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ekf2: remove artificial constraint on position uncertainty growth

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There is no reason to contrsain the position uncertainty, estpecially
when flying with velocitiy aiding only.

Note that all the variances are already contrained to sane values at the
end of the covariance prediction
This commit is contained in:
bresch
2023-07-24 15:10:07 -04:00
committed by Daniel Agar
parent 1ef9ee7622
commit 30bfe0d379
1 changed files with 0 additions and 11 deletions
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src/modules/ekf2/EKF/covariance.cpp
-11
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@@ -302,17 +302,6 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
nextP(i, i) += process_noise(i);
}
// stop position covariance growth if our total position variance reaches 100m
// this can happen if we lose gps for some time
if ((P(7, 7) + P(8, 8)) > 1e4f) {
for (uint8_t i = 7; i <= 8; i++) {
for (uint8_t j = 0; j < _k_num_states; j++) {
nextP(i, j) = P(i, j);
nextP(j, i) = P(j, i);
}
}
}
// covariance matrix is symmetrical, so copy upper half to lower half
for (unsigned row = 0; row <= 15; row++) {
for (unsigned column = 0 ; column < row; column++) {