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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/gravity_fusion.cpp
+1 -1
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@@ -111,7 +111,7 @@ void Ekf::controlGravityFusion(const imuSample &imu)
const bool accel_clipping = imu.delta_vel_clipping[0] || imu.delta_vel_clipping[1] || imu.delta_vel_clipping[2];
if (_control_status.flags.gravity_vector && !_aid_src_gravity.innovation_rejected && !accel_clipping) {
fused[index] = measurementUpdate(K, _aid_src_gravity.innovation_variance[index], _aid_src_gravity.innovation[index]);
fused[index] = measurementUpdate(K, H, _aid_src_gravity.observation_variance[index], _aid_src_gravity.innovation[index]);
}
}