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ekf2_flow: check innov variance health after fusing 1st axis

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This commit is contained in:
bresch
2022-11-14 11:51:32 -05:00
committed by Daniel Agar
parent 73a8c388e8
commit 28458340e6
1 changed files with 8 additions and 0 deletions
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src/modules/ekf2/EKF/optflow_fusion.cpp
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@@ -128,6 +128,7 @@ void Ekf::fuseOptFlow()
if ((_aid_src_optical_flow.innovation_variance[0] < R_LOS) if ((_aid_src_optical_flow.innovation_variance[0] < R_LOS)
|| (_aid_src_optical_flow.innovation_variance[1] < R_LOS)) { || (_aid_src_optical_flow.innovation_variance[1] < R_LOS)) {
// we need to reinitialise the covariance matrix and abort this fusion step // we need to reinitialise the covariance matrix and abort this fusion step
ECL_ERR("Opt flow error - covariance reset");
initialiseCovariance(); initialiseCovariance();
return; return;
} }
@@ -153,6 +154,13 @@ void Ekf::fuseOptFlow()
} else if (index == 1) { } else if (index == 1) {
// recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes) // recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes)
sym::ComputeFlowYInnovVarAndH(state_vector, P, range, R_LOS, FLT_EPSILON, &_aid_src_optical_flow.innovation_variance[1], &H); sym::ComputeFlowYInnovVarAndH(state_vector, P, range, R_LOS, FLT_EPSILON, &_aid_src_optical_flow.innovation_variance[1], &H);
if (_aid_src_optical_flow.innovation_variance[1] < R_LOS) {
// we need to reinitialise the covariance matrix and abort this fusion step
ECL_ERR("Opt flow error - covariance reset");
initialiseCovariance();
return;
}
} }
SparseVector24f<0,1,2,3,4,5,6> Hfusion(H); SparseVector24f<0,1,2,3,4,5,6> Hfusion(H);