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ekf2: add simple zero velocity update when vehicle at rest (#19149)

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- further decreases initial tilt alignment time (now down to 2.5 seconds if still) and improves initial bias estimates
This commit is contained in:
Daniel Agar
2022-03-12 12:56:31 -05:00
committed by GitHub
parent 3d54d25867
commit a430f0ccae
21 changed files with 683 additions and 503 deletions
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src/modules/ekf2/test/test_EKF_initialization.cpp
+1 -1
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@@ -111,7 +111,7 @@ public:
EXPECT_TRUE(pos_var(1) > pos_variance_limit) << "pos_var(1)" << pos_var(1);
EXPECT_TRUE(pos_var(2) > pos_variance_limit) << "pos_var(2)" << pos_var(2);
const float vel_variance_limit = 0.16f;
const float vel_variance_limit = 0.0001f; // zero velocity update obs var when at rest
EXPECT_TRUE(vel_var(0) > vel_variance_limit) << "vel_var(0)" << vel_var(0);
EXPECT_TRUE(vel_var(1) > vel_variance_limit) << "vel_var(1)" << vel_var(1);
EXPECT_TRUE(vel_var(2) > vel_variance_limit) << "vel_var(2)" << vel_var(2);