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ekf2: estimator aid source status (baro height)

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Daniel Agar
2022-05-25 09:25:12 -04:00
parent 4dbe6f0a1c
commit 1e25aee6fa
13 changed files with 218 additions and 156 deletions
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src/modules/ekf2/EKF/gps_fusion.cpp
+4 -6
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@@ -55,11 +55,10 @@ void Ekf::updateGpsVel(const gpsSample &gps_sample)
gps_vel.innovation[i] = _state.vel(i) - gps_sample.vel(i);
gps_vel.innovation_variance[i] = P(4 + i, 4 + i) + obs_var(i);
gps_vel.test_ratio[i] = sq(gps_vel.innovation[i]) / (sq(innov_gate) * gps_vel.innovation_variance[i]);
gps_vel.innovation_rejected[i] = (gps_vel.test_ratio[i] > 1.f);
}
setEstimatorAidStatusTestRatio(gps_vel, innov_gate);
// vz special case if there is bad vertical acceleration data, then don't reject measurement,
// but limit innovation to prevent spikes that could destabilise the filter
if (_fault_status.flags.bad_acc_vertical && gps_vel.innovation_rejected[2]) {
@@ -109,11 +108,10 @@ void Ekf::updateGpsPos(const gpsSample &gps_sample)
gps_pos.innovation[i] = _state.pos(i) - position(i);
gps_pos.innovation_variance[i] = P(7 + i, 7 + i) + obs_var(i);
gps_pos.test_ratio[i] = sq(gps_pos.innovation[i]) / (sq(innov_gate) * gps_pos.innovation_variance[i]);
gps_pos.innovation_rejected[i] = (gps_pos.test_ratio[i] > 1.f);
}
setEstimatorAidStatusTestRatio(gps_pos, innov_gate);
// z special case if there is bad vertical acceleration data, then don't reject measurement,
// but limit innovation to prevent spikes that could destabilise the filter
if (_fault_status.flags.bad_acc_vertical && gps_pos.innovation_rejected[2]) {