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ekf2: access state covariance using enum

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bresch
2023-09-19 09:37:50 -04:00
committed by Daniel Agar
parent 9c41c06325
commit 779ea3f4d1
15 changed files with 256 additions and 181 deletions
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src/modules/ekf2/EKF/ev_pos_control.cpp
+1 -1
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@@ -164,7 +164,7 @@ void Ekf::controlEvPosFusion(const extVisionSample &ev_sample, const bool common
if (measurement_valid && quality_sufficient) {
_ev_pos_b_est.setMaxStateNoise(Vector2f(sqrtf(measurement_var(0)), sqrtf(measurement_var(1))));
_ev_pos_b_est.setProcessNoiseSpectralDensity(_params.ev_hgt_bias_nsd); // TODO
_ev_pos_b_est.fuseBias(measurement - Vector2f(_state.pos.xy()), measurement_var + Vector2f(P(7, 7), P(8, 8)));
_ev_pos_b_est.fuseBias(measurement - Vector2f(_state.pos.xy()), measurement_var + P.slice<2, 2>(State::pos.idx, State::pos.idx).diag());
}
if (!measurement_valid) {