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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/optflow_fusion.cpp
+4 -17
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@@ -312,29 +312,16 @@ void Ekf::fuseOptFlow()
}
// 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);
const bool is_fused = measurementUpdate(Kfusion, Hfusion, _flow_innov(obs_index));
if (obs_index == 0) {
_fault_status.flags.bad_optflow_X = !healthy;
_fault_status.flags.bad_optflow_X = !is_fused;
} else if (obs_index == 1) {
_fault_status.flags.bad_optflow_Y = !healthy;
_fault_status.flags.bad_optflow_Y = !is_fused;
}
if (healthy) {
// apply the covariance corrections
P -= KHP;
fixCovarianceErrors(true);
// apply the state corrections
fuse(Kfusion, _flow_innov(obs_index));
if (is_fused) {
_time_last_of_fuse = _time_last_imu;
}
}