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ekf2: change delta angle and delta velocity bias states to accel and gyro bias (#21901)

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* ekf2-test: remove outdated codegen comparison

The definition of states changed so the comparison with the old
derivation cannot work anymore.

---------

Co-authored-by: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2023-07-28 09:31:44 -04:00
committed by GitHub
parent 444e5d2d4a
commit 84b6b472b4
27 changed files with 1452 additions and 2374 deletions
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src/modules/ekf2/EKF/ekf.cpp
+5 -5
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@@ -56,8 +56,8 @@ void Ekf::reset()
_state.vel.setZero();
_state.pos.setZero();
_state.delta_ang_bias.setZero();
_state.delta_vel_bias.setZero();
_state.gyro_bias.setZero();
_state.accel_bias.setZero();
_state.mag_I.setZero();
_state.mag_B.setZero();
_state.wind_vel.setZero();
@@ -80,7 +80,8 @@ void Ekf::reset()
_fault_status.value = 0;
_innov_check_fail_status.value = 0;
_prev_dvel_bias_var.zero();
_prev_gyro_bias_var.zero();
_prev_accel_bias_var.zero();
resetGpsDriftCheckFilters();
@@ -185,8 +186,7 @@ bool Ekf::update()
runTerrainEstimator(imu_sample_delayed);
#endif // CONFIG_EKF2_RANGE_FINDER
_output_predictor.correctOutputStates(imu_sample_delayed.time_us, getGyroBias(), getAccelBias(),
_state.quat_nominal, _state.vel, _state.pos);
_output_predictor.correctOutputStates(imu_sample_delayed.time_us, _state.quat_nominal, _state.vel, _state.pos, _state.gyro_bias, _state.accel_bias);
return true;
}