fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-14 05:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: Improve covariance prediction stability (#795)

Browse Source 
* EKF: Improve covariance prediction stability

Eliminates collapse of vertical velocity state variance due to rounding errors that can occur under some operating conditions.

* EKF: Fix typo

* test: Fix initialisation test cases

Provide sufficient time for variances to stabilise and fix calculation of reference quaternion for alignment.

* test: Allow for accumulated rounding error in IMU sampling test

* test: Allow sufficient time for quaternion variances to reduce after initial alignment

* test: Increase allowance for tilt alignment delay and inertial nav errors

* test: Increase allowance for tilt alignment delay and inertial nav errors

* adpat reset velocity test

* test: update change indication file

* test: Adjust tests to handle alignment time and prediction errors

* README.md: Add documentation for change indicator test
This commit is contained in:
Paul Riseborough
2020-04-23 14:38:09 +02:00
committed by GitHub
parent 65a4ca9d65
commit 8a9d961f0d
9 changed files with 404 additions and 369 deletions
Download Patch File Download Diff File Expand all files Collapse all files
test/test_EKF_flow.cpp
+1 -1
View File
@@ -120,7 +120,7 @@ TEST_F(EkfFlowTest, resetToFlowVelocityOnGround)
// WHEN: start fusing flow data
_ekf_wrapper.enableFlowFusion();
_sensor_simulator.startFlow();
_sensor_simulator.runSeconds(0.6);
_sensor_simulator.runSeconds(1.0);
// THEN: estimated velocity should match simulated velocity
const Vector2f estimated_horz_velocity = Vector2f(_ekf->getVelocity());