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Make covariance matrices of type matrix::SquareMatrix

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and use functions from Matrix to reset covariances.
This commit is contained in:
kamilritz
2020-01-02 19:26:57 +11:00
committed by Paul Riseborough
parent a4a694dd87
commit 459b76f9fd
14 changed files with 935 additions and 1129 deletions
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EKF/terrain_estimator.cpp
+1 -1
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@@ -144,7 +144,7 @@ void Ekf::fuseHagl()
_hagl_innov = pred_hagl - meas_hagl;
// calculate the observation variance adding the variance of the vehicles own height uncertainty
float obs_variance = fmaxf(P[9][9] * _params.vehicle_variance_scaler, 0.0f)
float obs_variance = fmaxf(P(9,9) * _params.vehicle_variance_scaler, 0.0f)
+ sq(_params.range_noise)
+ sq(_params.range_noise_scaler * _range_sample_delayed.rng);