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ekf2: fuse by looping through axes

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This commit is contained in:
bresch
2022-11-14 11:51:32 -05:00
committed by Daniel Agar
parent b54a4417fa
commit 73a8c388e8
1 changed files with 14 additions and 29 deletions
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src/modules/ekf2/EKF/optflow_fusion.cpp
+14 -29
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@@ -146,40 +146,25 @@ void Ekf::fuseOptFlow()
bool fused[2] {false, false};
// fuse observation axes sequentially
{
// Optical flow observation Jacobians - axis 0
for (uint8_t index = 0; index <= 1; index++) {
if (index == 0) {
// everything was already computed above
} else if (index == 1) {
// recalculate innovation variance because state covariances have changed due to previous fusion (linearise using the same initial state for all axes)
sym::ComputeFlowYInnovVarAndH(state_vector, P, range, R_LOS, FLT_EPSILON, &_aid_src_optical_flow.innovation_variance[1], &H);
}
SparseVector24f<0,1,2,3,4,5,6> Hfusion(H);
Vector24f Kfusion = P * Hfusion / _aid_src_optical_flow.innovation_variance[index];
// Optical flow Kalman gains - axis 0
Vector24f Kfusion = P * Hfusion / _aid_src_optical_flow.innovation_variance[0];
if (measurementUpdate(Kfusion, Hfusion, _aid_src_optical_flow.innovation[0])) {
fused[0] = true;
_fault_status.flags.bad_optflow_X = false;
} else {
_fault_status.flags.bad_optflow_X = true;
return;
if (measurementUpdate(Kfusion, Hfusion, _aid_src_optical_flow.innovation[index])) {
fused[index] = true;
}
}
{
sym::ComputeFlowYInnovVarAndH(state_vector, P, range, R_LOS, FLT_EPSILON, &_aid_src_optical_flow.innovation_variance[1], &H);
// Optical flow observation Jacobians - axis 1
SparseVector24f<0,1,2,3,4,5,6> Hfusion(H);
// Optical flow Kalman gains - axis 1
Vector24f Kfusion = P * Hfusion / _aid_src_optical_flow.innovation_variance[1];
if (measurementUpdate(Kfusion, Hfusion, _aid_src_optical_flow.innovation[1])) {
fused[1] = true;
_fault_status.flags.bad_optflow_Y = false;
} else {
_fault_status.flags.bad_optflow_Y = true;
return;
}
}
_fault_status.flags.bad_optflow_X = !fused[0];
_fault_status.flags.bad_optflow_Y = !fused[1];
if (fused[0] && fused[1]) {
_aid_src_optical_flow.time_last_fuse = _imu_sample_delayed.time_us;