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ekf2: add fake height fusion logic

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When there is no vertical aiding, fake height is started to constrain
the vertical channel of the EKF
This commit is contained in:
bresch
2022-09-10 12:29:29 -04:00
committed by Daniel Agar
parent aa716936bf
commit a54fa7b9b1
15 changed files with 177 additions and 7 deletions
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src/modules/ekf2/EKF/fake_pos_control.cpp
+3 -3
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@@ -94,7 +94,7 @@ void Ekf::startFakePosFusion()
void Ekf::resetFakePosFusion()
{
ECL_INFO("reset fake position fusion");
_last_known_posNE = _state.pos.xy();
_last_known_pos.xy() = _state.pos.xy();
resetHorizontalPositionToLastKnown();
resetHorizontalVelocityToZero();
@@ -134,10 +134,10 @@ void Ekf::fuseFakePosition()
auto &fake_pos = _aid_src_fake_pos;
for (int i = 0; i < 2; i++) {
fake_pos.observation[i] = _last_known_posNE(i);
fake_pos.observation[i] = _last_known_pos(i);
fake_pos.observation_variance[i] = obs_var(i);
fake_pos.innovation[i] = _state.pos(i) - _last_known_posNE(i);
fake_pos.innovation[i] = _state.pos(i) - _last_known_pos(i);
fake_pos.innovation_variance[i] = P(7 + i, 7 + i) + obs_var(i);
}