than wind velocity at this stage of development - we only need a wind estimate. -// Kfusion[0] = -SK_ACC[0]*(Kacc*P(0,4)*SH_ACC[0] - Kacc*P(0,22)*SH_ACC[0] + Kacc*P(0,0)*SK_ACC[3] - Kacc*P(0,2)*SK_ACC[2] + Kacc*P(0,3)*SK_ACC[1] + Kacc*P(0,1)*SK_ACC[4] + Kacc*P(0,5)*SK_ACC[6] - Kacc*P(0,6)*SK_ACC[5] - Kacc*P(0,23)*SK_ACC[6]); -// Kfusion[1] = -SK_ACC[0]*(Kacc*P(1,4)*SH_ACC[0] - Kacc*P(1,22)*SH_ACC[0] + Kacc*P(1,0)*SK_ACC[3] - Kacc*P(1,2)*SK_ACC[2] + Kacc*P(1,3)*SK_ACC[1] + Kacc*P(1,1)*SK_ACC[4] + Kacc*P(1,5)*SK_ACC[6] - Kacc*P(1,6)*SK_ACC[5] - Kacc*P(1,23)*SK_ACC[6]); -// Kfusion[2] = -SK_ACC[0]*(Kacc*P(2,4)*SH_ACC[0] - Kacc*P(2,22)*SH_ACC[0] + Kacc*P(2,0)*SK_ACC[3] - Kacc*P(2,2)*SK_ACC[2] + Kacc*P(2,3)*SK_ACC[1] + Kacc*P(2,1)*SK_ACC[4] + Kacc*P(2,5)*SK_ACC[6] - Kacc*P(2,6)*SK_ACC[5] - Kacc*P(2,23)*SK_ACC[6]); -// Kfusion[3] = -SK_ACC[0]*(Kacc*P(3,4)*SH_ACC[0] - Kacc*P(3,22)*SH_ACC[0] + Kacc*P(3,0)*SK_ACC[3] - Kacc*P(3,2)*SK_ACC[2] + Kacc*P(3,3)*SK_ACC[1] + Kacc*P(3,1)*SK_ACC[4] + Kacc*P(3,5)*SK_ACC[6] - Kacc*P(3,6)*SK_ACC[5] - Kacc*P(3,23)*SK_ACC[6]); -// Kfusion[4] = -SK_ACC[0]*(Kacc*P(4,4)*SH_ACC[0] - Kacc*P(4,22)*SH_ACC[0] + Kacc*P(4,0)*SK_ACC[3] - Kacc*P(4,2)*SK_ACC[2] + Kacc*P(4,3)*SK_ACC[1] + Kacc*P(4,1)*SK_ACC[4] + Kacc*P(4,5)*SK_ACC[6] - Kacc*P(4,6)*SK_ACC[5] - Kacc*P(4,23)*SK_ACC[6]); -// Kfusion[5] = -SK_ACC[0]*(Kacc*P(5,4)*SH_ACC[0] - Kacc*P(5,22)*SH_ACC[0] + Kacc*P(5,0)*SK_ACC[3] - Kacc*P(5,2)*SK_ACC[2] + Kacc*P(5,3)*SK_ACC[1] + Kacc*P(5,1)*SK_ACC[4] + Kacc*P(5,5)*SK_ACC[6] - Kacc*P(5,6)*SK_ACC[5] - Kacc*P(5,23)*SK_ACC[6]); -// Kfusion[6] = -SK_ACC[0]*(Kacc*P(6,4)*SH_ACC[0] - Kacc*P(6,22)*SH_ACC[0] + Kacc*P(6,0)*SK_ACC[3] - Kacc*P(6,2)*SK_ACC[2] + Kacc*P(6,3)*SK_ACC[1] + Kacc*P(6,1)*SK_ACC[4] + Kacc*P(6,5)*SK_ACC[6] - Kacc*P(6,6)*SK_ACC[5] - Kacc*P(6,23)*SK_ACC[6]); -// Kfusion[7] = -SK_ACC[0]*(Kacc*P(7,4)*SH_ACC[0] - Kacc*P(7,22)*SH_ACC[0] + Kacc*P(7,0)*SK_ACC[3] - Kacc*P(7,2)*SK_ACC[2] + Kacc*P(7,3)*SK_ACC[1] + Kacc*P(7,1)*SK_ACC[4] + Kacc*P(7,5)*SK_ACC[6] - Kacc*P(7,6)*SK_ACC[5] - Kacc*P(7,23)*SK_ACC[6]); -// Kfusion[8] = -SK_ACC[0]*(Kacc*P(8,4)*SH_ACC[0] - Kacc*P(8,22)*SH_ACC[0] + Kacc*P(8,0)*SK_ACC[3] - Kacc*P(8,2)*SK_ACC[2] + Kacc*P(8,3)*SK_ACC[1] + Kacc*P(8,1)*SK_ACC[4] + Kacc*P(8,5)*SK_ACC[6] - Kacc*P(8,6)*SK_ACC[5] - Kacc*P(8,23)*SK_ACC[6]); -// Kfusion[9] = -SK_ACC[0]*(Kacc*P(9,4)*SH_ACC[0] - Kacc*P(9,22)*SH_ACC[0] + Kacc*P(9,0)*SK_ACC[3] - Kacc*P(9,2)*SK_ACC[2] + Kacc*P(9,3)*SK_ACC[1] + Kacc*P(9,1)*SK_ACC[4] + Kacc*P(9,5)*SK_ACC[6] - Kacc*P(9,6)*SK_ACC[5] - Kacc*P(9,23)*SK_ACC[6]); -// Kfusion[10] = -SK_ACC[0]*(Kacc*P(10,4)*SH_ACC[0] - Kacc*P(10,22)*SH_ACC[0] + Kacc*P(10,0)*SK_ACC[3] - Kacc*P(10,2)*SK_ACC[2] + Kacc*P(10,3)*SK_ACC[1] + Kacc*P(10,1)*SK_ACC[4] + Kacc*P(10,5)*SK_ACC[6] - Kacc*P(10,6)*SK_ACC[5] - Kacc*P(10,23)*SK_ACC[6]); -// Kfusion[11] = -SK_ACC[0]*(Kacc*P(11,4)*SH_ACC[0] - Kacc*P(11,22)*SH_ACC[0] + Kacc*P(11,0)*SK_ACC[3] - Kacc*P(11,2)*SK_ACC[2] + Kacc*P(11,3)*SK_ACC[1] + Kacc*P(11,1)*SK_ACC[4] + Kacc*P(11,5)*SK_ACC[6] - Kacc*P(11,6)*SK_ACC[5] - Kacc*P(11,23)*SK_ACC[6]); -// Kfusion[12] = -SK_ACC[0]*(Kacc*P(12,4)*SH_ACC[0] - Kacc*P(12,22)*SH_ACC[0] + Kacc*P(12,0)*SK_ACC[3] - Kacc*P(12,2)*SK_ACC[2] + Kacc*P(12,3)*SK_ACC[1] + Kacc*P(12,1)*SK_ACC[4] + Kacc*P(12,5)*SK_ACC[6] - Kacc*P(12,6)*SK_ACC[5] - Kacc*P(12,23)*SK_ACC[6]); -// Kfusion[13] = -SK_ACC[0]*(Kacc*P(13,4)*SH_ACC[0] - Kacc*P(13,22)*SH_ACC[0] + Kacc*P(13,0)*SK_ACC[3] - Kacc*P(13,2)*SK_ACC[2] + Kacc*P(13,3)*SK_ACC[1] + Kacc*P(13,1)*SK_ACC[4] + Kacc*P(13,5)*SK_ACC[6] - Kacc*P(13,6)*SK_ACC[5] - Kacc*P(13,23)*SK_ACC[6]); -// Kfusion[14] = -SK_ACC[0]*(Kacc*P(14,4)*SH_ACC[0] - Kacc*P(14,22)*SH_ACC[0] + Kacc*P(14,0)*SK_ACC[3] - Kacc*P(14,2)*SK_ACC[2] + Kacc*P(14,3)*SK_ACC[1] + Kacc*P(14,1)*SK_ACC[4] + Kacc*P(14,5)*SK_ACC[6] - Kacc*P(14,6)*SK_ACC[5] - Kacc*P(14,23)*SK_ACC[6]); -// Kfusion[15] = -SK_ACC[0]*(Kacc*P(15,4)*SH_ACC[0] - Kacc*P(15,22)*SH_ACC[0] + Kacc*P(15,0)*SK_ACC[3] - Kacc*P(15,2)*SK_ACC[2] + Kacc*P(15,3)*SK_ACC[1] + Kacc*P(15,1)*SK_ACC[4] + Kacc*P(15,5)*SK_ACC[6] - Kacc*P(15,6)*SK_ACC[5] - Kacc*P(15,23)*SK_ACC[6]); -// Kfusion[16] = -SK_ACC[0]*(Kacc*P(16,4)*SH_ACC[0] - Kacc*P(16,22)*SH_ACC[0] + Kacc*P(16,0)*SK_ACC[3] - Kacc*P(16,2)*SK_ACC[2] + Kacc*P(16,3)*SK_ACC[1] + Kacc*P(16,1)*SK_ACC[4] + Kacc*P(16,5)*SK_ACC[6] - Kacc*P(16,6)*SK_ACC[5] - Kacc*P(16,23)*SK_ACC[6]); -// Kfusion[17] = -SK_ACC[0]*(Kacc*P(17,4)*SH_ACC[0] - Kacc*P(17,22)*SH_ACC[0] + Kacc*P(17,0)*SK_ACC[3] - Kacc*P(17,2)*SK_ACC[2] + Kacc*P(17,3)*SK_ACC[1] + Kacc*P(17,1)*SK_ACC[4] + Kacc*P(17,5)*SK_ACC[6] - Kacc*P(17,6)*SK_ACC[5] - Kacc*P(17,23)*SK_ACC[6]); -// Kfusion[18] = -SK_ACC[0]*(Kacc*P(18,4)*SH_ACC[0] - Kacc*P(18,22)*SH_ACC[0] + Kacc*P(18,0)*SK_ACC[3] - Kacc*P(18,2)*SK_ACC[2] + Kacc*P(18,3)*SK_ACC[1] + Kacc*P(18,1)*SK_ACC[4] + Kacc*P(18,5)*SK_ACC[6] - Kacc*P(18,6)*SK_ACC[5] - Kacc*P(18,23)*SK_ACC[6]); -// Kfusion[19] = -SK_ACC[0]*(Kacc*P(19,4)*SH_ACC[0] - Kacc*P(19,22)*SH_ACC[0] + Kacc*P(19,0)*SK_ACC[3] - Kacc*P(19,2)*SK_ACC[2] + Kacc*P(19,3)*SK_ACC[1] + Kacc*P(19,1)*SK_ACC[4] + Kacc*P(19,5)*SK_ACC[6] - Kacc*P(19,6)*SK_ACC[5] - Kacc*P(19,23)*SK_ACC[6]); -// Kfusion[20] = -SK_ACC[0]*(Kacc*P(20,4)*SH_ACC[0] - Kacc*P(20,22)*SH_ACC[0] + Kacc*P(20,0)*SK_ACC[3] - Kacc*P(20,2)*SK_ACC[2] + Kacc*P(20,3)*SK_ACC[1] + Kacc*P(20,1)*SK_ACC[4] + Kacc*P(20,5)*SK_ACC[6] - Kacc*P(20,6)*SK_ACC[5] - Kacc*P(20,23)*SK_ACC[6]); -// Kfusion[21] = -SK_ACC[0]*(Kacc*P(21,4)*SH_ACC[0] - Kacc*P(21,22)*SH_ACC[0] + Kacc*P(21,0)*SK_ACC[3] - Kacc*P(21,2)*SK_ACC[2] + Kacc*P(21,3)*SK_ACC[1] + Kacc*P(21,1)*SK_ACC[4] + Kacc*P(21,5)*SK_ACC[6] - Kacc*P(21,6)*SK_ACC[5] - Kacc*P(21,23)*SK_ACC[6]); - Kfusion[22] = -SK_ACC[0]*(Kacc*P(22,4)*SH_ACC[0] - Kacc*P(22,22)*SH_ACC[0] + Kacc*P(22,0)*SK_ACC[3] - Kacc*P(22,2)*SK_ACC[2] + Kacc*P(22,3)*SK_ACC[1] + Kacc*P(22,1)*SK_ACC[4] + Kacc*P(22,5)*SK_ACC[6] - Kacc*P(22,6)*SK_ACC[5] - Kacc*P(22,23)*SK_ACC[6]); - Kfusion[23] = -SK_ACC[0]*(Kacc*P(23,4)*SH_ACC[0] - Kacc*P(23,22)*SH_ACC[0] + Kacc*P(23,0)*SK_ACC[3] - Kacc*P(23,2)*SK_ACC[2] + Kacc*P(23,3)*SK_ACC[1] + Kacc*P(23,1)*SK_ACC[4] + Kacc*P(23,5)*SK_ACC[6] - Kacc*P(23,6)*SK_ACC[5] - Kacc*P(23,23)*SK_ACC[6]); +// Kfusion(0) = -SK_ACC[0]*(Kacc*P(0,4)*SH_ACC[0] - Kacc*P(0,22)*SH_ACC[0] + Kacc*P(0,0)*SK_ACC[3] - Kacc*P(0,2)*SK_ACC[2] + Kacc*P(0,3)*SK_ACC[1] + Kacc*P(0,1)*SK_ACC[4] + Kacc*P(0,5)*SK_ACC[6] - Kacc*P(0,6)*SK_ACC[5] - Kacc*P(0,23)*SK_ACC[6]); +// Kfusion(1) = -SK_ACC[0]*(Kacc*P(1,4)*SH_ACC[0] - Kacc*P(1,22)*SH_ACC[0] + Kacc*P(1,0)*SK_ACC[3] - Kacc*P(1,2)*SK_ACC[2] + Kacc*P(1,3)*SK_ACC[1] + Kacc*P(1,1)*SK_ACC[4] + Kacc*P(1,5)*SK_ACC[6] - Kacc*P(1,6)*SK_ACC[5] - Kacc*P(1,23)*SK_ACC[6]); +// Kfusion(2) = -SK_ACC[0]*(Kacc*P(2,4)*SH_ACC[0] - Kacc*P(2,22)*SH_ACC[0] + Kacc*P(2,0)*SK_ACC[3] - Kacc*P(2,2)*SK_ACC[2] + Kacc*P(2,3)*SK_ACC[1] + Kacc*P(2,1)*SK_ACC[4] + Kacc*P(2,5)*SK_ACC[6] - Kacc*P(2,6)*SK_ACC[5] - Kacc*P(2,23)*SK_ACC[6]); +// Kfusion(3) = -SK_ACC[0]*(Kacc*P(3,4)*SH_ACC[0] - Kacc*P(3,22)*SH_ACC[0] + Kacc*P(3,0)*SK_ACC[3] - Kacc*P(3,2)*SK_ACC[2] + Kacc*P(3,3)*SK_ACC[1] + Kacc*P(3,1)*SK_ACC[4] + Kacc*P(3,5)*SK_ACC[6] - Kacc*P(3,6)*SK_ACC[5] - Kacc*P(3,23)*SK_ACC[6]); +// Kfusion(4) = -SK_ACC[0]*(Kacc*P(4,4)*SH_ACC[0] - Kacc*P(4,22)*SH_ACC[0] + Kacc*P(4,0)*SK_ACC[3] - Kacc*P(4,2)*SK_ACC[2] + Kacc*P(4,3)*SK_ACC[1] + Kacc*P(4,1)*SK_ACC[4] + Kacc*P(4,5)*SK_ACC[6] - Kacc*P(4,6)*SK_ACC[5] - Kacc*P(4,23)*SK_ACC[6]); +// Kfusion(5) = -SK_ACC[0]*(Kacc*P(5,4)*SH_ACC[0] - Kacc*P(5,22)*SH_ACC[0] + Kacc*P(5,0)*SK_ACC[3] - Kacc*P(5,2)*SK_ACC[2] + Kacc*P(5,3)*SK_ACC[1] + Kacc*P(5,1)*SK_ACC[4] + Kacc*P(5,5)*SK_ACC[6] - Kacc*P(5,6)*SK_ACC[5] - Kacc*P(5,23)*SK_ACC[6]); +// Kfusion(6) = -SK_ACC[0]*(Kacc*P(6,4)*SH_ACC[0] - Kacc*P(6,22)*SH_ACC[0] + Kacc*P(6,0)*SK_ACC[3] - Kacc*P(6,2)*SK_ACC[2] + Kacc*P(6,3)*SK_ACC[1] + Kacc*P(6,1)*SK_ACC[4] + Kacc*P(6,5)*SK_ACC[6] - Kacc*P(6,6)*SK_ACC[5] - Kacc*P(6,23)*SK_ACC[6]); +// Kfusion(7) = -SK_ACC[0]*(Kacc*P(7,4)*SH_ACC[0] - Kacc*P(7,22)*SH_ACC[0] + Kacc*P(7,0)*SK_ACC[3] - Kacc*P(7,2)*SK_ACC[2] + Kacc*P(7,3)*SK_ACC[1] + Kacc*P(7,1)*SK_ACC[4] + Kacc*P(7,5)*SK_ACC[6] - Kacc*P(7,6)*SK_ACC[5] - Kacc*P(7,23)*SK_ACC[6]); +// Kfusion(8) = -SK_ACC[0]*(Kacc*P(8,4)*SH_ACC[0] - Kacc*P(8,22)*SH_ACC[0] + Kacc*P(8,0)*SK_ACC[3] - Kacc*P(8,2)*SK_ACC[2] + Kacc*P(8,3)*SK_ACC[1] + Kacc*P(8,1)*SK_ACC[4] + Kacc*P(8,5)*SK_ACC[6] - Kacc*P(8,6)*SK_ACC[5] - Kacc*P(8,23)*SK_ACC[6]); +// Kfusion(9) = -SK_ACC[0]*(Kacc*P(9,4)*SH_ACC[0] - Kacc*P(9,22)*SH_ACC[0] + Kacc*P(9,0)*SK_ACC[3] - Kacc*P(9,2)*SK_ACC[2] + Kacc*P(9,3)*SK_ACC[1] + Kacc*P(9,1)*SK_ACC[4] + Kacc*P(9,5)*SK_ACC[6] - Kacc*P(9,6)*SK_ACC[5] - Kacc*P(9,23)*SK_ACC[6]); +// Kfusion(10) = -SK_ACC[0]*(Kacc*P(10,4)*SH_ACC[0] - Kacc*P(10,22)*SH_ACC[0] + Kacc*P(10,0)*SK_ACC[3] - Kacc*P(10,2)*SK_ACC[2] + Kacc*P(10,3)*SK_ACC[1] + Kacc*P(10,1)*SK_ACC[4] + Kacc*P(10,5)*SK_ACC[6] - Kacc*P(10,6)*SK_ACC[5] - Kacc*P(10,23)*SK_ACC[6]); +// Kfusion(11) = -SK_ACC[0]*(Kacc*P(11,4)*SH_ACC[0] - Kacc*P(11,22)*SH_ACC[0] + Kacc*P(11,0)*SK_ACC[3] - Kacc*P(11,2)*SK_ACC[2] + Kacc*P(11,3)*SK_ACC[1] + Kacc*P(11,1)*SK_ACC[4] + Kacc*P(11,5)*SK_ACC[6] - Kacc*P(11,6)*SK_ACC[5] - Kacc*P(11,23)*SK_ACC[6]); +// Kfusion(12) = -SK_ACC[0]*(Kacc*P(12,4)*SH_ACC[0] - Kacc*P(12,22)*SH_ACC[0] + Kacc*P(12,0)*SK_ACC[3] - Kacc*P(12,2)*SK_ACC[2] + Kacc*P(12,3)*SK_ACC[1] + Kacc*P(12,1)*SK_ACC[4] + Kacc*P(12,5)*SK_ACC[6] - Kacc*P(12,6)*SK_ACC[5] - Kacc*P(12,23)*SK_ACC[6]); +// Kfusion(13) = -SK_ACC[0]*(Kacc*P(13,4)*SH_ACC[0] - Kacc*P(13,22)*SH_ACC[0] + Kacc*P(13,0)*SK_ACC[3] - Kacc*P(13,2)*SK_ACC[2] + Kacc*P(13,3)*SK_ACC[1] + Kacc*P(13,1)*SK_ACC[4] + Kacc*P(13,5)*SK_ACC[6] - Kacc*P(13,6)*SK_ACC[5] - Kacc*P(13,23)*SK_ACC[6]); +// Kfusion(14) = -SK_ACC[0]*(Kacc*P(14,4)*SH_ACC[0] - Kacc*P(14,22)*SH_ACC[0] + Kacc*P(14,0)*SK_ACC[3] - Kacc*P(14,2)*SK_ACC[2] + Kacc*P(14,3)*SK_ACC[1] + Kacc*P(14,1)*SK_ACC[4] + Kacc*P(14,5)*SK_ACC[6] - Kacc*P(14,6)*SK_ACC[5] - Kacc*P(14,23)*SK_ACC[6]); +// Kfusion(15) = -SK_ACC[0]*(Kacc*P(15,4)*SH_ACC[0] - Kacc*P(15,22)*SH_ACC[0] + Kacc*P(15,0)*SK_ACC[3] - Kacc*P(15,2)*SK_ACC[2] + Kacc*P(15,3)*SK_ACC[1] + Kacc*P(15,1)*SK_ACC[4] + Kacc*P(15,5)*SK_ACC[6] - Kacc*P(15,6)*SK_ACC[5] - Kacc*P(15,23)*SK_ACC[6]); +// Kfusion(16) = -SK_ACC[0]*(Kacc*P(16,4)*SH_ACC[0] - Kacc*P(16,22)*SH_ACC[0] + Kacc*P(16,0)*SK_ACC[3] - Kacc*P(16,2)*SK_ACC[2] + Kacc*P(16,3)*SK_ACC[1] + Kacc*P(16,1)*SK_ACC[4] + Kacc*P(16,5)*SK_ACC[6] - Kacc*P(16,6)*SK_ACC[5] - Kacc*P(16,23)*SK_ACC[6]); +// Kfusion(17) = -SK_ACC[0]*(Kacc*P(17,4)*SH_ACC[0] - Kacc*P(17,22)*SH_ACC[0] + Kacc*P(17,0)*SK_ACC[3] - Kacc*P(17,2)*SK_ACC[2] + Kacc*P(17,3)*SK_ACC[1] + Kacc*P(17,1)*SK_ACC[4] + Kacc*P(17,5)*SK_ACC[6] - Kacc*P(17,6)*SK_ACC[5] - Kacc*P(17,23)*SK_ACC[6]); +// Kfusion(18) = -SK_ACC[0]*(Kacc*P(18,4)*SH_ACC[0] - Kacc*P(18,22)*SH_ACC[0] + Kacc*P(18,0)*SK_ACC[3] - Kacc*P(18,2)*SK_ACC[2] + Kacc*P(18,3)*SK_ACC[1] + Kacc*P(18,1)*SK_ACC[4] + Kacc*P(18,5)*SK_ACC[6] - Kacc*P(18,6)*SK_ACC[5] - Kacc*P(18,23)*SK_ACC[6]); +// Kfusion(19) = -SK_ACC[0]*(Kacc*P(19,4)*SH_ACC[0] - Kacc*P(19,22)*SH_ACC[0] + Kacc*P(19,0)*SK_ACC[3] - Kacc*P(19,2)*SK_ACC[2] + Kacc*P(19,3)*SK_ACC[1] + Kacc*P(19,1)*SK_ACC[4] + Kacc*P(19,5)*SK_ACC[6] - Kacc*P(19,6)*SK_ACC[5] - Kacc*P(19,23)*SK_ACC[6]); +// Kfusion(20) = -SK_ACC[0]*(Kacc*P(20,4)*SH_ACC[0] - Kacc*P(20,22)*SH_ACC[0] + Kacc*P(20,0)*SK_ACC[3] - Kacc*P(20,2)*SK_ACC[2] + Kacc*P(20,3)*SK_ACC[1] + Kacc*P(20,1)*SK_ACC[4] + Kacc*P(20,5)*SK_ACC[6] - Kacc*P(20,6)*SK_ACC[5] - Kacc*P(20,23)*SK_ACC[6]); +// Kfusion(21) = -SK_ACC[0]*(Kacc*P(21,4)*SH_ACC[0] - Kacc*P(21,22)*SH_ACC[0] + Kacc*P(21,0)*SK_ACC[3] - Kacc*P(21,2)*SK_ACC[2] + Kacc*P(21,3)*SK_ACC[1] + Kacc*P(21,1)*SK_ACC[4] + Kacc*P(21,5)*SK_ACC[6] - Kacc*P(21,6)*SK_ACC[5] - Kacc*P(21,23)*SK_ACC[6]); + Kfusion(22) = -SK_ACC[0]*(Kacc*P(22,4)*SH_ACC[0] - Kacc*P(22,22)*SH_ACC[0] + Kacc*P(22,0)*SK_ACC[3] - Kacc*P(22,2)*SK_ACC[2] + Kacc*P(22,3)*SK_ACC[1] + Kacc*P(22,1)*SK_ACC[4] + Kacc*P(22,5)*SK_ACC[6] - Kacc*P(22,6)*SK_ACC[5] - Kacc*P(22,23)*SK_ACC[6]); + Kfusion(23) = -SK_ACC[0]*(Kacc*P(23,4)*SH_ACC[0] - Kacc*P(23,22)*SH_ACC[0] + Kacc*P(23,0)*SK_ACC[3] - Kacc*P(23,2)*SK_ACC[2] + Kacc*P(23,3)*SK_ACC[1] + Kacc*P(23,1)*SK_ACC[4] + Kacc*P(23,5)*SK_ACC[6] - Kacc*P(23,6)*SK_ACC[5] - Kacc*P(23,23)*SK_ACC[6]); // calculate the predicted acceleration and innovation measured along the X body axis float drag_sign; @@ -195,30 +195,30 @@ void Ekf::fuseDrag() SK_ACC[7] = 2.0f*q0*q1 + 2.0f*q2*q3; SK_ACC[8] = SH_ACC[0]; // Don't allow modification of any states other than wind velocity at this stage of development - we only need a wind estimate. -// Kfusion[0] = -SK_ACC[0]*(Kacc*P(0,0)*SK_ACC[3] + Kacc*P(0,1)*SK_ACC[2] - Kacc*P(0,3)*SK_ACC[1] + Kacc*P(0,2)*SK_ACC[4] - Kacc*P(0,4)*SK_ACC[5] + Kacc*P(0,5)*SK_ACC[8] + Kacc*P(0,6)*SK_ACC[7] + 2*Kacc*P(0,22)*SK_ACC[6] - Kacc*P(0,23)*SK_ACC[8]); -// Kfusion[1] = -SK_ACC[0]*(Kacc*P(1,0)*SK_ACC[3] + Kacc*P(1,1)*SK_ACC[2] - Kacc*P(1,3)*SK_ACC[1] + Kacc*P(1,2)*SK_ACC[4] - Kacc*P(1,4)*SK_ACC[5] + Kacc*P(1,5)*SK_ACC[8] + Kacc*P(1,6)*SK_ACC[7] + 2*Kacc*P(1,22)*SK_ACC[6] - Kacc*P(1,23)*SK_ACC[8]); -// Kfusion[2] = -SK_ACC[0]*(Kacc*P(2,0)*SK_ACC[3] + Kacc*P(2,1)*SK_ACC[2] - Kacc*P(2,3)*SK_ACC[1] + Kacc*P(2,2)*SK_ACC[4] - Kacc*P(2,4)*SK_ACC[5] + Kacc*P(2,5)*SK_ACC[8] + Kacc*P(2,6)*SK_ACC[7] + 2*Kacc*P(2,22)*SK_ACC[6] - Kacc*P(2,23)*SK_ACC[8]); -// Kfusion[3] = -SK_ACC[0]*(Kacc*P(3,0)*SK_ACC[3] + Kacc*P(3,1)*SK_ACC[2] - Kacc*P(3,3)*SK_ACC[1] + Kacc*P(3,2)*SK_ACC[4] - Kacc*P(3,4)*SK_ACC[5] + Kacc*P(3,5)*SK_ACC[8] + Kacc*P(3,6)*SK_ACC[7] + 2*Kacc*P(3,22)*SK_ACC[6] - Kacc*P(3,23)*SK_ACC[8]); -// Kfusion[4] = -SK_ACC[0]*(Kacc*P(4,0)*SK_ACC[3] + Kacc*P(4,1)*SK_ACC[2] - Kacc*P(4,3)*SK_ACC[1] + Kacc*P(4,2)*SK_ACC[4] - Kacc*P(4,4)*SK_ACC[5] + Kacc*P(4,5)*SK_ACC[8] + Kacc*P(4,6)*SK_ACC[7] + 2*Kacc*P(4,22)*SK_ACC[6] - Kacc*P(4,23)*SK_ACC[8]); -// Kfusion[5] = -SK_ACC[0]*(Kacc*P(5,0)*SK_ACC[3] + Kacc*P(5,1)*SK_ACC[2] - Kacc*P(5,3)*SK_ACC[1] + Kacc*P(5,2)*SK_ACC[4] - Kacc*P(5,4)*SK_ACC[5] + Kacc*P(5,5)*SK_ACC[8] + Kacc*P(5,6)*SK_ACC[7] + 2*Kacc*P(5,22)*SK_ACC[6] - Kacc*P(5,23)*SK_ACC[8]); -// Kfusion[6] = -SK_ACC[0]*(Kacc*P(6,0)*SK_ACC[3] + Kacc*P(6,1)*SK_ACC[2] - Kacc*P(6,3)*SK_ACC[1] + Kacc*P(6,2)*SK_ACC[4] - Kacc*P(6,4)*SK_ACC[5] + Kacc*P(6,5)*SK_ACC[8] + Kacc*P(6,6)*SK_ACC[7] + 2*Kacc*P(6,22)*SK_ACC[6] - Kacc*P(6,23)*SK_ACC[8]); -// Kfusion[7] = -SK_ACC[0]*(Kacc*P(7,0)*SK_ACC[3] + Kacc*P(7,1)*SK_ACC[2] - Kacc*P(7,3)*SK_ACC[1] + Kacc*P(7,2)*SK_ACC[4] - Kacc*P(7,4)*SK_ACC[5] + Kacc*P(7,5)*SK_ACC[8] + Kacc*P(7,6)*SK_ACC[7] + 2*Kacc*P(7,22)*SK_ACC[6] - Kacc*P(7,23)*SK_ACC[8]); -// Kfusion[8] = -SK_ACC[0]*(Kacc*P(8,0)*SK_ACC[3] + Kacc*P(8,1)*SK_ACC[2] - Kacc*P(8,3)*SK_ACC[1] + Kacc*P(8,2)*SK_ACC[4] - Kacc*P(8,4)*SK_ACC[5] + Kacc*P(8,5)*SK_ACC[8] + Kacc*P(8,6)*SK_ACC[7] + 2*Kacc*P(8,22)*SK_ACC[6] - Kacc*P(8,23)*SK_ACC[8]); -// Kfusion[9] = -SK_ACC[0]*(Kacc*P(9,0)*SK_ACC[3] + Kacc*P(9,1)*SK_ACC[2] - Kacc*P(9,3)*SK_ACC[1] + Kacc*P(9,2)*SK_ACC[4] - Kacc*P(9,4)*SK_ACC[5] + Kacc*P(9,5)*SK_ACC[8] + Kacc*P(9,6)*SK_ACC[7] + 2*Kacc*P(9,22)*SK_ACC[6] - Kacc*P(9,23)*SK_ACC[8]); -// Kfusion[10] = -SK_ACC[0]*(Kacc*P(10,0)*SK_ACC[3] + Kacc*P(10,1)*SK_ACC[2] - Kacc*P(10,3)*SK_ACC[1] + Kacc*P(10,2)*SK_ACC[4] - Kacc*P(10,4)*SK_ACC[5] + Kacc*P(10,5)*SK_ACC[8] + Kacc*P(10,6)*SK_ACC[7] + 2*Kacc*P(10,22)*SK_ACC[6] - Kacc*P(10,23)*SK_ACC[8]); -// Kfusion[11] = -SK_ACC[0]*(Kacc*P(11,0)*SK_ACC[3] + Kacc*P(11,1)*SK_ACC[2] - Kacc*P(11,3)*SK_ACC[1] + Kacc*P(11,2)*SK_ACC[4] - Kacc*P(11,4)*SK_ACC[5] + Kacc*P(11,5)*SK_ACC[8] + Kacc*P(11,6)*SK_ACC[7] + 2*Kacc*P(11,22)*SK_ACC[6] - Kacc*P(11,23)*SK_ACC[8]); -// Kfusion[12] = -SK_ACC[0]*(Kacc*P(12,0)*SK_ACC[3] + Kacc*P(12,1)*SK_ACC[2] - Kacc*P(12,3)*SK_ACC[1] + Kacc*P(12,2)*SK_ACC[4] - Kacc*P(12,4)*SK_ACC[5] + Kacc*P(12,5)*SK_ACC[8] + Kacc*P(12,6)*SK_ACC[7] + 2*Kacc*P(12,22)*SK_ACC[6] - Kacc*P(12,23)*SK_ACC[8]); -// Kfusion[13] = -SK_ACC[0]*(Kacc*P(13,0)*SK_ACC[3] + Kacc*P(13,1)*SK_ACC[2] - Kacc*P(13,3)*SK_ACC[1] + Kacc*P(13,2)*SK_ACC[4] - Kacc*P(13,4)*SK_ACC[5] + Kacc*P(13,5)*SK_ACC[8] + Kacc*P(13,6)*SK_ACC[7] + 2*Kacc*P(13,22)*SK_ACC[6] - Kacc*P(13,23)*SK_ACC[8]); -// Kfusion[14] = -SK_ACC[0]*(Kacc*P(14,0)*SK_ACC[3] + Kacc*P(14,1)*SK_ACC[2] - Kacc*P(14,3)*SK_ACC[1] + Kacc*P(14,2)*SK_ACC[4] - Kacc*P(14,4)*SK_ACC[5] + Kacc*P(14,5)*SK_ACC[8] + Kacc*P(14,6)*SK_ACC[7] + 2*Kacc*P(14,22)*SK_ACC[6] - Kacc*P(14,23)*SK_ACC[8]); -// Kfusion[15] = -SK_ACC[0]*(Kacc*P(15,0)*SK_ACC[3] + Kacc*P(15,1)*SK_ACC[2] - Kacc*P(15,3)*SK_ACC[1] + Kacc*P(15,2)*SK_ACC[4] - Kacc*P(15,4)*SK_ACC[5] + Kacc*P(15,5)*SK_ACC[8] + Kacc*P(15,6)*SK_ACC[7] + 2*Kacc*P(15,22)*SK_ACC[6] - Kacc*P(15,23)*SK_ACC[8]); -// Kfusion[16] = -SK_ACC[0]*(Kacc*P(16,0)*SK_ACC[3] + Kacc*P(16,1)*SK_ACC[2] - Kacc*P(16,3)*SK_ACC[1] + Kacc*P(16,2)*SK_ACC[4] - Kacc*P(16,4)*SK_ACC[5] + Kacc*P(16,5)*SK_ACC[8] + Kacc*P(16,6)*SK_ACC[7] + 2*Kacc*P(16,22)*SK_ACC[6] - Kacc*P(16,23)*SK_ACC[8]); -// Kfusion[17] = -SK_ACC[0]*(Kacc*P(17,0)*SK_ACC[3] + Kacc*P(17,1)*SK_ACC[2] - Kacc*P(17,3)*SK_ACC[1] + Kacc*P(17,2)*SK_ACC[4] - Kacc*P(17,4)*SK_ACC[5] + Kacc*P(17,5)*SK_ACC[8] + Kacc*P(17,6)*SK_ACC[7] + 2*Kacc*P(17,22)*SK_ACC[6] - Kacc*P(17,23)*SK_ACC[8]); -// Kfusion[18] = -SK_ACC[0]*(Kacc*P(18,0)*SK_ACC[3] + Kacc*P(18,1)*SK_ACC[2] - Kacc*P(18,3)*SK_ACC[1] + Kacc*P(18,2)*SK_ACC[4] - Kacc*P(18,4)*SK_ACC[5] + Kacc*P(18,5)*SK_ACC[8] + Kacc*P(18,6)*SK_ACC[7] + 2*Kacc*P(18,22)*SK_ACC[6] - Kacc*P(18,23)*SK_ACC[8]); -// Kfusion[19] = -SK_ACC[0]*(Kacc*P(19,0)*SK_ACC[3] + Kacc*P(19,1)*SK_ACC[2] - Kacc*P(19,3)*SK_ACC[1] + Kacc*P(19,2)*SK_ACC[4] - Kacc*P(19,4)*SK_ACC[5] + Kacc*P(19,5)*SK_ACC[8] + Kacc*P(19,6)*SK_ACC[7] + 2*Kacc*P(19,22)*SK_ACC[6] - Kacc*P(19,23)*SK_ACC[8]); -// Kfusion[20] = -SK_ACC[0]*(Kacc*P(20,0)*SK_ACC[3] + Kacc*P(20,1)*SK_ACC[2] - Kacc*P(20,3)*SK_ACC[1] + Kacc*P(20,2)*SK_ACC[4] - Kacc*P(20,4)*SK_ACC[5] + Kacc*P(20,5)*SK_ACC[8] + Kacc*P(20,6)*SK_ACC[7] + 2*Kacc*P(20,22)*SK_ACC[6] - Kacc*P(20,23)*SK_ACC[8]); -// Kfusion[21] = -SK_ACC[0]*(Kacc*P(21,0)*SK_ACC[3] + Kacc*P(21,1)*SK_ACC[2] - Kacc*P(21,3)*SK_ACC[1] + Kacc*P(21,2)*SK_ACC[4] - Kacc*P(21,4)*SK_ACC[5] + Kacc*P(21,5)*SK_ACC[8] + Kacc*P(21,6)*SK_ACC[7] + 2*Kacc*P(21,22)*SK_ACC[6] - Kacc*P(21,23)*SK_ACC[8]); - Kfusion[22] = -SK_ACC[0]*(Kacc*P(22,0)*SK_ACC[3] + Kacc*P(22,1)*SK_ACC[2] - Kacc*P(22,3)*SK_ACC[1] + Kacc*P(22,2)*SK_ACC[4] - Kacc*P(22,4)*SK_ACC[5] + Kacc*P(22,5)*SK_ACC[8] + Kacc*P(22,6)*SK_ACC[7] + 2*Kacc*P(22,22)*SK_ACC[6] - Kacc*P(22,23)*SK_ACC[8]); - Kfusion[23] = -SK_ACC[0]*(Kacc*P(23,0)*SK_ACC[3] + Kacc*P(23,1)*SK_ACC[2] - Kacc*P(23,3)*SK_ACC[1] + Kacc*P(23,2)*SK_ACC[4] - Kacc*P(23,4)*SK_ACC[5] + Kacc*P(23,5)*SK_ACC[8] + Kacc*P(23,6)*SK_ACC[7] + 2*Kacc*P(23,22)*SK_ACC[6] - Kacc*P(23,23)*SK_ACC[8]); +// Kfusion(0) = -SK_ACC[0]*(Kacc*P(0,0)*SK_ACC[3] + Kacc*P(0,1)*SK_ACC[2] - Kacc*P(0,3)*SK_ACC[1] + Kacc*P(0,2)*SK_ACC[4] - Kacc*P(0,4)*SK_ACC[5] + Kacc*P(0,5)*SK_ACC[8] + Kacc*P(0,6)*SK_ACC[7] + 2*Kacc*P(0,22)*SK_ACC[6] - Kacc*P(0,23)*SK_ACC[8]); +// Kfusion(1) = -SK_ACC[0]*(Kacc*P(1,0)*SK_ACC[3] + Kacc*P(1,1)*SK_ACC[2] - Kacc*P(1,3)*SK_ACC[1] + Kacc*P(1,2)*SK_ACC[4] - Kacc*P(1,4)*SK_ACC[5] + Kacc*P(1,5)*SK_ACC[8] + Kacc*P(1,6)*SK_ACC[7] + 2*Kacc*P(1,22)*SK_ACC[6] - Kacc*P(1,23)*SK_ACC[8]); +// Kfusion(2) = -SK_ACC[0]*(Kacc*P(2,0)*SK_ACC[3] + Kacc*P(2,1)*SK_ACC[2] - Kacc*P(2,3)*SK_ACC[1] + Kacc*P(2,2)*SK_ACC[4] - Kacc*P(2,4)*SK_ACC[5] + Kacc*P(2,5)*SK_ACC[8] + Kacc*P(2,6)*SK_ACC[7] + 2*Kacc*P(2,22)*SK_ACC[6] - Kacc*P(2,23)*SK_ACC[8]); +// Kfusion(3) = -SK_ACC[0]*(Kacc*P(3,0)*SK_ACC[3] + Kacc*P(3,1)*SK_ACC[2] - Kacc*P(3,3)*SK_ACC[1] + Kacc*P(3,2)*SK_ACC[4] - Kacc*P(3,4)*SK_ACC[5] + Kacc*P(3,5)*SK_ACC[8] + Kacc*P(3,6)*SK_ACC[7] + 2*Kacc*P(3,22)*SK_ACC[6] - Kacc*P(3,23)*SK_ACC[8]); +// Kfusion(4) = -SK_ACC[0]*(Kacc*P(4,0)*SK_ACC[3] + Kacc*P(4,1)*SK_ACC[2] - Kacc*P(4,3)*SK_ACC[1] + Kacc*P(4,2)*SK_ACC[4] - Kacc*P(4,4)*SK_ACC[5] + Kacc*P(4,5)*SK_ACC[8] + Kacc*P(4,6)*SK_ACC[7] + 2*Kacc*P(4,22)*SK_ACC[6] - Kacc*P(4,23)*SK_ACC[8]); +// Kfusion(5) = -SK_ACC[0]*(Kacc*P(5,0)*SK_ACC[3] + Kacc*P(5,1)*SK_ACC[2] - Kacc*P(5,3)*SK_ACC[1] + Kacc*P(5,2)*SK_ACC[4] - Kacc*P(5,4)*SK_ACC[5] + Kacc*P(5,5)*SK_ACC[8] + Kacc*P(5,6)*SK_ACC[7] + 2*Kacc*P(5,22)*SK_ACC[6] - Kacc*P(5,23)*SK_ACC[8]); +// Kfusion(6) = -SK_ACC[0]*(Kacc*P(6,0)*SK_ACC[3] + Kacc*P(6,1)*SK_ACC[2] - Kacc*P(6,3)*SK_ACC[1] + Kacc*P(6,2)*SK_ACC[4] - Kacc*P(6,4)*SK_ACC[5] + Kacc*P(6,5)*SK_ACC[8] + Kacc*P(6,6)*SK_ACC[7] + 2*Kacc*P(6,22)*SK_ACC[6] - Kacc*P(6,23)*SK_ACC[8]); +// Kfusion(7) = -SK_ACC[0]*(Kacc*P(7,0)*SK_ACC[3] + Kacc*P(7,1)*SK_ACC[2] - Kacc*P(7,3)*SK_ACC[1] + Kacc*P(7,2)*SK_ACC[4] - Kacc*P(7,4)*SK_ACC[5] + Kacc*P(7,5)*SK_ACC[8] + Kacc*P(7,6)*SK_ACC[7] + 2*Kacc*P(7,22)*SK_ACC[6] - Kacc*P(7,23)*SK_ACC[8]); +// Kfusion(8) = -SK_ACC[0]*(Kacc*P(8,0)*SK_ACC[3] + Kacc*P(8,1)*SK_ACC[2] - Kacc*P(8,3)*SK_ACC[1] + Kacc*P(8,2)*SK_ACC[4] - Kacc*P(8,4)*SK_ACC[5] + Kacc*P(8,5)*SK_ACC[8] + Kacc*P(8,6)*SK_ACC[7] + 2*Kacc*P(8,22)*SK_ACC[6] - Kacc*P(8,23)*SK_ACC[8]); +// Kfusion(9) = -SK_ACC[0]*(Kacc*P(9,0)*SK_ACC[3] + Kacc*P(9,1)*SK_ACC[2] - Kacc*P(9,3)*SK_ACC[1] + Kacc*P(9,2)*SK_ACC[4] - Kacc*P(9,4)*SK_ACC[5] + Kacc*P(9,5)*SK_ACC[8] + Kacc*P(9,6)*SK_ACC[7] + 2*Kacc*P(9,22)*SK_ACC[6] - Kacc*P(9,23)*SK_ACC[8]); +// Kfusion(10) = -SK_ACC[0]*(Kacc*P(10,0)*SK_ACC[3] + Kacc*P(10,1)*SK_ACC[2] - Kacc*P(10,3)*SK_ACC[1] + Kacc*P(10,2)*SK_ACC[4] - Kacc*P(10,4)*SK_ACC[5] + Kacc*P(10,5)*SK_ACC[8] + Kacc*P(10,6)*SK_ACC[7] + 2*Kacc*P(10,22)*SK_ACC[6] - Kacc*P(10,23)*SK_ACC[8]); +// Kfusion(11) = -SK_ACC[0]*(Kacc*P(11,0)*SK_ACC[3] + Kacc*P(11,1)*SK_ACC[2] - Kacc*P(11,3)*SK_ACC[1] + Kacc*P(11,2)*SK_ACC[4] - Kacc*P(11,4)*SK_ACC[5] + Kacc*P(11,5)*SK_ACC[8] + Kacc*P(11,6)*SK_ACC[7] + 2*Kacc*P(11,22)*SK_ACC[6] - Kacc*P(11,23)*SK_ACC[8]); +// Kfusion(12) = -SK_ACC[0]*(Kacc*P(12,0)*SK_ACC[3] + Kacc*P(12,1)*SK_ACC[2] - Kacc*P(12,3)*SK_ACC[1] + Kacc*P(12,2)*SK_ACC[4] - Kacc*P(12,4)*SK_ACC[5] + Kacc*P(12,5)*SK_ACC[8] + Kacc*P(12,6)*SK_ACC[7] + 2*Kacc*P(12,22)*SK_ACC[6] - Kacc*P(12,23)*SK_ACC[8]); +// Kfusion(13) = -SK_ACC[0]*(Kacc*P(13,0)*SK_ACC[3] + Kacc*P(13,1)*SK_ACC[2] - Kacc*P(13,3)*SK_ACC[1] + Kacc*P(13,2)*SK_ACC[4] - Kacc*P(13,4)*SK_ACC[5] + Kacc*P(13,5)*SK_ACC[8] + Kacc*P(13,6)*SK_ACC[7] + 2*Kacc*P(13,22)*SK_ACC[6] - Kacc*P(13,23)*SK_ACC[8]); +// Kfusion(14) = -SK_ACC[0]*(Kacc*P(14,0)*SK_ACC[3] + Kacc*P(14,1)*SK_ACC[2] - Kacc*P(14,3)*SK_ACC[1] + Kacc*P(14,2)*SK_ACC[4] - Kacc*P(14,4)*SK_ACC[5] + Kacc*P(14,5)*SK_ACC[8] + Kacc*P(14,6)*SK_ACC[7] + 2*Kacc*P(14,22)*SK_ACC[6] - Kacc*P(14,23)*SK_ACC[8]); +// Kfusion(15) = -SK_ACC[0]*(Kacc*P(15,0)*SK_ACC[3] + Kacc*P(15,1)*SK_ACC[2] - Kacc*P(15,3)*SK_ACC[1] + Kacc*P(15,2)*SK_ACC[4] - Kacc*P(15,4)*SK_ACC[5] + Kacc*P(15,5)*SK_ACC[8] + Kacc*P(15,6)*SK_ACC[7] + 2*Kacc*P(15,22)*SK_ACC[6] - Kacc*P(15,23)*SK_ACC[8]); +// Kfusion(16) = -SK_ACC[0]*(Kacc*P(16,0)*SK_ACC[3] + Kacc*P(16,1)*SK_ACC[2] - Kacc*P(16,3)*SK_ACC[1] + Kacc*P(16,2)*SK_ACC[4] - Kacc*P(16,4)*SK_ACC[5] + Kacc*P(16,5)*SK_ACC[8] + Kacc*P(16,6)*SK_ACC[7] + 2*Kacc*P(16,22)*SK_ACC[6] - Kacc*P(16,23)*SK_ACC[8]); +// Kfusion(17) = -SK_ACC[0]*(Kacc*P(17,0)*SK_ACC[3] + Kacc*P(17,1)*SK_ACC[2] - Kacc*P(17,3)*SK_ACC[1] + Kacc*P(17,2)*SK_ACC[4] - Kacc*P(17,4)*SK_ACC[5] + Kacc*P(17,5)*SK_ACC[8] + Kacc*P(17,6)*SK_ACC[7] + 2*Kacc*P(17,22)*SK_ACC[6] - Kacc*P(17,23)*SK_ACC[8]); +// Kfusion(18) = -SK_ACC[0]*(Kacc*P(18,0)*SK_ACC[3] + Kacc*P(18,1)*SK_ACC[2] - Kacc*P(18,3)*SK_ACC[1] + Kacc*P(18,2)*SK_ACC[4] - Kacc*P(18,4)*SK_ACC[5] + Kacc*P(18,5)*SK_ACC[8] + Kacc*P(18,6)*SK_ACC[7] + 2*Kacc*P(18,22)*SK_ACC[6] - Kacc*P(18,23)*SK_ACC[8]); +// Kfusion(19) = -SK_ACC[0]*(Kacc*P(19,0)*SK_ACC[3] + Kacc*P(19,1)*SK_ACC[2] - Kacc*P(19,3)*SK_ACC[1] + Kacc*P(19,2)*SK_ACC[4] - Kacc*P(19,4)*SK_ACC[5] + Kacc*P(19,5)*SK_ACC[8] + Kacc*P(19,6)*SK_ACC[7] + 2*Kacc*P(19,22)*SK_ACC[6] - Kacc*P(19,23)*SK_ACC[8]); +// Kfusion(20) = -SK_ACC[0]*(Kacc*P(20,0)*SK_ACC[3] + Kacc*P(20,1)*SK_ACC[2] - Kacc*P(20,3)*SK_ACC[1] + Kacc*P(20,2)*SK_ACC[4] - Kacc*P(20,4)*SK_ACC[5] + Kacc*P(20,5)*SK_ACC[8] + Kacc*P(20,6)*SK_ACC[7] + 2*Kacc*P(20,22)*SK_ACC[6] - Kacc*P(20,23)*SK_ACC[8]); +// Kfusion(21) = -SK_ACC[0]*(Kacc*P(21,0)*SK_ACC[3] + Kacc*P(21,1)*SK_ACC[2] - Kacc*P(21,3)*SK_ACC[1] + Kacc*P(21,2)*SK_ACC[4] - Kacc*P(21,4)*SK_ACC[5] + Kacc*P(21,5)*SK_ACC[8] + Kacc*P(21,6)*SK_ACC[7] + 2*Kacc*P(21,22)*SK_ACC[6] - Kacc*P(21,23)*SK_ACC[8]); + Kfusion(22) = -SK_ACC[0]*(Kacc*P(22,0)*SK_ACC[3] + Kacc*P(22,1)*SK_ACC[2] - Kacc*P(22,3)*SK_ACC[1] + Kacc*P(22,2)*SK_ACC[4] - Kacc*P(22,4)*SK_ACC[5] + Kacc*P(22,5)*SK_ACC[8] + Kacc*P(22,6)*SK_ACC[7] + 2*Kacc*P(22,22)*SK_ACC[6] - Kacc*P(22,23)*SK_ACC[8]); + Kfusion(23) = -SK_ACC[0]*(Kacc*P(23,0)*SK_ACC[3] + Kacc*P(23,1)*SK_ACC[2] - Kacc*P(23,3)*SK_ACC[1] + Kacc*P(23,2)*SK_ACC[4] - Kacc*P(23,4)*SK_ACC[5] + Kacc*P(23,5)*SK_ACC[8] + Kacc*P(23,6)*SK_ACC[7] + 2*Kacc*P(23,22)*SK_ACC[6] - Kacc*P(23,23)*SK_ACC[8]); // calculate the predicted acceleration and innovation measured along the Y body axis float drag_sign; @@ -246,15 +246,15 @@ void Ekf::fuseDrag() for (unsigned row = 0; row < _k_num_states; row++) { - KH[0] = Kfusion[row] * H_ACC[0]; - KH[1] = Kfusion[row] * H_ACC[1]; - KH[2] = Kfusion[row] * H_ACC[2]; - KH[3] = Kfusion[row] * H_ACC[3]; - KH[4] = Kfusion[row] * H_ACC[4]; - KH[5] = Kfusion[row] * H_ACC[5]; - KH[6] = Kfusion[row] * H_ACC[6]; - KH[7] = Kfusion[row] * H_ACC[22]; - KH[8] = Kfusion[row] * H_ACC[23]; + KH[0] = Kfusion(row) * H_ACC[0]; + KH[1] = Kfusion(row) * H_ACC[1]; + KH[2] = Kfusion(row) * H_ACC[2]; + KH[3] = Kfusion(row) * H_ACC[3]; + KH[4] = Kfusion(row) * H_ACC[4]; + KH[5] = Kfusion(row) * H_ACC[5]; + KH[6] = Kfusion(row) * H_ACC[6]; + KH[7] = Kfusion(row) * H_ACC[22]; + KH[8] = Kfusion(row) * H_ACC[23]; for (unsigned column = 0; column < _k_num_states; column++) { float tmp = KH[0] * P(0,column); diff --git a/EKF/ekf.h b/EKF/ekf.h index 55c0484cc4..807a15b3e7 100644 --- a/EKF/ekf.h +++ b/EKF/ekf.h @@ -670,7 +670,7 @@ private: // generic function which will perform a fusion step given a kalman gain K // and a scalar innovation value - void fuse(float *K, float innovation); + void fuse(const Vector24f& K, float innovation); float compensateBaroForDynamicPressure(float baro_alt_uncompensated) override; diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp index 464cddb888..fe6eb7242a 100644 --- a/EKF/ekf_helper.cpp +++ b/EKF/ekf_helper.cpp @@ -1126,42 +1126,17 @@ void Ekf::get_ekf_soln_status(uint16_t *status) *status = soln_status.value; } -// fuse measurement -void Ekf::fuse(float *K, float innovation) +void Ekf::fuse(const Vector24f& K, float innovation) { - for (unsigned i = 0; i < 4; i++) { - _state.quat_nominal(i) = _state.quat_nominal(i) - K[i] * innovation; - } - + _state.quat_nominal -= K.slice<4, 1>(0, 0) * innovation; _state.quat_nominal.normalize(); - - for (unsigned i = 0; i < 3; i++) { - _state.vel(i) = _state.vel(i) - K[i + 4] * innovation; - } - - for (unsigned i = 0; i < 3; i++) { - _state.pos(i) = _state.pos(i) - K[i + 7] * innovation; - } - - for (unsigned i = 0; i < 3; i++) { - _state.delta_ang_bias(i) = _state.delta_ang_bias(i) - K[i + 10] * innovation; - } - - for (unsigned i = 0; i < 3; i++) { - _state.delta_vel_bias(i) = _state.delta_vel_bias(i) - K[i + 13] * innovation; - } - - for (unsigned i = 0; i < 3; i++) { - _state.mag_I(i) = _state.mag_I(i) - K[i + 16] * innovation; - } - - for (unsigned i = 0; i < 3; i++) { - _state.mag_B(i) = _state.mag_B(i) - K[i + 19] * innovation; - } - - for (unsigned i = 0; i < 2; i++) { - _state.wind_vel(i) = _state.wind_vel(i) - K[i + 22] * innovation; - } + _state.vel -= K.slice<3, 1>(4, 0) * innovation; + _state.pos -= K.slice<3, 1>(7, 0) * innovation; + _state.delta_ang_bias -= K.slice<3, 1>(10, 0) * innovation; + _state.delta_vel_bias -= K.slice<3, 1>(13, 0) * innovation; + _state.mag_I -= K.slice<3, 1>(16, 0) * innovation; + _state.mag_B -= K.slice<3, 1>(19, 0) * innovation; + _state.wind_vel -= K.slice<2, 1>(22, 0) * innovation; } void Ekf::uncorrelateQuatFromOtherStates() diff --git a/EKF/gps_yaw_fusion.cpp b/EKF/gps_yaw_fusion.cpp index 8b4e06e21b..ebcdea2de5 100644 --- a/EKF/gps_yaw_fusion.cpp +++ b/EKF/gps_yaw_fusion.cpp @@ -166,23 +166,23 @@ void Ekf::fuseGpsAntYaw() // calculate the Kalman gains // only calculate gains for states we are using - float Kfusion[_k_num_states] = {}; + Vector24f Kfusion; for (uint8_t row = 0; row <= 15; row++) { for (uint8_t col = 0; col <= 3; col++) { - Kfusion[row] += P(row,col) * H_YAW[col]; + Kfusion(row) += P(row,col) * H_YAW[col]; } - Kfusion[row] *= heading_innov_var_inv; + Kfusion(row) *= heading_innov_var_inv; } if (_control_status.flags.wind) { for (uint8_t row = 22; row <= 23; row++) { for (uint8_t col = 0; col <= 3; col++) { - Kfusion[row] += P(row,col) * H_YAW[col]; + Kfusion(row) += P(row,col) * H_YAW[col]; } - Kfusion[row] *= heading_innov_var_inv; + Kfusion(row) *= heading_innov_var_inv; } } @@ -219,10 +219,10 @@ void Ekf::fuseGpsAntYaw() 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]; + 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); diff --git a/EKF/mag_fusion.cpp b/EKF/mag_fusion.cpp index cc8d3eb278..4cf805cd69 100644 --- a/EKF/mag_fusion.cpp +++ b/EKF/mag_fusion.cpp @@ -86,7 +86,7 @@ void Ekf::fuseMag() // Observation jacobian and Kalman gain vectors float H_MAG[24]; - float Kfusion[24]; + Vector24f Kfusion; // X axis innovation variance _mag_innov_var(0) = (P(19,19) + R_MAG + P(1,19)*SH_MAG[0] - P(2,19)*SH_MAG[1] + P(3,19)*SH_MAG[2] - P(16,19)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + (2.0f*q0*q3 + 2.0f*q1*q2)*(P(19,17) + P(1,17)*SH_MAG[0] - P(2,17)*SH_MAG[1] + P(3,17)*SH_MAG[2] - P(16,17)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,17)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,17)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,17)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - (2.0f*q0*q2 - 2.0f*q1*q3)*(P(19,18) + P(1,18)*SH_MAG[0] - P(2,18)*SH_MAG[1] + P(3,18)*SH_MAG[2] - P(16,18)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,18)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,18)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,18)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + (SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)*(P(19,0) + P(1,0)*SH_MAG[0] - P(2,0)*SH_MAG[1] + P(3,0)*SH_MAG[2] - P(16,0)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,0)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,0)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,0)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + P(17,19)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,19)*(2.0f*q0*q2 - 2.0f*q1*q3) + SH_MAG[0]*(P(19,1) + P(1,1)*SH_MAG[0] - P(2,1)*SH_MAG[1] + P(3,1)*SH_MAG[2] - P(16,1)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,1)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,1)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,1)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - SH_MAG[1]*(P(19,2) + P(1,2)*SH_MAG[0] - P(2,2)*SH_MAG[1] + P(3,2)*SH_MAG[2] - P(16,2)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,2)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,2)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,2)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + SH_MAG[2]*(P(19,3) + P(1,3)*SH_MAG[0] - P(2,3)*SH_MAG[1] + P(3,3)*SH_MAG[2] - P(16,3)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,3)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,3)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,3)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - (SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6])*(P(19,16) + P(1,16)*SH_MAG[0] - P(2,16)*SH_MAG[1] + P(3,16)*SH_MAG[2] - P(16,16)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,16)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,16)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,16)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + P(0,19)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)); @@ -198,32 +198,32 @@ void Ekf::fuseMag() SK_MX[4] = 2.0f*q0*q3 + 2.0f*q1*q2; if (update_all_states) { - Kfusion[0] = SK_MX[0]*(P(0,19) + P(0,1)*SH_MAG[0] - P(0,2)*SH_MAG[1] + P(0,3)*SH_MAG[2] + P(0,0)*SK_MX[2] - P(0,16)*SK_MX[1] + P(0,17)*SK_MX[4] - P(0,18)*SK_MX[3]); - Kfusion[1] = SK_MX[0]*(P(1,19) + P(1,1)*SH_MAG[0] - P(1,2)*SH_MAG[1] + P(1,3)*SH_MAG[2] + P(1,0)*SK_MX[2] - P(1,16)*SK_MX[1] + P(1,17)*SK_MX[4] - P(1,18)*SK_MX[3]); - Kfusion[2] = SK_MX[0]*(P(2,19) + P(2,1)*SH_MAG[0] - P(2,2)*SH_MAG[1] + P(2,3)*SH_MAG[2] + P(2,0)*SK_MX[2] - P(2,16)*SK_MX[1] + P(2,17)*SK_MX[4] - P(2,18)*SK_MX[3]); - Kfusion[3] = SK_MX[0]*(P(3,19) + P(3,1)*SH_MAG[0] - P(3,2)*SH_MAG[1] + P(3,3)*SH_MAG[2] + P(3,0)*SK_MX[2] - P(3,16)*SK_MX[1] + P(3,17)*SK_MX[4] - P(3,18)*SK_MX[3]); - Kfusion[4] = SK_MX[0]*(P(4,19) + P(4,1)*SH_MAG[0] - P(4,2)*SH_MAG[1] + P(4,3)*SH_MAG[2] + P(4,0)*SK_MX[2] - P(4,16)*SK_MX[1] + P(4,17)*SK_MX[4] - P(4,18)*SK_MX[3]); - Kfusion[5] = SK_MX[0]*(P(5,19) + P(5,1)*SH_MAG[0] - P(5,2)*SH_MAG[1] + P(5,3)*SH_MAG[2] + P(5,0)*SK_MX[2] - P(5,16)*SK_MX[1] + P(5,17)*SK_MX[4] - P(5,18)*SK_MX[3]); - Kfusion[6] = SK_MX[0]*(P(6,19) + P(6,1)*SH_MAG[0] - P(6,2)*SH_MAG[1] + P(6,3)*SH_MAG[2] + P(6,0)*SK_MX[2] - P(6,16)*SK_MX[1] + P(6,17)*SK_MX[4] - P(6,18)*SK_MX[3]); - Kfusion[7] = SK_MX[0]*(P(7,19) + P(7,1)*SH_MAG[0] - P(7,2)*SH_MAG[1] + P(7,3)*SH_MAG[2] + P(7,0)*SK_MX[2] - P(7,16)*SK_MX[1] + P(7,17)*SK_MX[4] - P(7,18)*SK_MX[3]); - Kfusion[8] = SK_MX[0]*(P(8,19) + P(8,1)*SH_MAG[0] - P(8,2)*SH_MAG[1] + P(8,3)*SH_MAG[2] + P(8,0)*SK_MX[2] - P(8,16)*SK_MX[1] + P(8,17)*SK_MX[4] - P(8,18)*SK_MX[3]); - Kfusion[9] = SK_MX[0]*(P(9,19) + P(9,1)*SH_MAG[0] - P(9,2)*SH_MAG[1] + P(9,3)*SH_MAG[2] + P(9,0)*SK_MX[2] - P(9,16)*SK_MX[1] + P(9,17)*SK_MX[4] - P(9,18)*SK_MX[3]); - Kfusion[10] = SK_MX[0]*(P(10,19) + P(10,1)*SH_MAG[0] - P(10,2)*SH_MAG[1] + P(10,3)*SH_MAG[2] + P(10,0)*SK_MX[2] - P(10,16)*SK_MX[1] + P(10,17)*SK_MX[4] - P(10,18)*SK_MX[3]); - Kfusion[11] = SK_MX[0]*(P(11,19) + P(11,1)*SH_MAG[0] - P(11,2)*SH_MAG[1] + P(11,3)*SH_MAG[2] + P(11,0)*SK_MX[2] - P(11,16)*SK_MX[1] + P(11,17)*SK_MX[4] - P(11,18)*SK_MX[3]); - Kfusion[12] = SK_MX[0]*(P(12,19) + P(12,1)*SH_MAG[0] - P(12,2)*SH_MAG[1] + P(12,3)*SH_MAG[2] + P(12,0)*SK_MX[2] - P(12,16)*SK_MX[1] + P(12,17)*SK_MX[4] - P(12,18)*SK_MX[3]); - Kfusion[13] = SK_MX[0]*(P(13,19) + P(13,1)*SH_MAG[0] - P(13,2)*SH_MAG[1] + P(13,3)*SH_MAG[2] + P(13,0)*SK_MX[2] - P(13,16)*SK_MX[1] + P(13,17)*SK_MX[4] - P(13,18)*SK_MX[3]); - Kfusion[14] = SK_MX[0]*(P(14,19) + P(14,1)*SH_MAG[0] - P(14,2)*SH_MAG[1] + P(14,3)*SH_MAG[2] + P(14,0)*SK_MX[2] - P(14,16)*SK_MX[1] + P(14,17)*SK_MX[4] - P(14,18)*SK_MX[3]); - Kfusion[15] = SK_MX[0]*(P(15,19) + P(15,1)*SH_MAG[0] - P(15,2)*SH_MAG[1] + P(15,3)*SH_MAG[2] + P(15,0)*SK_MX[2] - P(15,16)*SK_MX[1] + P(15,17)*SK_MX[4] - P(15,18)*SK_MX[3]); - Kfusion[22] = SK_MX[0]*(P(22,19) + P(22,1)*SH_MAG[0] - P(22,2)*SH_MAG[1] + P(22,3)*SH_MAG[2] + P(22,0)*SK_MX[2] - P(22,16)*SK_MX[1] + P(22,17)*SK_MX[4] - P(22,18)*SK_MX[3]); - Kfusion[23] = SK_MX[0]*(P(23,19) + P(23,1)*SH_MAG[0] - P(23,2)*SH_MAG[1] + P(23,3)*SH_MAG[2] + P(23,0)*SK_MX[2] - P(23,16)*SK_MX[1] + P(23,17)*SK_MX[4] - P(23,18)*SK_MX[3]); + Kfusion(0) = SK_MX[0]*(P(0,19) + P(0,1)*SH_MAG[0] - P(0,2)*SH_MAG[1] + P(0,3)*SH_MAG[2] + P(0,0)*SK_MX[2] - P(0,16)*SK_MX[1] + P(0,17)*SK_MX[4] - P(0,18)*SK_MX[3]); + Kfusion(1) = SK_MX[0]*(P(1,19) + P(1,1)*SH_MAG[0] - P(1,2)*SH_MAG[1] + P(1,3)*SH_MAG[2] + P(1,0)*SK_MX[2] - P(1,16)*SK_MX[1] + P(1,17)*SK_MX[4] - P(1,18)*SK_MX[3]); + Kfusion(2) = SK_MX[0]*(P(2,19) + P(2,1)*SH_MAG[0] - P(2,2)*SH_MAG[1] + P(2,3)*SH_MAG[2] + P(2,0)*SK_MX[2] - P(2,16)*SK_MX[1] + P(2,17)*SK_MX[4] - P(2,18)*SK_MX[3]); + Kfusion(3) = SK_MX[0]*(P(3,19) + P(3,1)*SH_MAG[0] - P(3,2)*SH_MAG[1] + P(3,3)*SH_MAG[2] + P(3,0)*SK_MX[2] - P(3,16)*SK_MX[1] + P(3,17)*SK_MX[4] - P(3,18)*SK_MX[3]); + Kfusion(4) = SK_MX[0]*(P(4,19) + P(4,1)*SH_MAG[0] - P(4,2)*SH_MAG[1] + P(4,3)*SH_MAG[2] + P(4,0)*SK_MX[2] - P(4,16)*SK_MX[1] + P(4,17)*SK_MX[4] - P(4,18)*SK_MX[3]); + Kfusion(5) = SK_MX[0]*(P(5,19) + P(5,1)*SH_MAG[0] - P(5,2)*SH_MAG[1] + P(5,3)*SH_MAG[2] + P(5,0)*SK_MX[2] - P(5,16)*SK_MX[1] + P(5,17)*SK_MX[4] - P(5,18)*SK_MX[3]); + Kfusion(6) = SK_MX[0]*(P(6,19) + P(6,1)*SH_MAG[0] - P(6,2)*SH_MAG[1] + P(6,3)*SH_MAG[2] + P(6,0)*SK_MX[2] - P(6,16)*SK_MX[1] + P(6,17)*SK_MX[4] - P(6,18)*SK_MX[3]); + Kfusion(7) = SK_MX[0]*(P(7,19) + P(7,1)*SH_MAG[0] - P(7,2)*SH_MAG[1] + P(7,3)*SH_MAG[2] + P(7,0)*SK_MX[2] - P(7,16)*SK_MX[1] + P(7,17)*SK_MX[4] - P(7,18)*SK_MX[3]); + Kfusion(8) = SK_MX[0]*(P(8,19) + P(8,1)*SH_MAG[0] - P(8,2)*SH_MAG[1] + P(8,3)*SH_MAG[2] + P(8,0)*SK_MX[2] - P(8,16)*SK_MX[1] + P(8,17)*SK_MX[4] - P(8,18)*SK_MX[3]); + Kfusion(9) = SK_MX[0]*(P(9,19) + P(9,1)*SH_MAG[0] - P(9,2)*SH_MAG[1] + P(9,3)*SH_MAG[2] + P(9,0)*SK_MX[2] - P(9,16)*SK_MX[1] + P(9,17)*SK_MX[4] - P(9,18)*SK_MX[3]); + Kfusion(10) = SK_MX[0]*(P(10,19) + P(10,1)*SH_MAG[0] - P(10,2)*SH_MAG[1] + P(10,3)*SH_MAG[2] + P(10,0)*SK_MX[2] - P(10,16)*SK_MX[1] + P(10,17)*SK_MX[4] - P(10,18)*SK_MX[3]); + Kfusion(11) = SK_MX[0]*(P(11,19) + P(11,1)*SH_MAG[0] - P(11,2)*SH_MAG[1] + P(11,3)*SH_MAG[2] + P(11,0)*SK_MX[2] - P(11,16)*SK_MX[1] + P(11,17)*SK_MX[4] - P(11,18)*SK_MX[3]); + Kfusion(12) = SK_MX[0]*(P(12,19) + P(12,1)*SH_MAG[0] - P(12,2)*SH_MAG[1] + P(12,3)*SH_MAG[2] + P(12,0)*SK_MX[2] - P(12,16)*SK_MX[1] + P(12,17)*SK_MX[4] - P(12,18)*SK_MX[3]); + Kfusion(13) = SK_MX[0]*(P(13,19) + P(13,1)*SH_MAG[0] - P(13,2)*SH_MAG[1] + P(13,3)*SH_MAG[2] + P(13,0)*SK_MX[2] - P(13,16)*SK_MX[1] + P(13,17)*SK_MX[4] - P(13,18)*SK_MX[3]); + Kfusion(14) = SK_MX[0]*(P(14,19) + P(14,1)*SH_MAG[0] - P(14,2)*SH_MAG[1] + P(14,3)*SH_MAG[2] + P(14,0)*SK_MX[2] - P(14,16)*SK_MX[1] + P(14,17)*SK_MX[4] - P(14,18)*SK_MX[3]); + Kfusion(15) = SK_MX[0]*(P(15,19) + P(15,1)*SH_MAG[0] - P(15,2)*SH_MAG[1] + P(15,3)*SH_MAG[2] + P(15,0)*SK_MX[2] - P(15,16)*SK_MX[1] + P(15,17)*SK_MX[4] - P(15,18)*SK_MX[3]); + Kfusion(22) = SK_MX[0]*(P(22,19) + P(22,1)*SH_MAG[0] - P(22,2)*SH_MAG[1] + P(22,3)*SH_MAG[2] + P(22,0)*SK_MX[2] - P(22,16)*SK_MX[1] + P(22,17)*SK_MX[4] - P(22,18)*SK_MX[3]); + Kfusion(23) = SK_MX[0]*(P(23,19) + P(23,1)*SH_MAG[0] - P(23,2)*SH_MAG[1] + P(23,3)*SH_MAG[2] + P(23,0)*SK_MX[2] - P(23,16)*SK_MX[1] + P(23,17)*SK_MX[4] - P(23,18)*SK_MX[3]); } - Kfusion[16] = SK_MX[0]*(P(16,19) + P(16,1)*SH_MAG[0] - P(16,2)*SH_MAG[1] + P(16,3)*SH_MAG[2] + P(16,0)*SK_MX[2] - P(16,16)*SK_MX[1] + P(16,17)*SK_MX[4] - P(16,18)*SK_MX[3]); - Kfusion[17] = SK_MX[0]*(P(17,19) + P(17,1)*SH_MAG[0] - P(17,2)*SH_MAG[1] + P(17,3)*SH_MAG[2] + P(17,0)*SK_MX[2] - P(17,16)*SK_MX[1] + P(17,17)*SK_MX[4] - P(17,18)*SK_MX[3]); - Kfusion[18] = SK_MX[0]*(P(18,19) + P(18,1)*SH_MAG[0] - P(18,2)*SH_MAG[1] + P(18,3)*SH_MAG[2] + P(18,0)*SK_MX[2] - P(18,16)*SK_MX[1] + P(18,17)*SK_MX[4] - P(18,18)*SK_MX[3]); - Kfusion[19] = SK_MX[0]*(P(19,19) + P(19,1)*SH_MAG[0] - P(19,2)*SH_MAG[1] + P(19,3)*SH_MAG[2] + P(19,0)*SK_MX[2] - P(19,16)*SK_MX[1] + P(19,17)*SK_MX[4] - P(19,18)*SK_MX[3]); - Kfusion[20] = SK_MX[0]*(P(20,19) + P(20,1)*SH_MAG[0] - P(20,2)*SH_MAG[1] + P(20,3)*SH_MAG[2] + P(20,0)*SK_MX[2] - P(20,16)*SK_MX[1] + P(20,17)*SK_MX[4] - P(20,18)*SK_MX[3]); - Kfusion[21] = SK_MX[0]*(P(21,19) + P(21,1)*SH_MAG[0] - P(21,2)*SH_MAG[1] + P(21,3)*SH_MAG[2] + P(21,0)*SK_MX[2] - P(21,16)*SK_MX[1] + P(21,17)*SK_MX[4] - P(21,18)*SK_MX[3]); + Kfusion(16) = SK_MX[0]*(P(16,19) + P(16,1)*SH_MAG[0] - P(16,2)*SH_MAG[1] + P(16,3)*SH_MAG[2] + P(16,0)*SK_MX[2] - P(16,16)*SK_MX[1] + P(16,17)*SK_MX[4] - P(16,18)*SK_MX[3]); + Kfusion(17) = SK_MX[0]*(P(17,19) + P(17,1)*SH_MAG[0] - P(17,2)*SH_MAG[1] + P(17,3)*SH_MAG[2] + P(17,0)*SK_MX[2] - P(17,16)*SK_MX[1] + P(17,17)*SK_MX[4] - P(17,18)*SK_MX[3]); + Kfusion(18) = SK_MX[0]*(P(18,19) + P(18,1)*SH_MAG[0] - P(18,2)*SH_MAG[1] + P(18,3)*SH_MAG[2] + P(18,0)*SK_MX[2] - P(18,16)*SK_MX[1] + P(18,17)*SK_MX[4] - P(18,18)*SK_MX[3]); + Kfusion(19) = SK_MX[0]*(P(19,19) + P(19,1)*SH_MAG[0] - P(19,2)*SH_MAG[1] + P(19,3)*SH_MAG[2] + P(19,0)*SK_MX[2] - P(19,16)*SK_MX[1] + P(19,17)*SK_MX[4] - P(19,18)*SK_MX[3]); + Kfusion(20) = SK_MX[0]*(P(20,19) + P(20,1)*SH_MAG[0] - P(20,2)*SH_MAG[1] + P(20,3)*SH_MAG[2] + P(20,0)*SK_MX[2] - P(20,16)*SK_MX[1] + P(20,17)*SK_MX[4] - P(20,18)*SK_MX[3]); + Kfusion(21) = SK_MX[0]*(P(21,19) + P(21,1)*SH_MAG[0] - P(21,2)*SH_MAG[1] + P(21,3)*SH_MAG[2] + P(21,0)*SK_MX[2] - P(21,16)*SK_MX[1] + P(21,17)*SK_MX[4] - P(21,18)*SK_MX[3]); } else if (index == 1) { // Calculate Y axis observation jacobians @@ -246,32 +246,32 @@ void Ekf::fuseMag() SK_MY[4] = 2.0f*q0*q1 + 2.0f*q2*q3; if (update_all_states) { - Kfusion[0] = SK_MY[0]*(P(0,20) + P(0,0)*SH_MAG[2] + P(0,1)*SH_MAG[1] + P(0,2)*SH_MAG[0] - P(0,3)*SK_MY[2] - P(0,17)*SK_MY[1] - P(0,16)*SK_MY[3] + P(0,18)*SK_MY[4]); - Kfusion[1] = SK_MY[0]*(P(1,20) + P(1,0)*SH_MAG[2] + P(1,1)*SH_MAG[1] + P(1,2)*SH_MAG[0] - P(1,3)*SK_MY[2] - P(1,17)*SK_MY[1] - P(1,16)*SK_MY[3] + P(1,18)*SK_MY[4]); - Kfusion[2] = SK_MY[0]*(P(2,20) + P(2,0)*SH_MAG[2] + P(2,1)*SH_MAG[1] + P(2,2)*SH_MAG[0] - P(2,3)*SK_MY[2] - P(2,17)*SK_MY[1] - P(2,16)*SK_MY[3] + P(2,18)*SK_MY[4]); - Kfusion[3] = SK_MY[0]*(P(3,20) + P(3,0)*SH_MAG[2] + P(3,1)*SH_MAG[1] + P(3,2)*SH_MAG[0] - P(3,3)*SK_MY[2] - P(3,17)*SK_MY[1] - P(3,16)*SK_MY[3] + P(3,18)*SK_MY[4]); - Kfusion[4] = SK_MY[0]*(P(4,20) + P(4,0)*SH_MAG[2] + P(4,1)*SH_MAG[1] + P(4,2)*SH_MAG[0] - P(4,3)*SK_MY[2] - P(4,17)*SK_MY[1] - P(4,16)*SK_MY[3] + P(4,18)*SK_MY[4]); - Kfusion[5] = SK_MY[0]*(P(5,20) + P(5,0)*SH_MAG[2] + P(5,1)*SH_MAG[1] + P(5,2)*SH_MAG[0] - P(5,3)*SK_MY[2] - P(5,17)*SK_MY[1] - P(5,16)*SK_MY[3] + P(5,18)*SK_MY[4]); - Kfusion[6] = SK_MY[0]*(P(6,20) + P(6,0)*SH_MAG[2] + P(6,1)*SH_MAG[1] + P(6,2)*SH_MAG[0] - P(6,3)*SK_MY[2] - P(6,17)*SK_MY[1] - P(6,16)*SK_MY[3] + P(6,18)*SK_MY[4]); - Kfusion[7] = SK_MY[0]*(P(7,20) + P(7,0)*SH_MAG[2] + P(7,1)*SH_MAG[1] + P(7,2)*SH_MAG[0] - P(7,3)*SK_MY[2] - P(7,17)*SK_MY[1] - P(7,16)*SK_MY[3] + P(7,18)*SK_MY[4]); - Kfusion[8] = SK_MY[0]*(P(8,20) + P(8,0)*SH_MAG[2] + P(8,1)*SH_MAG[1] + P(8,2)*SH_MAG[0] - P(8,3)*SK_MY[2] - P(8,17)*SK_MY[1] - P(8,16)*SK_MY[3] + P(8,18)*SK_MY[4]); - Kfusion[9] = SK_MY[0]*(P(9,20) + P(9,0)*SH_MAG[2] + P(9,1)*SH_MAG[1] + P(9,2)*SH_MAG[0] - P(9,3)*SK_MY[2] - P(9,17)*SK_MY[1] - P(9,16)*SK_MY[3] + P(9,18)*SK_MY[4]); - Kfusion[10] = SK_MY[0]*(P(10,20) + P(10,0)*SH_MAG[2] + P(10,1)*SH_MAG[1] + P(10,2)*SH_MAG[0] - P(10,3)*SK_MY[2] - P(10,17)*SK_MY[1] - P(10,16)*SK_MY[3] + P(10,18)*SK_MY[4]); - Kfusion[11] = SK_MY[0]*(P(11,20) + P(11,0)*SH_MAG[2] + P(11,1)*SH_MAG[1] + P(11,2)*SH_MAG[0] - P(11,3)*SK_MY[2] - P(11,17)*SK_MY[1] - P(11,16)*SK_MY[3] + P(11,18)*SK_MY[4]); - Kfusion[12] = SK_MY[0]*(P(12,20) + P(12,0)*SH_MAG[2] + P(12,1)*SH_MAG[1] + P(12,2)*SH_MAG[0] - P(12,3)*SK_MY[2] - P(12,17)*SK_MY[1] - P(12,16)*SK_MY[3] + P(12,18)*SK_MY[4]); - Kfusion[13] = SK_MY[0]*(P(13,20) + P(13,0)*SH_MAG[2] + P(13,1)*SH_MAG[1] + P(13,2)*SH_MAG[0] - P(13,3)*SK_MY[2] - P(13,17)*SK_MY[1] - P(13,16)*SK_MY[3] + P(13,18)*SK_MY[4]); - Kfusion[14] = SK_MY[0]*(P(14,20) + P(14,0)*SH_MAG[2] + P(14,1)*SH_MAG[1] + P(14,2)*SH_MAG[0] - P(14,3)*SK_MY[2] - P(14,17)*SK_MY[1] - P(14,16)*SK_MY[3] + P(14,18)*SK_MY[4]); - Kfusion[15] = SK_MY[0]*(P(15,20) + P(15,0)*SH_MAG[2] + P(15,1)*SH_MAG[1] + P(15,2)*SH_MAG[0] - P(15,3)*SK_MY[2] - P(15,17)*SK_MY[1] - P(15,16)*SK_MY[3] + P(15,18)*SK_MY[4]); - Kfusion[22] = SK_MY[0]*(P(22,20) + P(22,0)*SH_MAG[2] + P(22,1)*SH_MAG[1] + P(22,2)*SH_MAG[0] - P(22,3)*SK_MY[2] - P(22,17)*SK_MY[1] - P(22,16)*SK_MY[3] + P(22,18)*SK_MY[4]); - Kfusion[23] = SK_MY[0]*(P(23,20) + P(23,0)*SH_MAG[2] + P(23,1)*SH_MAG[1] + P(23,2)*SH_MAG[0] - P(23,3)*SK_MY[2] - P(23,17)*SK_MY[1] - P(23,16)*SK_MY[3] + P(23,18)*SK_MY[4]); + Kfusion(0) = SK_MY[0]*(P(0,20) + P(0,0)*SH_MAG[2] + P(0,1)*SH_MAG[1] + P(0,2)*SH_MAG[0] - P(0,3)*SK_MY[2] - P(0,17)*SK_MY[1] - P(0,16)*SK_MY[3] + P(0,18)*SK_MY[4]); + Kfusion(1) = SK_MY[0]*(P(1,20) + P(1,0)*SH_MAG[2] + P(1,1)*SH_MAG[1] + P(1,2)*SH_MAG[0] - P(1,3)*SK_MY[2] - P(1,17)*SK_MY[1] - P(1,16)*SK_MY[3] + P(1,18)*SK_MY[4]); + Kfusion(2) = SK_MY[0]*(P(2,20) + P(2,0)*SH_MAG[2] + P(2,1)*SH_MAG[1] + P(2,2)*SH_MAG[0] - P(2,3)*SK_MY[2] - P(2,17)*SK_MY[1] - P(2,16)*SK_MY[3] + P(2,18)*SK_MY[4]); + Kfusion(3) = SK_MY[0]*(P(3,20) + P(3,0)*SH_MAG[2] + P(3,1)*SH_MAG[1] + P(3,2)*SH_MAG[0] - P(3,3)*SK_MY[2] - P(3,17)*SK_MY[1] - P(3,16)*SK_MY[3] + P(3,18)*SK_MY[4]); + Kfusion(4) = SK_MY[0]*(P(4,20) + P(4,0)*SH_MAG[2] + P(4,1)*SH_MAG[1] + P(4,2)*SH_MAG[0] - P(4,3)*SK_MY[2] - P(4,17)*SK_MY[1] - P(4,16)*SK_MY[3] + P(4,18)*SK_MY[4]); + Kfusion(5) = SK_MY[0]*(P(5,20) + P(5,0)*SH_MAG[2] + P(5,1)*SH_MAG[1] + P(5,2)*SH_MAG[0] - P(5,3)*SK_MY[2] - P(5,17)*SK_MY[1] - P(5,16)*SK_MY[3] + P(5,18)*SK_MY[4]); + Kfusion(6) = SK_MY[0]*(P(6,20) + P(6,0)*SH_MAG[2] + P(6,1)*SH_MAG[1] + P(6,2)*SH_MAG[0] - P(6,3)*SK_MY[2] - P(6,17)*SK_MY[1] - P(6,16)*SK_MY[3] + P(6,18)*SK_MY[4]); + Kfusion(7) = SK_MY[0]*(P(7,20) + P(7,0)*SH_MAG[2] + P(7,1)*SH_MAG[1] + P(7,2)*SH_MAG[0] - P(7,3)*SK_MY[2] - P(7,17)*SK_MY[1] - P(7,16)*SK_MY[3] + P(7,18)*SK_MY[4]); + Kfusion(8) = SK_MY[0]*(P(8,20) + P(8,0)*SH_MAG[2] + P(8,1)*SH_MAG[1] + P(8,2)*SH_MAG[0] - P(8,3)*SK_MY[2] - P(8,17)*SK_MY[1] - P(8,16)*SK_MY[3] + P(8,18)*SK_MY[4]); + Kfusion(9) = SK_MY[0]*(P(9,20) + P(9,0)*SH_MAG[2] + P(9,1)*SH_MAG[1] + P(9,2)*SH_MAG[0] - P(9,3)*SK_MY[2] - P(9,17)*SK_MY[1] - P(9,16)*SK_MY[3] + P(9,18)*SK_MY[4]); + Kfusion(10) = SK_MY[0]*(P(10,20) + P(10,0)*SH_MAG[2] + P(10,1)*SH_MAG[1] + P(10,2)*SH_MAG[0] - P(10,3)*SK_MY[2] - P(10,17)*SK_MY[1] - P(10,16)*SK_MY[3] + P(10,18)*SK_MY[4]); + Kfusion(11) = SK_MY[0]*(P(11,20) + P(11,0)*SH_MAG[2] + P(11,1)*SH_MAG[1] + P(11,2)*SH_MAG[0] - P(11,3)*SK_MY[2] - P(11,17)*SK_MY[1] - P(11,16)*SK_MY[3] + P(11,18)*SK_MY[4]); + Kfusion(12) = SK_MY[0]*(P(12,20) + P(12,0)*SH_MAG[2] + P(12,1)*SH_MAG[1] + P(12,2)*SH_MAG[0] - P(12,3)*SK_MY[2] - P(12,17)*SK_MY[1] - P(12,16)*SK_MY[3] + P(12,18)*SK_MY[4]); + Kfusion(13) = SK_MY[0]*(P(13,20) + P(13,0)*SH_MAG[2] + P(13,1)*SH_MAG[1] + P(13,2)*SH_MAG[0] - P(13,3)*SK_MY[2] - P(13,17)*SK_MY[1] - P(13,16)*SK_MY[3] + P(13,18)*SK_MY[4]); + Kfusion(14) = SK_MY[0]*(P(14,20) + P(14,0)*SH_MAG[2] + P(14,1)*SH_MAG[1] + P(14,2)*SH_MAG[0] - P(14,3)*SK_MY[2] - P(14,17)*SK_MY[1] - P(14,16)*SK_MY[3] + P(14,18)*SK_MY[4]); + Kfusion(15) = SK_MY[0]*(P(15,20) + P(15,0)*SH_MAG[2] + P(15,1)*SH_MAG[1] + P(15,2)*SH_MAG[0] - P(15,3)*SK_MY[2] - P(15,17)*SK_MY[1] - P(15,16)*SK_MY[3] + P(15,18)*SK_MY[4]); + Kfusion(22) = SK_MY[0]*(P(22,20) + P(22,0)*SH_MAG[2] + P(22,1)*SH_MAG[1] + P(22,2)*SH_MAG[0] - P(22,3)*SK_MY[2] - P(22,17)*SK_MY[1] - P(22,16)*SK_MY[3] + P(22,18)*SK_MY[4]); + Kfusion(23) = SK_MY[0]*(P(23,20) + P(23,0)*SH_MAG[2] + P(23,1)*SH_MAG[1] + P(23,2)*SH_MAG[0] - P(23,3)*SK_MY[2] - P(23,17)*SK_MY[1] - P(23,16)*SK_MY[3] + P(23,18)*SK_MY[4]); } - Kfusion[16] = SK_MY[0]*(P(16,20) + P(16,0)*SH_MAG[2] + P(16,1)*SH_MAG[1] + P(16,2)*SH_MAG[0] - P(16,3)*SK_MY[2] - P(16,17)*SK_MY[1] - P(16,16)*SK_MY[3] + P(16,18)*SK_MY[4]); - Kfusion[17] = SK_MY[0]*(P(17,20) + P(17,0)*SH_MAG[2] + P(17,1)*SH_MAG[1] + P(17,2)*SH_MAG[0] - P(17,3)*SK_MY[2] - P(17,17)*SK_MY[1] - P(17,16)*SK_MY[3] + P(17,18)*SK_MY[4]); - Kfusion[18] = SK_MY[0]*(P(18,20) + P(18,0)*SH_MAG[2] + P(18,1)*SH_MAG[1] + P(18,2)*SH_MAG[0] - P(18,3)*SK_MY[2] - P(18,17)*SK_MY[1] - P(18,16)*SK_MY[3] + P(18,18)*SK_MY[4]); - Kfusion[19] = SK_MY[0]*(P(19,20) + P(19,0)*SH_MAG[2] + P(19,1)*SH_MAG[1] + P(19,2)*SH_MAG[0] - P(19,3)*SK_MY[2] - P(19,17)*SK_MY[1] - P(19,16)*SK_MY[3] + P(19,18)*SK_MY[4]); - Kfusion[20] = SK_MY[0]*(P(20,20) + P(20,0)*SH_MAG[2] + P(20,1)*SH_MAG[1] + P(20,2)*SH_MAG[0] - P(20,3)*SK_MY[2] - P(20,17)*SK_MY[1] - P(20,16)*SK_MY[3] + P(20,18)*SK_MY[4]); - Kfusion[21] = SK_MY[0]*(P(21,20) + P(21,0)*SH_MAG[2] + P(21,1)*SH_MAG[1] + P(21,2)*SH_MAG[0] - P(21,3)*SK_MY[2] - P(21,17)*SK_MY[1] - P(21,16)*SK_MY[3] + P(21,18)*SK_MY[4]); + Kfusion(16) = SK_MY[0]*(P(16,20) + P(16,0)*SH_MAG[2] + P(16,1)*SH_MAG[1] + P(16,2)*SH_MAG[0] - P(16,3)*SK_MY[2] - P(16,17)*SK_MY[1] - P(16,16)*SK_MY[3] + P(16,18)*SK_MY[4]); + Kfusion(17) = SK_MY[0]*(P(17,20) + P(17,0)*SH_MAG[2] + P(17,1)*SH_MAG[1] + P(17,2)*SH_MAG[0] - P(17,3)*SK_MY[2] - P(17,17)*SK_MY[1] - P(17,16)*SK_MY[3] + P(17,18)*SK_MY[4]); + Kfusion(18) = SK_MY[0]*(P(18,20) + P(18,0)*SH_MAG[2] + P(18,1)*SH_MAG[1] + P(18,2)*SH_MAG[0] - P(18,3)*SK_MY[2] - P(18,17)*SK_MY[1] - P(18,16)*SK_MY[3] + P(18,18)*SK_MY[4]); + Kfusion(19) = SK_MY[0]*(P(19,20) + P(19,0)*SH_MAG[2] + P(19,1)*SH_MAG[1] + P(19,2)*SH_MAG[0] - P(19,3)*SK_MY[2] - P(19,17)*SK_MY[1] - P(19,16)*SK_MY[3] + P(19,18)*SK_MY[4]); + Kfusion(20) = SK_MY[0]*(P(20,20) + P(20,0)*SH_MAG[2] + P(20,1)*SH_MAG[1] + P(20,2)*SH_MAG[0] - P(20,3)*SK_MY[2] - P(20,17)*SK_MY[1] - P(20,16)*SK_MY[3] + P(20,18)*SK_MY[4]); + Kfusion(21) = SK_MY[0]*(P(21,20) + P(21,0)*SH_MAG[2] + P(21,1)*SH_MAG[1] + P(21,2)*SH_MAG[0] - P(21,3)*SK_MY[2] - P(21,17)*SK_MY[1] - P(21,16)*SK_MY[3] + P(21,18)*SK_MY[4]); } else if (index == 2) { @@ -300,32 +300,32 @@ void Ekf::fuseMag() SK_MZ[4] = 2.0f*q0*q2 + 2.0f*q1*q3; if (update_all_states) { - Kfusion[0] = SK_MZ[0]*(P(0,21) + P(0,0)*SH_MAG[1] - P(0,1)*SH_MAG[2] + P(0,3)*SH_MAG[0] + P(0,2)*SK_MZ[2] + P(0,18)*SK_MZ[1] + P(0,16)*SK_MZ[4] - P(0,17)*SK_MZ[3]); - Kfusion[1] = SK_MZ[0]*(P(1,21) + P(1,0)*SH_MAG[1] - P(1,1)*SH_MAG[2] + P(1,3)*SH_MAG[0] + P(1,2)*SK_MZ[2] + P(1,18)*SK_MZ[1] + P(1,16)*SK_MZ[4] - P(1,17)*SK_MZ[3]); - Kfusion[2] = SK_MZ[0]*(P(2,21) + P(2,0)*SH_MAG[1] - P(2,1)*SH_MAG[2] + P(2,3)*SH_MAG[0] + P(2,2)*SK_MZ[2] + P(2,18)*SK_MZ[1] + P(2,16)*SK_MZ[4] - P(2,17)*SK_MZ[3]); - Kfusion[3] = SK_MZ[0]*(P(3,21) + P(3,0)*SH_MAG[1] - P(3,1)*SH_MAG[2] + P(3,3)*SH_MAG[0] + P(3,2)*SK_MZ[2] + P(3,18)*SK_MZ[1] + P(3,16)*SK_MZ[4] - P(3,17)*SK_MZ[3]); - Kfusion[4] = SK_MZ[0]*(P(4,21) + P(4,0)*SH_MAG[1] - P(4,1)*SH_MAG[2] + P(4,3)*SH_MAG[0] + P(4,2)*SK_MZ[2] + P(4,18)*SK_MZ[1] + P(4,16)*SK_MZ[4] - P(4,17)*SK_MZ[3]); - Kfusion[5] = SK_MZ[0]*(P(5,21) + P(5,0)*SH_MAG[1] - P(5,1)*SH_MAG[2] + P(5,3)*SH_MAG[0] + P(5,2)*SK_MZ[2] + P(5,18)*SK_MZ[1] + P(5,16)*SK_MZ[4] - P(5,17)*SK_MZ[3]); - Kfusion[6] = SK_MZ[0]*(P(6,21) + P(6,0)*SH_MAG[1] - P(6,1)*SH_MAG[2] + P(6,3)*SH_MAG[0] + P(6,2)*SK_MZ[2] + P(6,18)*SK_MZ[1] + P(6,16)*SK_MZ[4] - P(6,17)*SK_MZ[3]); - Kfusion[7] = SK_MZ[0]*(P(7,21) + P(7,0)*SH_MAG[1] - P(7,1)*SH_MAG[2] + P(7,3)*SH_MAG[0] + P(7,2)*SK_MZ[2] + P(7,18)*SK_MZ[1] + P(7,16)*SK_MZ[4] - P(7,17)*SK_MZ[3]); - Kfusion[8] = SK_MZ[0]*(P(8,21) + P(8,0)*SH_MAG[1] - P(8,1)*SH_MAG[2] + P(8,3)*SH_MAG[0] + P(8,2)*SK_MZ[2] + P(8,18)*SK_MZ[1] + P(8,16)*SK_MZ[4] - P(8,17)*SK_MZ[3]); - Kfusion[9] = SK_MZ[0]*(P(9,21) + P(9,0)*SH_MAG[1] - P(9,1)*SH_MAG[2] + P(9,3)*SH_MAG[0] + P(9,2)*SK_MZ[2] + P(9,18)*SK_MZ[1] + P(9,16)*SK_MZ[4] - P(9,17)*SK_MZ[3]); - Kfusion[10] = SK_MZ[0]*(P(10,21) + P(10,0)*SH_MAG[1] - P(10,1)*SH_MAG[2] + P(10,3)*SH_MAG[0] + P(10,2)*SK_MZ[2] + P(10,18)*SK_MZ[1] + P(10,16)*SK_MZ[4] - P(10,17)*SK_MZ[3]); - Kfusion[11] = SK_MZ[0]*(P(11,21) + P(11,0)*SH_MAG[1] - P(11,1)*SH_MAG[2] + P(11,3)*SH_MAG[0] + P(11,2)*SK_MZ[2] + P(11,18)*SK_MZ[1] + P(11,16)*SK_MZ[4] - P(11,17)*SK_MZ[3]); - Kfusion[12] = SK_MZ[0]*(P(12,21) + P(12,0)*SH_MAG[1] - P(12,1)*SH_MAG[2] + P(12,3)*SH_MAG[0] + P(12,2)*SK_MZ[2] + P(12,18)*SK_MZ[1] + P(12,16)*SK_MZ[4] - P(12,17)*SK_MZ[3]); - Kfusion[13] = SK_MZ[0]*(P(13,21) + P(13,0)*SH_MAG[1] - P(13,1)*SH_MAG[2] + P(13,3)*SH_MAG[0] + P(13,2)*SK_MZ[2] + P(13,18)*SK_MZ[1] + P(13,16)*SK_MZ[4] - P(13,17)*SK_MZ[3]); - Kfusion[14] = SK_MZ[0]*(P(14,21) + P(14,0)*SH_MAG[1] - P(14,1)*SH_MAG[2] + P(14,3)*SH_MAG[0] + P(14,2)*SK_MZ[2] + P(14,18)*SK_MZ[1] + P(14,16)*SK_MZ[4] - P(14,17)*SK_MZ[3]); - Kfusion[15] = SK_MZ[0]*(P(15,21) + P(15,0)*SH_MAG[1] - P(15,1)*SH_MAG[2] + P(15,3)*SH_MAG[0] + P(15,2)*SK_MZ[2] + P(15,18)*SK_MZ[1] + P(15,16)*SK_MZ[4] - P(15,17)*SK_MZ[3]); - Kfusion[22] = SK_MZ[0]*(P(22,21) + P(22,0)*SH_MAG[1] - P(22,1)*SH_MAG[2] + P(22,3)*SH_MAG[0] + P(22,2)*SK_MZ[2] + P(22,18)*SK_MZ[1] + P(22,16)*SK_MZ[4] - P(22,17)*SK_MZ[3]); - Kfusion[23] = SK_MZ[0]*(P(23,21) + P(23,0)*SH_MAG[1] - P(23,1)*SH_MAG[2] + P(23,3)*SH_MAG[0] + P(23,2)*SK_MZ[2] + P(23,18)*SK_MZ[1] + P(23,16)*SK_MZ[4] - P(23,17)*SK_MZ[3]); + Kfusion(0) = SK_MZ[0]*(P(0,21) + P(0,0)*SH_MAG[1] - P(0,1)*SH_MAG[2] + P(0,3)*SH_MAG[0] + P(0,2)*SK_MZ[2] + P(0,18)*SK_MZ[1] + P(0,16)*SK_MZ[4] - P(0,17)*SK_MZ[3]); + Kfusion(1) = SK_MZ[0]*(P(1,21) + P(1,0)*SH_MAG[1] - P(1,1)*SH_MAG[2] + P(1,3)*SH_MAG[0] + P(1,2)*SK_MZ[2] + P(1,18)*SK_MZ[1] + P(1,16)*SK_MZ[4] - P(1,17)*SK_MZ[3]); + Kfusion(2) = SK_MZ[0]*(P(2,21) + P(2,0)*SH_MAG[1] - P(2,1)*SH_MAG[2] + P(2,3)*SH_MAG[0] + P(2,2)*SK_MZ[2] + P(2,18)*SK_MZ[1] + P(2,16)*SK_MZ[4] - P(2,17)*SK_MZ[3]); + Kfusion(3) = SK_MZ[0]*(P(3,21) + P(3,0)*SH_MAG[1] - P(3,1)*SH_MAG[2] + P(3,3)*SH_MAG[0] + P(3,2)*SK_MZ[2] + P(3,18)*SK_MZ[1] + P(3,16)*SK_MZ[4] - P(3,17)*SK_MZ[3]); + Kfusion(4) = SK_MZ[0]*(P(4,21) + P(4,0)*SH_MAG[1] - P(4,1)*SH_MAG[2] + P(4,3)*SH_MAG[0] + P(4,2)*SK_MZ[2] + P(4,18)*SK_MZ[1] + P(4,16)*SK_MZ[4] - P(4,17)*SK_MZ[3]); + Kfusion(5) = SK_MZ[0]*(P(5,21) + P(5,0)*SH_MAG[1] - P(5,1)*SH_MAG[2] + P(5,3)*SH_MAG[0] + P(5,2)*SK_MZ[2] + P(5,18)*SK_MZ[1] + P(5,16)*SK_MZ[4] - P(5,17)*SK_MZ[3]); + Kfusion(6) = SK_MZ[0]*(P(6,21) + P(6,0)*SH_MAG[1] - P(6,1)*SH_MAG[2] + P(6,3)*SH_MAG[0] + P(6,2)*SK_MZ[2] + P(6,18)*SK_MZ[1] + P(6,16)*SK_MZ[4] - P(6,17)*SK_MZ[3]); + Kfusion(7) = SK_MZ[0]*(P(7,21) + P(7,0)*SH_MAG[1] - P(7,1)*SH_MAG[2] + P(7,3)*SH_MAG[0] + P(7,2)*SK_MZ[2] + P(7,18)*SK_MZ[1] + P(7,16)*SK_MZ[4] - P(7,17)*SK_MZ[3]); + Kfusion(8) = SK_MZ[0]*(P(8,21) + P(8,0)*SH_MAG[1] - P(8,1)*SH_MAG[2] + P(8,3)*SH_MAG[0] + P(8,2)*SK_MZ[2] + P(8,18)*SK_MZ[1] + P(8,16)*SK_MZ[4] - P(8,17)*SK_MZ[3]); + Kfusion(9) = SK_MZ[0]*(P(9,21) + P(9,0)*SH_MAG[1] - P(9,1)*SH_MAG[2] + P(9,3)*SH_MAG[0] + P(9,2)*SK_MZ[2] + P(9,18)*SK_MZ[1] + P(9,16)*SK_MZ[4] - P(9,17)*SK_MZ[3]); + Kfusion(10) = SK_MZ[0]*(P(10,21) + P(10,0)*SH_MAG[1] - P(10,1)*SH_MAG[2] + P(10,3)*SH_MAG[0] + P(10,2)*SK_MZ[2] + P(10,18)*SK_MZ[1] + P(10,16)*SK_MZ[4] - P(10,17)*SK_MZ[3]); + Kfusion(11) = SK_MZ[0]*(P(11,21) + P(11,0)*SH_MAG[1] - P(11,1)*SH_MAG[2] + P(11,3)*SH_MAG[0] + P(11,2)*SK_MZ[2] + P(11,18)*SK_MZ[1] + P(11,16)*SK_MZ[4] - P(11,17)*SK_MZ[3]); + Kfusion(12) = SK_MZ[0]*(P(12,21) + P(12,0)*SH_MAG[1] - P(12,1)*SH_MAG[2] + P(12,3)*SH_MAG[0] + P(12,2)*SK_MZ[2] + P(12,18)*SK_MZ[1] + P(12,16)*SK_MZ[4] - P(12,17)*SK_MZ[3]); + Kfusion(13) = SK_MZ[0]*(P(13,21) + P(13,0)*SH_MAG[1] - P(13,1)*SH_MAG[2] + P(13,3)*SH_MAG[0] + P(13,2)*SK_MZ[2] + P(13,18)*SK_MZ[1] + P(13,16)*SK_MZ[4] - P(13,17)*SK_MZ[3]); + Kfusion(14) = SK_MZ[0]*(P(14,21) + P(14,0)*SH_MAG[1] - P(14,1)*SH_MAG[2] + P(14,3)*SH_MAG[0] + P(14,2)*SK_MZ[2] + P(14,18)*SK_MZ[1] + P(14,16)*SK_MZ[4] - P(14,17)*SK_MZ[3]); + Kfusion(15) = SK_MZ[0]*(P(15,21) + P(15,0)*SH_MAG[1] - P(15,1)*SH_MAG[2] + P(15,3)*SH_MAG[0] + P(15,2)*SK_MZ[2] + P(15,18)*SK_MZ[1] + P(15,16)*SK_MZ[4] - P(15,17)*SK_MZ[3]); + Kfusion(22) = SK_MZ[0]*(P(22,21) + P(22,0)*SH_MAG[1] - P(22,1)*SH_MAG[2] + P(22,3)*SH_MAG[0] + P(22,2)*SK_MZ[2] + P(22,18)*SK_MZ[1] + P(22,16)*SK_MZ[4] - P(22,17)*SK_MZ[3]); + Kfusion(23) = SK_MZ[0]*(P(23,21) + P(23,0)*SH_MAG[1] - P(23,1)*SH_MAG[2] + P(23,3)*SH_MAG[0] + P(23,2)*SK_MZ[2] + P(23,18)*SK_MZ[1] + P(23,16)*SK_MZ[4] - P(23,17)*SK_MZ[3]); } - Kfusion[16] = SK_MZ[0]*(P(16,21) + P(16,0)*SH_MAG[1] - P(16,1)*SH_MAG[2] + P(16,3)*SH_MAG[0] + P(16,2)*SK_MZ[2] + P(16,18)*SK_MZ[1] + P(16,16)*SK_MZ[4] - P(16,17)*SK_MZ[3]); - Kfusion[17] = SK_MZ[0]*(P(17,21) + P(17,0)*SH_MAG[1] - P(17,1)*SH_MAG[2] + P(17,3)*SH_MAG[0] + P(17,2)*SK_MZ[2] + P(17,18)*SK_MZ[1] + P(17,16)*SK_MZ[4] - P(17,17)*SK_MZ[3]); - Kfusion[18] = SK_MZ[0]*(P(18,21) + P(18,0)*SH_MAG[1] - P(18,1)*SH_MAG[2] + P(18,3)*SH_MAG[0] + P(18,2)*SK_MZ[2] + P(18,18)*SK_MZ[1] + P(18,16)*SK_MZ[4] - P(18,17)*SK_MZ[3]); - Kfusion[19] = SK_MZ[0]*(P(19,21) + P(19,0)*SH_MAG[1] - P(19,1)*SH_MAG[2] + P(19,3)*SH_MAG[0] + P(19,2)*SK_MZ[2] + P(19,18)*SK_MZ[1] + P(19,16)*SK_MZ[4] - P(19,17)*SK_MZ[3]); - Kfusion[20] = SK_MZ[0]*(P(20,21) + P(20,0)*SH_MAG[1] - P(20,1)*SH_MAG[2] + P(20,3)*SH_MAG[0] + P(20,2)*SK_MZ[2] + P(20,18)*SK_MZ[1] + P(20,16)*SK_MZ[4] - P(20,17)*SK_MZ[3]); - Kfusion[21] = SK_MZ[0]*(P(21,21) + P(21,0)*SH_MAG[1] - P(21,1)*SH_MAG[2] + P(21,3)*SH_MAG[0] + P(21,2)*SK_MZ[2] + P(21,18)*SK_MZ[1] + P(21,16)*SK_MZ[4] - P(21,17)*SK_MZ[3]); + Kfusion(16) = SK_MZ[0]*(P(16,21) + P(16,0)*SH_MAG[1] - P(16,1)*SH_MAG[2] + P(16,3)*SH_MAG[0] + P(16,2)*SK_MZ[2] + P(16,18)*SK_MZ[1] + P(16,16)*SK_MZ[4] - P(16,17)*SK_MZ[3]); + Kfusion(17) = SK_MZ[0]*(P(17,21) + P(17,0)*SH_MAG[1] - P(17,1)*SH_MAG[2] + P(17,3)*SH_MAG[0] + P(17,2)*SK_MZ[2] + P(17,18)*SK_MZ[1] + P(17,16)*SK_MZ[4] - P(17,17)*SK_MZ[3]); + Kfusion(18) = SK_MZ[0]*(P(18,21) + P(18,0)*SH_MAG[1] - P(18,1)*SH_MAG[2] + P(18,3)*SH_MAG[0] + P(18,2)*SK_MZ[2] + P(18,18)*SK_MZ[1] + P(18,16)*SK_MZ[4] - P(18,17)*SK_MZ[3]); + Kfusion(19) = SK_MZ[0]*(P(19,21) + P(19,0)*SH_MAG[1] - P(19,1)*SH_MAG[2] + P(19,3)*SH_MAG[0] + P(19,2)*SK_MZ[2] + P(19,18)*SK_MZ[1] + P(19,16)*SK_MZ[4] - P(19,17)*SK_MZ[3]); + Kfusion(20) = SK_MZ[0]*(P(20,21) + P(20,0)*SH_MAG[1] - P(20,1)*SH_MAG[2] + P(20,3)*SH_MAG[0] + P(20,2)*SK_MZ[2] + P(20,18)*SK_MZ[1] + P(20,16)*SK_MZ[4] - P(20,17)*SK_MZ[3]); + Kfusion(21) = SK_MZ[0]*(P(21,21) + P(21,0)*SH_MAG[1] - P(21,1)*SH_MAG[2] + P(21,3)*SH_MAG[0] + P(21,2)*SK_MZ[2] + P(21,18)*SK_MZ[1] + P(21,16)*SK_MZ[4] - P(21,17)*SK_MZ[3]); } else { return; @@ -339,16 +339,16 @@ void Ekf::fuseMag() for (unsigned row = 0; row < _k_num_states; row++) { - KH[0] = Kfusion[row] * H_MAG[0]; - KH[1] = Kfusion[row] * H_MAG[1]; - KH[2] = Kfusion[row] * H_MAG[2]; - KH[3] = Kfusion[row] * H_MAG[3]; - KH[4] = Kfusion[row] * H_MAG[16]; - KH[5] = Kfusion[row] * H_MAG[17]; - KH[6] = Kfusion[row] * H_MAG[18]; - KH[7] = Kfusion[row] * H_MAG[19]; - KH[8] = Kfusion[row] * H_MAG[20]; - KH[9] = Kfusion[row] * H_MAG[21]; + KH[0] = Kfusion(row) * H_MAG[0]; + KH[1] = Kfusion(row) * H_MAG[1]; + KH[2] = Kfusion(row) * H_MAG[2]; + KH[3] = Kfusion(row) * H_MAG[3]; + KH[4] = Kfusion(row) * H_MAG[16]; + KH[5] = Kfusion(row) * H_MAG[17]; + KH[6] = Kfusion(row) * H_MAG[18]; + KH[7] = Kfusion(row) * H_MAG[19]; + KH[8] = Kfusion(row) * H_MAG[20]; + KH[9] = Kfusion(row) * H_MAG[21]; for (unsigned column = 0; column < _k_num_states; column++) { float tmp = KH[0] * P(0,column); @@ -630,23 +630,23 @@ void Ekf::updateQuaternion(const float innovation, const float variance, const f // calculate the Kalman gains // only calculate gains for states we are using - float Kfusion[_k_num_states] = {}; + Vector24f Kfusion; for (uint8_t row = 0; row <= 15; row++) { for (uint8_t col = 0; col <= 3; col++) { - Kfusion[row] += P(row,col) * yaw_jacobian[col]; + Kfusion(row) += P(row,col) * yaw_jacobian[col]; } - Kfusion[row] *= heading_innov_var_inv; + Kfusion(row) *= heading_innov_var_inv; } if (_control_status.flags.wind) { for (uint8_t row = 22; row <= 23; row++) { for (uint8_t col = 0; col <= 3; col++) { - Kfusion[row] += P(row,col) * yaw_jacobian[col]; + Kfusion(row) += P(row,col) * yaw_jacobian[col]; } - Kfusion[row] *= heading_innov_var_inv; + Kfusion(row) *= heading_innov_var_inv; } } @@ -685,10 +685,10 @@ void Ekf::updateQuaternion(const float innovation, const float variance, const f for (unsigned row = 0; row < _k_num_states; row++) { - KH[0] = Kfusion[row] * yaw_jacobian[0]; - KH[1] = Kfusion[row] * yaw_jacobian[1]; - KH[2] = Kfusion[row] * yaw_jacobian[2]; - KH[3] = Kfusion[row] * yaw_jacobian[3]; + KH[0] = Kfusion(row) * yaw_jacobian[0]; + KH[1] = Kfusion(row) * yaw_jacobian[1]; + KH[2] = Kfusion(row) * yaw_jacobian[2]; + KH[3] = Kfusion(row) * yaw_jacobian[3]; for (unsigned column = 0; column < _k_num_states; column++) { float tmp = KH[0] * P(0,column); @@ -938,31 +938,31 @@ void Ekf::fuseDeclination(float decl_sigma) H_DECL[17] = magN*t21; // Calculate the Kalman gains - float Kfusion[_k_num_states] = {}; - Kfusion[0] = -t4*t13*(P(0,16)*magE-P(0,17)*magN); - Kfusion[1] = -t4*t13*(P(1,16)*magE-P(1,17)*magN); - Kfusion[2] = -t4*t13*(P(2,16)*magE-P(2,17)*magN); - Kfusion[3] = -t4*t13*(P(3,16)*magE-P(3,17)*magN); - Kfusion[4] = -t4*t13*(P(4,16)*magE-P(4,17)*magN); - Kfusion[5] = -t4*t13*(P(5,16)*magE-P(5,17)*magN); - Kfusion[6] = -t4*t13*(P(6,16)*magE-P(6,17)*magN); - Kfusion[7] = -t4*t13*(P(7,16)*magE-P(7,17)*magN); - Kfusion[8] = -t4*t13*(P(8,16)*magE-P(8,17)*magN); - Kfusion[9] = -t4*t13*(P(9,16)*magE-P(9,17)*magN); - Kfusion[10] = -t4*t13*(P(10,16)*magE-P(10,17)*magN); - Kfusion[11] = -t4*t13*(P(11,16)*magE-P(11,17)*magN); - Kfusion[12] = -t4*t13*(P(12,16)*magE-P(12,17)*magN); - Kfusion[13] = -t4*t13*(P(13,16)*magE-P(13,17)*magN); - Kfusion[14] = -t4*t13*(P(14,16)*magE-P(14,17)*magN); - Kfusion[15] = -t4*t13*(P(15,16)*magE-P(15,17)*magN); - Kfusion[16] = -t4*t13*(P(16,16)*magE-P(16,17)*magN); - Kfusion[17] = -t4*t13*(P(17,16)*magE-P(17,17)*magN); - Kfusion[18] = -t4*t13*(P(18,16)*magE-P(18,17)*magN); - Kfusion[19] = -t4*t13*(P(19,16)*magE-P(19,17)*magN); - Kfusion[20] = -t4*t13*(P(20,16)*magE-P(20,17)*magN); - Kfusion[21] = -t4*t13*(P(21,16)*magE-P(21,17)*magN); - Kfusion[22] = -t4*t13*(P(22,16)*magE-P(22,17)*magN); - Kfusion[23] = -t4*t13*(P(23,16)*magE-P(23,17)*magN); + Vector24f Kfusion; + Kfusion(0) = -t4*t13*(P(0,16)*magE-P(0,17)*magN); + Kfusion(1) = -t4*t13*(P(1,16)*magE-P(1,17)*magN); + Kfusion(2) = -t4*t13*(P(2,16)*magE-P(2,17)*magN); + Kfusion(3) = -t4*t13*(P(3,16)*magE-P(3,17)*magN); + Kfusion(4) = -t4*t13*(P(4,16)*magE-P(4,17)*magN); + Kfusion(5) = -t4*t13*(P(5,16)*magE-P(5,17)*magN); + Kfusion(6) = -t4*t13*(P(6,16)*magE-P(6,17)*magN); + Kfusion(7) = -t4*t13*(P(7,16)*magE-P(7,17)*magN); + Kfusion(8) = -t4*t13*(P(8,16)*magE-P(8,17)*magN); + Kfusion(9) = -t4*t13*(P(9,16)*magE-P(9,17)*magN); + Kfusion(10) = -t4*t13*(P(10,16)*magE-P(10,17)*magN); + Kfusion(11) = -t4*t13*(P(11,16)*magE-P(11,17)*magN); + Kfusion(12) = -t4*t13*(P(12,16)*magE-P(12,17)*magN); + Kfusion(13) = -t4*t13*(P(13,16)*magE-P(13,17)*magN); + Kfusion(14) = -t4*t13*(P(14,16)*magE-P(14,17)*magN); + Kfusion(15) = -t4*t13*(P(15,16)*magE-P(15,17)*magN); + Kfusion(16) = -t4*t13*(P(16,16)*magE-P(16,17)*magN); + Kfusion(17) = -t4*t13*(P(17,16)*magE-P(17,17)*magN); + Kfusion(18) = -t4*t13*(P(18,16)*magE-P(18,17)*magN); + Kfusion(19) = -t4*t13*(P(19,16)*magE-P(19,17)*magN); + Kfusion(20) = -t4*t13*(P(20,16)*magE-P(20,17)*magN); + Kfusion(21) = -t4*t13*(P(21,16)*magE-P(21,17)*magN); + Kfusion(22) = -t4*t13*(P(22,16)*magE-P(22,17)*magN); + Kfusion(23) = -t4*t13*(P(23,16)*magE-P(23,17)*magN); const float innovation = math::constrain(atan2f(magE, magN) - getMagDeclination(), -0.5f, 0.5f); @@ -974,8 +974,8 @@ void Ekf::fuseDeclination(float decl_sigma) float KH[2]; for (unsigned row = 0; row < _k_num_states; row++) { - KH[0] = Kfusion[row] * H_DECL[16]; - KH[1] = Kfusion[row] * H_DECL[17]; + KH[0] = Kfusion(row) * H_DECL[16]; + KH[1] = Kfusion(row) * H_DECL[17]; for (unsigned column = 0; column < _k_num_states; column++) { float tmp = KH[0] * P(16,column); diff --git a/EKF/optflow_fusion.cpp b/EKF/optflow_fusion.cpp index b411f0f22a..866a3abb33 100644 --- a/EKF/optflow_fusion.cpp +++ b/EKF/optflow_fusion.cpp @@ -431,10 +431,10 @@ void Ekf::fuseOptFlow() for (uint8_t obs_index = 0; obs_index <= 1; obs_index++) { // copy the Kalman gain vector for the axis we are fusing - float gain[24]; + Vector24f gain; for (unsigned row = 0; row <= 23; row++) { - gain[row] = Kfusion[row][obs_index]; + gain(row) = Kfusion[row][obs_index]; } // apply covariance correction via P_new = (I -K*H)*P @@ -445,13 +445,13 @@ void Ekf::fuseOptFlow() for (unsigned row = 0; row < _k_num_states; row++) { - KH[0] = gain[row] * H_LOS[obs_index][0]; - KH[1] = gain[row] * H_LOS[obs_index][1]; - KH[2] = gain[row] * H_LOS[obs_index][2]; - KH[3] = gain[row] * H_LOS[obs_index][3]; - KH[4] = gain[row] * H_LOS[obs_index][4]; - KH[5] = gain[row] * H_LOS[obs_index][5]; - KH[6] = gain[row] * H_LOS[obs_index][6]; + KH[0] = gain(row) * H_LOS[obs_index][0]; + KH[1] = gain(row) * H_LOS[obs_index][1]; + KH[2] = gain(row) * H_LOS[obs_index][2]; + KH[3] = gain(row) * H_LOS[obs_index][3]; + KH[4] = gain(row) * H_LOS[obs_index][4]; + KH[5] = gain(row) * H_LOS[obs_index][5]; + KH[6] = gain(row) * H_LOS[obs_index][6]; for (unsigned column = 0; column < _k_num_states; column++) { float tmp = KH[0] * P(0,column); diff --git a/EKF/sideslip_fusion.cpp b/EKF/sideslip_fusion.cpp index 024d56fde6..b9111939aa 100644 --- a/EKF/sideslip_fusion.cpp +++ b/EKF/sideslip_fusion.cpp @@ -49,7 +49,7 @@ void Ekf::fuseSideslip() float SH_BETA[13] = {}; // Variable used to optimise calculations of measurement jacobian float H_BETA[24] = {}; // Observation Jacobian float SK_BETA[8] = {}; // Variable used to optimise calculations of the Kalman gain vector - float Kfusion[24] = {}; // Kalman gain vector + Vector24f Kfusion; // Kalman gain vector float R_BETA = _params.beta_noise; // get latest estimated orientation @@ -149,38 +149,37 @@ void Ekf::fuseSideslip() // Calculate Kalman gains if (!update_wind_only) { - - Kfusion[0] = SK_BETA[0]*(P(0,0)*SK_BETA[5] + P(0,1)*SK_BETA[4] - P(0,4)*SK_BETA[1] + P(0,5)*SK_BETA[2] + P(0,2)*SK_BETA[6] + P(0,6)*SK_BETA[3] - P(0,3)*SK_BETA[7] + P(0,22)*SK_BETA[1] - P(0,23)*SK_BETA[2]); - Kfusion[1] = SK_BETA[0]*(P(1,0)*SK_BETA[5] + P(1,1)*SK_BETA[4] - P(1,4)*SK_BETA[1] + P(1,5)*SK_BETA[2] + P(1,2)*SK_BETA[6] + P(1,6)*SK_BETA[3] - P(1,3)*SK_BETA[7] + P(1,22)*SK_BETA[1] - P(1,23)*SK_BETA[2]); - Kfusion[2] = SK_BETA[0]*(P(2,0)*SK_BETA[5] + P(2,1)*SK_BETA[4] - P(2,4)*SK_BETA[1] + P(2,5)*SK_BETA[2] + P(2,2)*SK_BETA[6] + P(2,6)*SK_BETA[3] - P(2,3)*SK_BETA[7] + P(2,22)*SK_BETA[1] - P(2,23)*SK_BETA[2]); - Kfusion[3] = SK_BETA[0]*(P(3,0)*SK_BETA[5] + P(3,1)*SK_BETA[4] - P(3,4)*SK_BETA[1] + P(3,5)*SK_BETA[2] + P(3,2)*SK_BETA[6] + P(3,6)*SK_BETA[3] - P(3,3)*SK_BETA[7] + P(3,22)*SK_BETA[1] - P(3,23)*SK_BETA[2]); - Kfusion[4] = SK_BETA[0]*(P(4,0)*SK_BETA[5] + P(4,1)*SK_BETA[4] - P(4,4)*SK_BETA[1] + P(4,5)*SK_BETA[2] + P(4,2)*SK_BETA[6] + P(4,6)*SK_BETA[3] - P(4,3)*SK_BETA[7] + P(4,22)*SK_BETA[1] - P(4,23)*SK_BETA[2]); - Kfusion[5] = SK_BETA[0]*(P(5,0)*SK_BETA[5] + P(5,1)*SK_BETA[4] - P(5,4)*SK_BETA[1] + P(5,5)*SK_BETA[2] + P(5,2)*SK_BETA[6] + P(5,6)*SK_BETA[3] - P(5,3)*SK_BETA[7] + P(5,22)*SK_BETA[1] - P(5,23)*SK_BETA[2]); - Kfusion[6] = SK_BETA[0]*(P(6,0)*SK_BETA[5] + P(6,1)*SK_BETA[4] - P(6,4)*SK_BETA[1] + P(6,5)*SK_BETA[2] + P(6,2)*SK_BETA[6] + P(6,6)*SK_BETA[3] - P(6,3)*SK_BETA[7] + P(6,22)*SK_BETA[1] - P(6,23)*SK_BETA[2]); - Kfusion[7] = SK_BETA[0]*(P(7,0)*SK_BETA[5] + P(7,1)*SK_BETA[4] - P(7,4)*SK_BETA[1] + P(7,5)*SK_BETA[2] + P(7,2)*SK_BETA[6] + P(7,6)*SK_BETA[3] - P(7,3)*SK_BETA[7] + P(7,22)*SK_BETA[1] - P(7,23)*SK_BETA[2]); - Kfusion[8] = SK_BETA[0]*(P(8,0)*SK_BETA[5] + P(8,1)*SK_BETA[4] - P(8,4)*SK_BETA[1] + P(8,5)*SK_BETA[2] + P(8,2)*SK_BETA[6] + P(8,6)*SK_BETA[3] - P(8,3)*SK_BETA[7] + P(8,22)*SK_BETA[1] - P(8,23)*SK_BETA[2]); - Kfusion[9] = SK_BETA[0]*(P(9,0)*SK_BETA[5] + P(9,1)*SK_BETA[4] - P(9,4)*SK_BETA[1] + P(9,5)*SK_BETA[2] + P(9,2)*SK_BETA[6] + P(9,6)*SK_BETA[3] - P(9,3)*SK_BETA[7] + P(9,22)*SK_BETA[1] - P(9,23)*SK_BETA[2]); - Kfusion[10] = SK_BETA[0]*(P(10,0)*SK_BETA[5] + P(10,1)*SK_BETA[4] - P(10,4)*SK_BETA[1] + P(10,5)*SK_BETA[2] + P(10,2)*SK_BETA[6] + P(10,6)*SK_BETA[3] - P(10,3)*SK_BETA[7] + P(10,22)*SK_BETA[1] - P(10,23)*SK_BETA[2]); - Kfusion[11] = SK_BETA[0]*(P(11,0)*SK_BETA[5] + P(11,1)*SK_BETA[4] - P(11,4)*SK_BETA[1] + P(11,5)*SK_BETA[2] + P(11,2)*SK_BETA[6] + P(11,6)*SK_BETA[3] - P(11,3)*SK_BETA[7] + P(11,22)*SK_BETA[1] - P(11,23)*SK_BETA[2]); - Kfusion[12] = SK_BETA[0]*(P(12,0)*SK_BETA[5] + P(12,1)*SK_BETA[4] - P(12,4)*SK_BETA[1] + P(12,5)*SK_BETA[2] + P(12,2)*SK_BETA[6] + P(12,6)*SK_BETA[3] - P(12,3)*SK_BETA[7] + P(12,22)*SK_BETA[1] - P(12,23)*SK_BETA[2]); - Kfusion[13] = SK_BETA[0]*(P(13,0)*SK_BETA[5] + P(13,1)*SK_BETA[4] - P(13,4)*SK_BETA[1] + P(13,5)*SK_BETA[2] + P(13,2)*SK_BETA[6] + P(13,6)*SK_BETA[3] - P(13,3)*SK_BETA[7] + P(13,22)*SK_BETA[1] - P(13,23)*SK_BETA[2]); - Kfusion[14] = SK_BETA[0]*(P(14,0)*SK_BETA[5] + P(14,1)*SK_BETA[4] - P(14,4)*SK_BETA[1] + P(14,5)*SK_BETA[2] + P(14,2)*SK_BETA[6] + P(14,6)*SK_BETA[3] - P(14,3)*SK_BETA[7] + P(14,22)*SK_BETA[1] - P(14,23)*SK_BETA[2]); - Kfusion[15] = SK_BETA[0]*(P(15,0)*SK_BETA[5] + P(15,1)*SK_BETA[4] - P(15,4)*SK_BETA[1] + P(15,5)*SK_BETA[2] + P(15,2)*SK_BETA[6] + P(15,6)*SK_BETA[3] - P(15,3)*SK_BETA[7] + P(15,22)*SK_BETA[1] - P(15,23)*SK_BETA[2]); + Kfusion(0) = SK_BETA[0]*(P(0,0)*SK_BETA[5] + P(0,1)*SK_BETA[4] - P(0,4)*SK_BETA[1] + P(0,5)*SK_BETA[2] + P(0,2)*SK_BETA[6] + P(0,6)*SK_BETA[3] - P(0,3)*SK_BETA[7] + P(0,22)*SK_BETA[1] - P(0,23)*SK_BETA[2]); + Kfusion(1) = SK_BETA[0]*(P(1,0)*SK_BETA[5] + P(1,1)*SK_BETA[4] - P(1,4)*SK_BETA[1] + P(1,5)*SK_BETA[2] + P(1,2)*SK_BETA[6] + P(1,6)*SK_BETA[3] - P(1,3)*SK_BETA[7] + P(1,22)*SK_BETA[1] - P(1,23)*SK_BETA[2]); + Kfusion(2) = SK_BETA[0]*(P(2,0)*SK_BETA[5] + P(2,1)*SK_BETA[4] - P(2,4)*SK_BETA[1] + P(2,5)*SK_BETA[2] + P(2,2)*SK_BETA[6] + P(2,6)*SK_BETA[3] - P(2,3)*SK_BETA[7] + P(2,22)*SK_BETA[1] - P(2,23)*SK_BETA[2]); + Kfusion(3) = SK_BETA[0]*(P(3,0)*SK_BETA[5] + P(3,1)*SK_BETA[4] - P(3,4)*SK_BETA[1] + P(3,5)*SK_BETA[2] + P(3,2)*SK_BETA[6] + P(3,6)*SK_BETA[3] - P(3,3)*SK_BETA[7] + P(3,22)*SK_BETA[1] - P(3,23)*SK_BETA[2]); + Kfusion(4) = SK_BETA[0]*(P(4,0)*SK_BETA[5] + P(4,1)*SK_BETA[4] - P(4,4)*SK_BETA[1] + P(4,5)*SK_BETA[2] + P(4,2)*SK_BETA[6] + P(4,6)*SK_BETA[3] - P(4,3)*SK_BETA[7] + P(4,22)*SK_BETA[1] - P(4,23)*SK_BETA[2]); + Kfusion(5) = SK_BETA[0]*(P(5,0)*SK_BETA[5] + P(5,1)*SK_BETA[4] - P(5,4)*SK_BETA[1] + P(5,5)*SK_BETA[2] + P(5,2)*SK_BETA[6] + P(5,6)*SK_BETA[3] - P(5,3)*SK_BETA[7] + P(5,22)*SK_BETA[1] - P(5,23)*SK_BETA[2]); + Kfusion(6) = SK_BETA[0]*(P(6,0)*SK_BETA[5] + P(6,1)*SK_BETA[4] - P(6,4)*SK_BETA[1] + P(6,5)*SK_BETA[2] + P(6,2)*SK_BETA[6] + P(6,6)*SK_BETA[3] - P(6,3)*SK_BETA[7] + P(6,22)*SK_BETA[1] - P(6,23)*SK_BETA[2]); + Kfusion(7) = SK_BETA[0]*(P(7,0)*SK_BETA[5] + P(7,1)*SK_BETA[4] - P(7,4)*SK_BETA[1] + P(7,5)*SK_BETA[2] + P(7,2)*SK_BETA[6] + P(7,6)*SK_BETA[3] - P(7,3)*SK_BETA[7] + P(7,22)*SK_BETA[1] - P(7,23)*SK_BETA[2]); + Kfusion(8) = SK_BETA[0]*(P(8,0)*SK_BETA[5] + P(8,1)*SK_BETA[4] - P(8,4)*SK_BETA[1] + P(8,5)*SK_BETA[2] + P(8,2)*SK_BETA[6] + P(8,6)*SK_BETA[3] - P(8,3)*SK_BETA[7] + P(8,22)*SK_BETA[1] - P(8,23)*SK_BETA[2]); + Kfusion(9) = SK_BETA[0]*(P(9,0)*SK_BETA[5] + P(9,1)*SK_BETA[4] - P(9,4)*SK_BETA[1] + P(9,5)*SK_BETA[2] + P(9,2)*SK_BETA[6] + P(9,6)*SK_BETA[3] - P(9,3)*SK_BETA[7] + P(9,22)*SK_BETA[1] - P(9,23)*SK_BETA[2]); + Kfusion(10) = SK_BETA[0]*(P(10,0)*SK_BETA[5] + P(10,1)*SK_BETA[4] - P(10,4)*SK_BETA[1] + P(10,5)*SK_BETA[2] + P(10,2)*SK_BETA[6] + P(10,6)*SK_BETA[3] - P(10,3)*SK_BETA[7] + P(10,22)*SK_BETA[1] - P(10,23)*SK_BETA[2]); + Kfusion(11) = SK_BETA[0]*(P(11,0)*SK_BETA[5] + P(11,1)*SK_BETA[4] - P(11,4)*SK_BETA[1] + P(11,5)*SK_BETA[2] + P(11,2)*SK_BETA[6] + P(11,6)*SK_BETA[3] - P(11,3)*SK_BETA[7] + P(11,22)*SK_BETA[1] - P(11,23)*SK_BETA[2]); + Kfusion(12) = SK_BETA[0]*(P(12,0)*SK_BETA[5] + P(12,1)*SK_BETA[4] - P(12,4)*SK_BETA[1] + P(12,5)*SK_BETA[2] + P(12,2)*SK_BETA[6] + P(12,6)*SK_BETA[3] - P(12,3)*SK_BETA[7] + P(12,22)*SK_BETA[1] - P(12,23)*SK_BETA[2]); + Kfusion(13) = SK_BETA[0]*(P(13,0)*SK_BETA[5] + P(13,1)*SK_BETA[4] - P(13,4)*SK_BETA[1] + P(13,5)*SK_BETA[2] + P(13,2)*SK_BETA[6] + P(13,6)*SK_BETA[3] - P(13,3)*SK_BETA[7] + P(13,22)*SK_BETA[1] - P(13,23)*SK_BETA[2]); + Kfusion(14) = SK_BETA[0]*(P(14,0)*SK_BETA[5] + P(14,1)*SK_BETA[4] - P(14,4)*SK_BETA[1] + P(14,5)*SK_BETA[2] + P(14,2)*SK_BETA[6] + P(14,6)*SK_BETA[3] - P(14,3)*SK_BETA[7] + P(14,22)*SK_BETA[1] - P(14,23)*SK_BETA[2]); + Kfusion(15) = SK_BETA[0]*(P(15,0)*SK_BETA[5] + P(15,1)*SK_BETA[4] - P(15,4)*SK_BETA[1] + P(15,5)*SK_BETA[2] + P(15,2)*SK_BETA[6] + P(15,6)*SK_BETA[3] - P(15,3)*SK_BETA[7] + P(15,22)*SK_BETA[1] - P(15,23)*SK_BETA[2]); // Only update the magnetometer states if we are airborne and using 3D mag fusion if (_control_status.flags.mag_3D && _control_status.flags.in_air) { - Kfusion[16] = SK_BETA[0]*(P(16,0)*SK_BETA[5] + P(16,1)*SK_BETA[4] - P(16,4)*SK_BETA[1] + P(16,5)*SK_BETA[2] + P(16,2)*SK_BETA[6] + P(16,6)*SK_BETA[3] - P(16,3)*SK_BETA[7] + P(16,22)*SK_BETA[1] - P(16,23)*SK_BETA[2]); - Kfusion[17] = SK_BETA[0]*(P(17,0)*SK_BETA[5] + P(17,1)*SK_BETA[4] - P(17,4)*SK_BETA[1] + P(17,5)*SK_BETA[2] + P(17,2)*SK_BETA[6] + P(17,6)*SK_BETA[3] - P(17,3)*SK_BETA[7] + P(17,22)*SK_BETA[1] - P(17,23)*SK_BETA[2]); - Kfusion[18] = SK_BETA[0]*(P(18,0)*SK_BETA[5] + P(18,1)*SK_BETA[4] - P(18,4)*SK_BETA[1] + P(18,5)*SK_BETA[2] + P(18,2)*SK_BETA[6] + P(18,6)*SK_BETA[3] - P(18,3)*SK_BETA[7] + P(18,22)*SK_BETA[1] - P(18,23)*SK_BETA[2]); - Kfusion[19] = SK_BETA[0]*(P(19,0)*SK_BETA[5] + P(19,1)*SK_BETA[4] - P(19,4)*SK_BETA[1] + P(19,5)*SK_BETA[2] + P(19,2)*SK_BETA[6] + P(19,6)*SK_BETA[3] - P(19,3)*SK_BETA[7] + P(19,22)*SK_BETA[1] - P(19,23)*SK_BETA[2]); - Kfusion[20] = SK_BETA[0]*(P(20,0)*SK_BETA[5] + P(20,1)*SK_BETA[4] - P(20,4)*SK_BETA[1] + P(20,5)*SK_BETA[2] + P(20,2)*SK_BETA[6] + P(20,6)*SK_BETA[3] - P(20,3)*SK_BETA[7] + P(20,22)*SK_BETA[1] - P(20,23)*SK_BETA[2]); - Kfusion[21] = SK_BETA[0]*(P(21,0)*SK_BETA[5] + P(21,1)*SK_BETA[4] - P(21,4)*SK_BETA[1] + P(21,5)*SK_BETA[2] + P(21,2)*SK_BETA[6] + P(21,6)*SK_BETA[3] - P(21,3)*SK_BETA[7] + P(21,22)*SK_BETA[1] - P(21,23)*SK_BETA[2]); + Kfusion(16) = SK_BETA[0]*(P(16,0)*SK_BETA[5] + P(16,1)*SK_BETA[4] - P(16,4)*SK_BETA[1] + P(16,5)*SK_BETA[2] + P(16,2)*SK_BETA[6] + P(16,6)*SK_BETA[3] - P(16,3)*SK_BETA[7] + P(16,22)*SK_BETA[1] - P(16,23)*SK_BETA[2]); + Kfusion(17) = SK_BETA[0]*(P(17,0)*SK_BETA[5] + P(17,1)*SK_BETA[4] - P(17,4)*SK_BETA[1] + P(17,5)*SK_BETA[2] + P(17,2)*SK_BETA[6] + P(17,6)*SK_BETA[3] - P(17,3)*SK_BETA[7] + P(17,22)*SK_BETA[1] - P(17,23)*SK_BETA[2]); + Kfusion(18) = SK_BETA[0]*(P(18,0)*SK_BETA[5] + P(18,1)*SK_BETA[4] - P(18,4)*SK_BETA[1] + P(18,5)*SK_BETA[2] + P(18,2)*SK_BETA[6] + P(18,6)*SK_BETA[3] - P(18,3)*SK_BETA[7] + P(18,22)*SK_BETA[1] - P(18,23)*SK_BETA[2]); + Kfusion(19) = SK_BETA[0]*(P(19,0)*SK_BETA[5] + P(19,1)*SK_BETA[4] - P(19,4)*SK_BETA[1] + P(19,5)*SK_BETA[2] + P(19,2)*SK_BETA[6] + P(19,6)*SK_BETA[3] - P(19,3)*SK_BETA[7] + P(19,22)*SK_BETA[1] - P(19,23)*SK_BETA[2]); + Kfusion(20) = SK_BETA[0]*(P(20,0)*SK_BETA[5] + P(20,1)*SK_BETA[4] - P(20,4)*SK_BETA[1] + P(20,5)*SK_BETA[2] + P(20,2)*SK_BETA[6] + P(20,6)*SK_BETA[3] - P(20,3)*SK_BETA[7] + P(20,22)*SK_BETA[1] - P(20,23)*SK_BETA[2]); + Kfusion(21) = SK_BETA[0]*(P(21,0)*SK_BETA[5] + P(21,1)*SK_BETA[4] - P(21,4)*SK_BETA[1] + P(21,5)*SK_BETA[2] + P(21,2)*SK_BETA[6] + P(21,6)*SK_BETA[3] - P(21,3)*SK_BETA[7] + P(21,22)*SK_BETA[1] - P(21,23)*SK_BETA[2]); } } - Kfusion[22] = SK_BETA[0]*(P(22,0)*SK_BETA[5] + P(22,1)*SK_BETA[4] - P(22,4)*SK_BETA[1] + P(22,5)*SK_BETA[2] + P(22,2)*SK_BETA[6] + P(22,6)*SK_BETA[3] - P(22,3)*SK_BETA[7] + P(22,22)*SK_BETA[1] - P(22,23)*SK_BETA[2]); - Kfusion[23] = SK_BETA[0]*(P(23,0)*SK_BETA[5] + P(23,1)*SK_BETA[4] - P(23,4)*SK_BETA[1] + P(23,5)*SK_BETA[2] + P(23,2)*SK_BETA[6] + P(23,6)*SK_BETA[3] - P(23,3)*SK_BETA[7] + P(23,22)*SK_BETA[1] - P(23,23)*SK_BETA[2]); + Kfusion(22) = SK_BETA[0]*(P(22,0)*SK_BETA[5] + P(22,1)*SK_BETA[4] - P(22,4)*SK_BETA[1] + P(22,5)*SK_BETA[2] + P(22,2)*SK_BETA[6] + P(22,6)*SK_BETA[3] - P(22,3)*SK_BETA[7] + P(22,22)*SK_BETA[1] - P(22,23)*SK_BETA[2]); + Kfusion(23) = SK_BETA[0]*(P(23,0)*SK_BETA[5] + P(23,1)*SK_BETA[4] - P(23,4)*SK_BETA[1] + P(23,5)*SK_BETA[2] + P(23,2)*SK_BETA[6] + P(23,6)*SK_BETA[3] - P(23,3)*SK_BETA[7] + P(23,22)*SK_BETA[1] - P(23,23)*SK_BETA[2]); // Calculate predicted sideslip angle and innovation using small angle approximation _beta_innov = rel_wind_body(1) / rel_wind_body(0); @@ -207,15 +206,15 @@ void Ekf::fuseSideslip() float KH[9]; for (unsigned row = 0; row < _k_num_states; row++) { - KH[0] = Kfusion[row] * H_BETA[0]; - KH[1] = Kfusion[row] * H_BETA[1]; - KH[2] = Kfusion[row] * H_BETA[2]; - KH[3] = Kfusion[row] * H_BETA[3]; - KH[4] = Kfusion[row] * H_BETA[4]; - KH[5] = Kfusion[row] * H_BETA[5]; - KH[6] = Kfusion[row] * H_BETA[6]; - KH[7] = Kfusion[row] * H_BETA[22]; - KH[8] = Kfusion[row] * H_BETA[23]; + KH[0] = Kfusion(row) * H_BETA[0]; + KH[1] = Kfusion(row) * H_BETA[1]; + KH[2] = Kfusion(row) * H_BETA[2]; + KH[3] = Kfusion(row) * H_BETA[3]; + KH[4] = Kfusion(row) * H_BETA[4]; + KH[5] = Kfusion(row) * H_BETA[5]; + KH[6] = Kfusion(row) * H_BETA[6]; + KH[7] = Kfusion(row) * H_BETA[22]; + KH[8] = Kfusion(row) * H_BETA[23]; for (unsigned column = 0; column < _k_num_states; column++) { float tmp = KH[0] * P(0,column); diff --git a/EKF/vel_pos_fusion.cpp b/EKF/vel_pos_fusion.cpp index 5dfac71d72..9684e0e5c3 100644 --- a/EKF/vel_pos_fusion.cpp +++ b/EKF/vel_pos_fusion.cpp @@ -153,19 +153,19 @@ bool Ekf::fuseVerticalPosition(const Vector3f &innov, const Vector2f &innov_gate void Ekf::fuseVelPosHeight(const float innov, const float innov_var, const int obs_index) { - float Kfusion[24]; // Kalman gain vector for any single observation - sequential fusion is used. + Vector24f Kfusion; // Kalman gain vector for any single observation - sequential fusion is used. const unsigned state_index = obs_index + 4; // we start with vx and this is the 4. state // calculate kalman gain K = PHS, where S = 1/innovation variance for (int row = 0; row < _k_num_states; row++) { - Kfusion[row] = P(row, state_index) / innov_var; + Kfusion(row) = P(row, state_index) / innov_var; } SquareMatrix24f KHP; for (unsigned row = 0; row < _k_num_states; row++) { for (unsigned column = 0; column < _k_num_states; column++) { - KHP(row, column) = Kfusion[row] * P(state_index, column); + KHP(row, column) = Kfusion(row) * P(state_index, column); } } diff --git a/test/change_indication/iris_gps.csv b/test/change_indication/iris_gps.csv index b27e590205..2751d33307 100644 --- a/test/change_indication/iris_gps.csv +++ b/test/change_indication/iris_gps.csv @@ -3,349 +3,349 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7 85000,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 185000,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 285000,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 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