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ekf: disable xy accel bias learning before takeoff (#818)

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* ekf: disable xy accel bias learning before takeoff

As those biases are usually poorly observable before takeoff because
they are almost perpendicular to the gravity vector, learning is often
driven by noise and numerical issues. This results in incorrect bias
learning before takeoff when the drone is static on ground for a long
period of time.

* ekf: update unit test and change indicator
This commit is contained in:
Mathieu Bresciani
2020-05-19 18:02:40 +10:00
committed by GitHub
parent 9788c3bdf2
commit 37d9cef262
3 changed files with 348 additions and 349 deletions
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EKF/covariance.cpp
+2 -3
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@@ -163,9 +163,8 @@ void Ekf::predictCovariance()
for (unsigned stateIndex = 13; stateIndex <= 15; stateIndex++) {
const unsigned index = stateIndex - 13;
// TODO: When on ground, only consider an accel bias observable if aligned with the gravity vector
// const bool is_bias_observable = (fabsf(_R_to_earth(2, index)) > 0.8f) || _control_status.flags.in_air;
const bool is_bias_observable = true;
// When on ground, only consider an accel bias observable if aligned with the gravity vector
const bool is_bias_observable = (fabsf(_R_to_earth(2, index)) > 0.8f) || _control_status.flags.in_air;
const bool do_inhibit_axis = do_inhibit_all_axes || !is_bias_observable;
if (do_inhibit_axis) {