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ekf2_flow: recalculate innovation after fusing 1st axis

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The state changed so we need to recalculate the innovation of the 2nd
axis after fusing the 1st one
This commit is contained in:
bresch
2022-11-14 11:51:32 -05:00
committed by Daniel Agar
parent 4dbdf23346
commit 93564baccf
2 changed files with 43 additions and 32 deletions
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src/modules/ekf2/EKF/ekf.h
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@@ -717,6 +717,8 @@ private:
// fuse optical flow line of sight rate measurements
void updateOptFlow(estimator_aid_source2d_s &aid_src);
void fuseOptFlow();
float predictFlowRange();
Vector2f predictFlowVelBody();
// horizontal and vertical position aid source
void updateHorizontalPositionAidSrcStatus(const uint64_t &time_us, const Vector2f &obs, const Vector2f &obs_var, const float innov_gate, estimator_aid_source2d_s &aid_src) const;