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ekf2: access state covariance using helper functions

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bresch
2023-09-26 06:41:04 +02:00
committed by Mathieu Bresciani
parent 619616b9f0
commit 99197919d7
11 changed files with 36 additions and 48 deletions
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src/modules/ekf2/EKF/ekf_helper.cpp
+2 -2
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@@ -625,7 +625,7 @@ void Ekf::resetGyroBias()
P.uncorrelateCovarianceSetVariance<State::gyro_bias.dof>(State::gyro_bias.idx, sq(_params.switch_on_gyro_bias));
// Set previous frame values
_prev_gyro_bias_var = P.slice<State::gyro_bias.dof, State::gyro_bias.dof>(State::gyro_bias.idx, State::gyro_bias.idx).diag();
_prev_gyro_bias_var = getStateVariance<State::gyro_bias>();
}
void Ekf::resetAccelBias()
@@ -638,7 +638,7 @@ void Ekf::resetAccelBias()
P.uncorrelateCovarianceSetVariance<State::accel_bias.dof>(State::accel_bias.idx, sq(_params.switch_on_accel_bias));
// Set previous frame values
_prev_accel_bias_var = P.slice<State::accel_bias.dof, State::accel_bias.dof>(State::accel_bias.idx, State::accel_bias.idx).diag();
_prev_accel_bias_var = getStateVariance<State::accel_bias>();
}
// get EKF innovation consistency check status information comprising of: