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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/gnss_height_control.cpp
+1 -1
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@@ -82,7 +82,7 @@ void Ekf::controlGnssHeightFusion(const gpsSample &gps_sample)
if (measurement_valid && gps_checks_passing && !gps_checks_failing) {
bias_est.setMaxStateNoise(sqrtf(measurement_var));
bias_est.setProcessNoiseSpectralDensity(_params.gps_hgt_bias_nsd);
bias_est.fuseBias(measurement - (-_state.pos(2)), measurement_var + P(9, 9));
bias_est.fuseBias(measurement - (-_state.pos(2)), measurement_var + P(State::pos.idx + 2, State::pos.idx + 2));
}
// determine if we should use height aiding