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lpe: small fixes

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TSC21
2017-11-03 23:45:43 +01:00
committed by Lorenz Meier
parent e6efb5ec0a
commit 691c35f47e
5 changed files with 14 additions and 11 deletions
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src/modules/local_position_estimator/sensors/sonar.cpp
+2 -2
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@@ -106,14 +106,14 @@ void BlockLocalPositionEstimator::sonarCorrect()
// residual
Vector<float, n_y_sonar> r = y - C * _x;
// residual covariance
Matrix<float, n_y_sonar, n_y_sonar> S = C * _P * C.transpose()) + R;
Matrix<float, n_y_sonar, n_y_sonar> S = C * _P * C.transpose() + R;
// publish innovations
_pub_innov.get().hagl_innov = r(0);
_pub_innov.get().hagl_innov_var = S(0, 0);
// residual covariance, (inverse)
Matrix<float, n_y_sonar, n_y_sonar> S_I = inv(C);
Matrix<float, n_y_sonar, n_y_sonar> S_I = inv<float, n_y_sonar>(S);
// fault detection
float beta = (r.transpose() * (S_I * r))(0, 0);