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ekf2: fusion always succeeds, do not return boolean

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This commit is contained in:
bresch
2024-09-24 10:48:14 -04:00
committed by Daniel Agar
parent 23f343aa3a
commit 35efe44a6b
15 changed files with 109 additions and 157 deletions
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src/modules/ekf2/EKF/ekf.h
+3 -2
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@@ -246,7 +246,7 @@ public:
}
// fuse single direct state measurement (eg NED velocity, NED position, mag earth field, etc)
bool fuseDirectStateMeasurement(const float innov, const float innov_var, const float R, const int state_index);
void fuseDirectStateMeasurement(const float innov, const float innov_var, const float R, const int state_index);
bool measurementUpdate(VectorState &K, const VectorState &H, const float R, const float innovation);
@@ -834,7 +834,8 @@ private:
void fuseBodyVelocity(estimator_aid_source1d_s &aid_src, float &innov_var, VectorState &H)
{
VectorState Kfusion = P * H / innov_var;
aid_src.fused = measurementUpdate(Kfusion, H, aid_src.observation_variance, aid_src.innovation);
measurementUpdate(Kfusion, H, aid_src.observation_variance, aid_src.innovation);
aid_src.fused = true;
}
#endif // CONFIG_EKF2_EXTERNAL_VISION