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Apply measurementUpdate function

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kamilritz
2020-08-24 18:04:57 +10:00
committed by Paul Riseborough
parent 404edde7f3
commit 644e903552
6 changed files with 22 additions and 121 deletions
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EKF/drag_fusion.cpp
+1 -17
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@@ -264,23 +264,7 @@ void Ekf::fuseDrag()
// if the innovation consistency check fails then don't fuse the sample
if (_drag_test_ratio(axis_index) <= 1.0f) {
// apply covariance correction via P_new = (I -K*H)*P
// first calculate expression for KHP
// then calculate P - KHP
const SquareMatrix24f KHP = computeKHP(Kfusion, Hfusion);
const bool healthy = checkAndFixCovarianceUpdate(KHP);
if (healthy) {
// apply the covariance corrections
P -= KHP;
fixCovarianceErrors(true);
// apply the state corrections
fuse(Kfusion, _drag_innov(axis_index));
}
measurementUpdate(Kfusion, Hfusion, _drag_innov(axis_index));
}
}
}