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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/sideslip_fusion.cpp
+1 -3
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@@ -109,15 +109,13 @@ void Ekf::fuseSideslip(estimator_aid_source1d_s &sideslip)
sym::ComputeSideslipHAndK(getStateAtFusionHorizonAsVector(), P, sideslip.innovation_variance, FLT_EPSILON, &H, &K);
SparseVector24f<0,1,2,3,4,5,6,22,23> H_sparse(H);
if (update_wind_only) {
for (unsigned row = 0; row <= 21; row++) {
K(row) = 0.f;
}
}
const bool is_fused = measurementUpdate(K, H_sparse, sideslip.innovation);
const bool is_fused = measurementUpdate(K, sideslip.innovation_variance, sideslip.innovation);
sideslip.fused = is_fused;
_fault_status.flags.bad_sideslip = !is_fused;