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ekf2: use more efficient covariance update computation

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KSK' is faster to compute than KHP and is mathematically equivalent
This commit is contained in:
bresch
2022-12-12 12:31:54 -05:00
committed by Daniel Agar
parent 61fa28c0d6
commit 41abf695a8
8 changed files with 21 additions and 49 deletions
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src/modules/ekf2/EKF/gps_yaw_fusion.cpp
+1 -1
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@@ -132,7 +132,7 @@ void Ekf::fuseGpsYaw()
// only calculate gains for states we are using
Vector24f Kfusion = P * Hfusion / gnss_yaw.innovation_variance;
const bool is_fused = measurementUpdate(Kfusion, Hfusion, gnss_yaw.innovation);
const bool is_fused = measurementUpdate(Kfusion, gnss_yaw.innovation_variance, gnss_yaw.innovation);
_fault_status.flags.bad_hdg = !is_fused;
gnss_yaw.fused = is_fused;