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Introduce checkAndFixCovarianceUpdate(KHP) function

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kamilritz
2020-07-16 18:25:06 +02:00
committed by Mathieu Bresciani
parent 5c4a3d4576
commit 89bfcc2167
8 changed files with 44 additions and 123 deletions
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EKF/optflow_fusion.cpp
+5 -18
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@@ -425,9 +425,6 @@ void Ekf::fuseOptFlow()
}
_fault_status.flags.bad_optflow_X = false;
_fault_status.flags.bad_optflow_Y = false;
for (uint8_t obs_index = 0; obs_index <= 1; obs_index++) {
// copy the Kalman gain vector for the axis we are fusing
@@ -465,23 +462,13 @@ void Ekf::fuseOptFlow()
}
}
// if the covariance correction will result in a negative variance, then
// the covariance matrix is unhealthy and must be corrected
bool healthy = true;
const bool healthy = checkAndFixCovarianceUpdate(KHP);
for (int i = 0; i < _k_num_states; i++) {
if (P(i,i) < KHP(i,i)) {
P.uncorrelateCovarianceSetVariance<1>(i, 0.0f);
if (obs_index == 0) {
_fault_status.flags.bad_optflow_X = !healthy;
healthy = false;
if (obs_index == 0) {
_fault_status.flags.bad_optflow_X = true;
} else if (obs_index == 1) {
_fault_status.flags.bad_optflow_Y = true;
}
}
} else if (obs_index == 1) {
_fault_status.flags.bad_optflow_Y = !healthy;
}
if (healthy) {