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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/gps_fusion.cpp
+4 -6
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@@ -78,13 +78,11 @@ void Ekf::fuseGpsVelPos()
_gps_pos_innov.xy() = Vector2f(_state.pos) - _gps_sample_delayed.pos;
// set innovation gate size
const Vector2f gps_pos_innov_gates{fmaxf(_params.gps_pos_innov_gate, 1.f), 0.f};
const float pos_innov_gate = fmaxf(_params.gps_pos_innov_gate, 1.f);
const float vel_innov_gate = fmaxf(_params.gps_vel_innov_gate, 1.f);
const Vector2f gps_vel_innov_gates{vel_innov_gate, vel_innov_gate};
// fuse GPS measurement
fuseHorizontalVelocity(_gps_vel_innov, gps_vel_innov_gates, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
fuseVerticalVelocity(_gps_vel_innov, gps_vel_innov_gates, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
fuseHorizontalPosition(_gps_pos_innov, gps_pos_innov_gates, gps_pos_obs_var, _gps_pos_innov_var, _gps_pos_test_ratio);
fuseHorizontalVelocity(_gps_vel_innov, vel_innov_gate, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
fuseVerticalVelocity(_gps_vel_innov, vel_innov_gate, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
fuseHorizontalPosition(_gps_pos_innov, pos_innov_gate, gps_pos_obs_var, _gps_pos_innov_var, _gps_pos_test_ratio);
}