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Refactoring velPos fusion

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This commit is contained in:
kamilritz
2019-12-05 20:09:34 +11:00
committed by Paul Riseborough
parent 6b5f011bc2
commit 86b9079bdc
6 changed files with 423 additions and 418 deletions
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EKF/estimator_interface.h
+15 -15
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@@ -67,28 +67,28 @@ public:
virtual void resetStatesAndCovariances() = 0;
virtual bool update() = 0;
// gets the innovations of velocity and position measurements
// 0-2 vel, 3-5 pos
virtual void get_vel_pos_innov(float vel_pos_innov[6]) = 0;
// gets the GPS innovations of velocity and position measurements
virtual void getGpsVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) = 0;
// gets the GPS innovation variances of velocity and position measurements
virtual void getGpsVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) = 0;
// gets the innovations for of the NE auxiliary velocity measurement
virtual void get_aux_vel_innov(float aux_vel_innov[2]) = 0;
// gets the innovations of the earth magnetic field measurements
virtual void get_mag_innov(float mag_innov[3]) = 0;
// gets the external vision innovations of velocity and position measurements
virtual void getEvVelPosInnov(float hvel[2], float &vvel, float hpos[2], float &vpos) = 0;
// gets the external vision innovation variances of velocity and position measurements
virtual void getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) = 0;
// gets the innovation of airspeed measurement
virtual void get_airspeed_innov(float *airspeed_innov) = 0;
// gets the innovation of the synthetic sideslip measurement
virtual void get_beta_innov(float *beta_innov) = 0;
// gets the innovations for of the horizontal auxiliary velocity measurement
virtual void getAuxVelInnov(float aux_vel_innov[2]) = 0;
// gets the innovation variances for of the horizontal auxiliary velocity measurement
virtual void getAuxVelInnovVar(float aux_vel_innov[2]) = 0;
// gets the innovations of the heading measurement
virtual void get_heading_innov(float *heading_innov) = 0;
// gets the innovation variances of velocity and position measurements
// 0-2 vel, 3-5 pos
virtual void get_vel_pos_innov_var(float vel_pos_innov_var[6]) = 0;
// gets the innovation variances of the earth magnetic field measurements
virtual void get_mag_innov_var(float mag_innov_var[3]) = 0;
@@ -486,9 +486,9 @@ protected:
// innovation consistency check monitoring ratios
float _yaw_test_ratio{0.0f}; // yaw innovation consistency check ratio
float _mag_test_ratio[3] {}; // magnetometer XYZ innovation consistency check ratios
float _vel_pos_test_ratio[6] {}; // velocity and position innovation consistency check ratios
float _tas_test_ratio{0.0f}; // tas innovation consistency check ratio
float _terr_test_ratio{0.0f}; // height above terrain measurement innovation consistency check ratio
float _gps_vel_pos_test_ratio[4] {}; // GPS velocity and position innovation consistency check ratios
float _ev_vel_pos_test_ratio[4] {}; // EV velocity and position innovation consistency check ratios
float _aux_vel_test_ratio{}; // Auxiliray horizontal velocity innovation consistency check ratio
float _beta_test_ratio{0.0f}; // sideslip innovation consistency check ratio
float _drag_test_ratio[2] {}; // drag innovation consistency check ratio
innovation_fault_status_u _innov_check_fail_status{};