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ekf2: treat inhibited states as "consider states" and remove conservative covariance matrix fixes (#22597)

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When a state stops to be estimated it becomes a "consider state". Its value and variance are frozen but its covariance with other states continue to evolve normally.

 - removes conservative accel bias variance limiting
 - force symmetry is skipped after fusion of NED vel/pos (a direct measurement)

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Co-authored-by: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2024-01-24 14:14:09 -05:00
committed by GitHub
parent 2c81c9fdea
commit 51155f7a29
13 changed files with 874 additions and 1039 deletions
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src/modules/ekf2/test/test_EKF_basics.cpp
+1 -1
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@@ -191,7 +191,7 @@ TEST_F(EkfBasicsTest, accelBiasEstimation)
_sensor_simulator.startGps();
_sensor_simulator.setImuBias(accel_bias_sim, Vector3f(0.0f, 0.0f, 0.0f));
_ekf->set_min_required_gps_health_time(1e6);
_sensor_simulator.runSeconds(30);
_sensor_simulator.runSeconds(60);
const Vector3f pos = _ekf->getPosition();
const Vector3f vel = _ekf->getVelocity();