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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
co-authored by bresch
parent 2c81c9fdea
commit 51155f7a29
13 changed files with 874 additions and 1039 deletions
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src/modules/ekf2/test/test_EKF_initialization.cpp
+1 -1
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@@ -175,7 +175,7 @@ TEST_F(EkfInitializationTest, initializeWithZeroTiltNotAtRest)
_ekf->set_vehicle_at_rest(false);
_sensor_simulator.simulateOrientation(quat_sim);
//_sensor_simulator.runSeconds(_init_tilt_period);
_sensor_simulator.runSeconds(7);
_sensor_simulator.runSeconds(10);
EXPECT_TRUE(_ekf->control_status_flags().tilt_align);