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ekf2: fix gravity aid src fused flag

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This commit is contained in:
Daniel Agar 2025-09-25 17:04:36 -04:00
parent 053cc9aecc
commit 7eec4c9814
1 changed files with 11 additions and 3 deletions
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14
src/modules/ekf2/EKF/aid_sources/gravity/gravity_fusion.cpp
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@ -81,6 +81,8 @@ void Ekf::controlGravityFusion(const imuSample &imu)
0.25f); // innovation gate
// update the states and covariance using sequential fusion
bool fused[3] {};
for (uint8_t index = 0; index <= 2; index++) {
// Calculate Kalman gains and observation jacobians
if (index == 0) {
@ -108,10 +110,16 @@ void Ekf::controlGravityFusion(const imuSample &imu)
const bool accel_clipping = imu.delta_vel_clipping[0] || imu.delta_vel_clipping[1] || imu.delta_vel_clipping[2];
if (_control_status.flags.gravity_vector && !_aid_src_gravity.innovation_rejected && !accel_clipping) {
measurementUpdate(K, H, _aid_src_gravity.observation_variance[index], _aid_src_gravity.innovation[index]);
fused[index] = measurementUpdate(K, H,
_aid_src_gravity.observation_variance[index], _aid_src_gravity.innovation[index]);
}
}
_aid_src_gravity.fused = true;
_aid_src_gravity.time_last_fuse = imu.time_us;
if (fused[0] && fused[1] && fused[2]) {
_aid_src_gravity.fused = true;
_aid_src_gravity.time_last_fuse = imu.time_us;
} else {
_aid_src_gravity.fused = false;
}
}