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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/fake_pos_control.cpp
+1 -1
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@@ -116,7 +116,7 @@ void Ekf::fuseFakePosition()
_gps_pos_innov.xy() = Vector2f(_state.pos) - _last_known_posNE;
const Vector2f fake_pos_innov_gate(3.0f, 3.0f);
const float fake_pos_innov_gate = 3.f;
if (fuseHorizontalPosition(_gps_pos_innov, fake_pos_innov_gate, fake_pos_obs_var,
_gps_pos_innov_var, _gps_pos_test_ratio, true)) {