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ekf2: use Joseph stabilized covariance update

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bresch
2024-02-26 12:32:59 -05:00
committed by Daniel Agar
parent d988005216
commit 9d9766c6cf
13 changed files with 301 additions and 281 deletions
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src/modules/ekf2/EKF/gps_yaw_fusion.cpp
+1 -1
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@@ -134,7 +134,7 @@ void Ekf::fuseGpsYaw(float antenna_yaw_offset)
// only calculate gains for states we are using
VectorState Kfusion = P * H / gnss_yaw.innovation_variance;
const bool is_fused = measurementUpdate(Kfusion, gnss_yaw.innovation_variance, gnss_yaw.innovation);
const bool is_fused = measurementUpdate(Kfusion, H, gnss_yaw.observation_variance, gnss_yaw.innovation);
_fault_status.flags.bad_hdg = !is_fused;
gnss_yaw.fused = is_fused;