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ekf: use float instead of Vector2f for innov gate in pos/vel fusion

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We always use the same innovation gate for X and Y anyway
This commit is contained in:
bresch
2022-02-02 17:43:25 -05:00
committed by Daniel Agar
parent 5fb0084524
commit 3077f27821
5 changed files with 24 additions and 28 deletions
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src/modules/ekf2/EKF/ekf.h
+4 -4
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@@ -660,16 +660,16 @@ private:
// fuse optical flow line of sight rate measurements
void fuseOptFlow();
bool fuseHorizontalVelocity(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
bool fuseHorizontalVelocity(const Vector3f &innov, float innov_gate, const Vector3f &obs_var,
Vector3f &innov_var, Vector2f &test_ratio);
bool fuseVerticalVelocity(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
bool fuseVerticalVelocity(const Vector3f &innov, float innov_gate, const Vector3f &obs_var,
Vector3f &innov_var, Vector2f &test_ratio);
bool fuseHorizontalPosition(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
bool fuseHorizontalPosition(const Vector3f &innov, float innov_gate, const Vector3f &obs_var,
Vector3f &innov_var, Vector2f &test_ratiov, bool inhibit_gate = false);
bool fuseVerticalPosition(const float innov, const float innov_gate, const float obs_var,
bool fuseVerticalPosition(float innov, float innov_gate, float obs_var,
float &innov_var, float &test_ratio);
void fuseGpsVelPos();