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ekf2: access state covariance using enum

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This commit is contained in:
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/mag_3d_control.cpp
+6 -6
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@@ -220,19 +220,19 @@ void Ekf::stopMagFusion()
void Ekf::saveMagCovData()
{
// save the NED axis covariance sub-matrix
_saved_mag_ef_covmat = P.slice<3, 3>(16, 16);
_saved_mag_ef_covmat = P.slice<State::mag_I.dof, State::mag_I.dof>(State::mag_I.idx, State::mag_I.idx);
// save the XYZ body covariance sub-matrix
_saved_mag_bf_covmat = P.slice<3, 3>(19, 19);
_saved_mag_bf_covmat = P.slice<State::mag_B.dof, State::mag_B.dof>(State::mag_B.idx, State::mag_B.idx);
}
void Ekf::loadMagCovData()
{
// re-instate the NED axis covariance sub-matrix
P.uncorrelateCovarianceSetVariance<3>(16, 0.f);
P.slice<3, 3>(16, 16) = _saved_mag_ef_covmat;
P.uncorrelateCovarianceSetVariance<State::mag_I.dof>(State::mag_I.idx, 0.f);
P.slice<State::mag_I.dof, State::mag_I.dof>(State::mag_I.idx, State::mag_I.idx) = _saved_mag_ef_covmat;
// re-instate the XYZ body axis covariance sub-matrix
P.uncorrelateCovarianceSetVariance<3>(19, 0.f);
P.slice<3, 3>(19, 19) = _saved_mag_bf_covmat;
P.uncorrelateCovarianceSetVariance<State::mag_B.dof>(State::mag_B.idx, 0.f);
P.slice<State::mag_B.dof, State::mag_B.dof>(State::mag_B.idx, State::mag_B.idx) = _saved_mag_bf_covmat;
}