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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/optflow_fusion.cpp
+1 -1
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@@ -142,7 +142,7 @@ void Ekf::fuseOptFlow()
SparseVector24f<0,1,2,3,4,5,6> Hfusion(H);
Vector24f Kfusion = P * Hfusion / _aid_src_optical_flow.innovation_variance[index];
if (measurementUpdate(Kfusion, Hfusion, _aid_src_optical_flow.innovation[index])) {
if (measurementUpdate(Kfusion, _aid_src_optical_flow.innovation_variance[index], _aid_src_optical_flow.innovation[index])) {
fused[index] = true;
}
}