diff --git a/src/modules/ekf2/EKF/covariance.cpp b/src/modules/ekf2/EKF/covariance.cpp index 60a865d2de..519cbbcfa2 100644 --- a/src/modules/ekf2/EKF/covariance.cpp +++ b/src/modules/ekf2/EKF/covariance.cpp @@ -138,7 +138,7 @@ void Ekf::predictCovariance(const imuSample &imu_delayed) // Construct the process noise variance diagonal for those states with a stationary process model // These are kinematic states and their error growth is controlled separately by the IMU noise variances - // gyro bias: add process noise unless state is inhibited + // gyro bias: add process noise { const float gyro_bias_sig = dt * math::constrain(_params.gyro_bias_p_noise, 0.f, 1.f); const float gyro_bias_process_noise = sq(gyro_bias_sig); @@ -146,13 +146,13 @@ void Ekf::predictCovariance(const imuSample &imu_delayed) for (unsigned index = 0; index < State::gyro_bias.dof; index++) { const unsigned i = State::gyro_bias.idx + index; - if (!_gyro_bias_inhibit[index]) { + if (P(i, i) < gyro_var) { P(i, i) += gyro_bias_process_noise; } } } - // accel bias: add process noise unless state is inhibited + // accel bias: add process noise { const float accel_bias_sig = dt * math::constrain(_params.accel_bias_p_noise, 0.f, 1.f); const float accel_bias_process_noise = sq(accel_bias_sig); @@ -160,7 +160,7 @@ void Ekf::predictCovariance(const imuSample &imu_delayed) for (unsigned index = 0; index < State::accel_bias.dof; index++) { const unsigned i = State::accel_bias.idx + index; - if (!_accel_bias_inhibit[index]) { + if (P(i, i) < accel_var(index)) { P(i, i) += accel_bias_process_noise; } } diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv index 50f65f6fa5..4c928c8ca1 100644 --- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv +++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv @@ -75,14 +75,14 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7 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