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EKF: Fix reversion from GPS to no-aiding mode (#412)

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* EKF: Do not delay reversion to no-aiding mode if parameter initiated

* EKF: Move no-aid reversion resets to helper functions

* EKF: Prevent unwanted fusion of velocity data during no aiding mode
This commit is contained in:
Paul Riseborough
2018-03-22 22:39:00 +11:00
committed by GitHub
parent 95c4777b35
commit 8a012436f9
2 changed files with 18 additions and 5 deletions
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EKF/ekf_helper.cpp
+8 -2
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@@ -64,7 +64,10 @@ bool Ekf::resetVelocity()
zeroOffDiag(P,4,6);
} else {
return false;
// Used when falling back to non-aiding mode of operation
_state.vel(0) = 0.0f;
_state.vel(1) = 0.0f;
setDiag(P,4,5,25.0f);
}
// calculate the change in velocity and apply to the output predictor state history
@@ -122,7 +125,10 @@ bool Ekf::resetPosition()
setDiag(P,7,8,sq(_ev_sample_delayed.posErr));
} else {
return false;
// Used when falling back to non-aiding mode of operation
_state.pos(0) = _last_known_posNE(0);
_state.pos(1) = _last_known_posNE(1);
setDiag(P,7,8,sq(_params.pos_noaid_noise));
}
// calculate the change in position and apply to the output predictor state history