From b8f937666a24dec0e265d095e4b3661f3a37b081 Mon Sep 17 00:00:00 2001 From: kamilritz Date: Sun, 21 Jun 2020 11:59:33 +0200 Subject: [PATCH] Make mag_innov/-var a Matrix::Vector3f --- EKF/ekf.h | 4 ++-- EKF/ekf_helper.cpp | 10 +++++----- EKF/estimator_interface.h | 2 +- EKF/gps_yaw_fusion.cpp | 2 +- EKF/mag_fusion.cpp | 36 +++++++++++++++++------------------- 5 files changed, 26 insertions(+), 28 deletions(-) diff --git a/EKF/ekf.h b/EKF/ekf.h index a2f73053c7..6e86463f35 100644 --- a/EKF/ekf.h +++ b/EKF/ekf.h @@ -412,8 +412,8 @@ private: float _heading_innov{0.0f}; ///< heading measurement innovation (rad) float _heading_innov_var{0.0f}; ///< heading measurement innovation variance (rad**2) - float _mag_innov[3] {}; ///< earth magnetic field innovations (Gauss) - float _mag_innov_var[3] {}; ///< earth magnetic field innovation variance (Gauss**2) + Vector3f _mag_innov; ///< earth magnetic field innovations (Gauss) + Vector3f _mag_innov_var; ///< earth magnetic field innovation variance (Gauss**2) float _drag_innov[2] {}; ///< multirotor drag measurement innovation (m/sec**2) float _drag_innov_var[2] {}; ///< multirotor drag measurement innovation variance ((m/sec**2)**2) diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp index 3684fcee33..ad49c9f2b1 100644 --- a/EKF/ekf_helper.cpp +++ b/EKF/ekf_helper.cpp @@ -776,17 +776,17 @@ void Ekf::getHeadingInnovRatio(float &heading_innov_ratio) const void Ekf::getMagInnov(float mag_innov[3]) const { - memcpy(mag_innov, _mag_innov, sizeof(_mag_innov)); + _mag_innov.copyTo(mag_innov); } void Ekf::getMagInnovVar(float mag_innov_var[3]) const { - memcpy(mag_innov_var, _mag_innov_var, sizeof(_mag_innov_var)); + _mag_innov_var.copyTo(mag_innov_var); } void Ekf::getMagInnovRatio(float &mag_innov_ratio) const { - mag_innov_ratio = math::max(math::max(_mag_test_ratio[0], _mag_test_ratio[1]), _mag_test_ratio[2]); + mag_innov_ratio = _mag_test_ratio.max(); } void Ekf::getDragInnov(float drag_innov[2]) const @@ -1105,7 +1105,7 @@ void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, f // return the integer bitmask containing the consistency check pass/fail status status = _innov_check_fail_status.value; // return the largest magnetometer innovation test ratio - mag = sqrtf(math::max(_yaw_test_ratio, math::max(math::max(_mag_test_ratio[0], _mag_test_ratio[1]), _mag_test_ratio[2]))); + mag = sqrtf(math::max(_yaw_test_ratio,_mag_test_ratio.max())); // return the largest velocity innovation test ratio vel = math::max(sqrtf(math::max(_gps_vel_test_ratio(0), _gps_vel_test_ratio(1))), sqrtf(math::max(_ev_vel_test_ratio(0), _ev_vel_test_ratio(1)))); @@ -1139,7 +1139,7 @@ void Ekf::get_ekf_soln_status(uint16_t *status) soln_status.flags.pred_pos_horiz_abs = soln_status.flags.pos_horiz_abs; bool gps_vel_innov_bad = (_gps_vel_test_ratio(0) > 1.0f) || (_gps_vel_test_ratio(1) > 1.0f); bool gps_pos_innov_bad = (_gps_pos_test_ratio(0) > 1.0f); - bool mag_innov_good = (_mag_test_ratio[0] < 1.0f) && (_mag_test_ratio[1] < 1.0f) && (_mag_test_ratio[2] < 1.0f) && (_yaw_test_ratio < 1.0f); + bool mag_innov_good = (_mag_test_ratio.max() < 1.0f) && (_yaw_test_ratio < 1.0f); soln_status.flags.gps_glitch = (gps_vel_innov_bad || gps_pos_innov_bad) && mag_innov_good; soln_status.flags.accel_error = _bad_vert_accel_detected; *status = soln_status.value; diff --git a/EKF/estimator_interface.h b/EKF/estimator_interface.h index bdf2475dbf..dbd605b32c 100644 --- a/EKF/estimator_interface.h +++ b/EKF/estimator_interface.h @@ -479,7 +479,7 @@ protected: // innovation consistency check monitoring ratios float _yaw_test_ratio{}; // yaw innovation consistency check ratio - float _mag_test_ratio[3] {}; // magnetometer XYZ innovation consistency check ratios + Vector3f _mag_test_ratio; // magnetometer XYZ innovation consistency check ratios Vector2f _gps_vel_test_ratio; // GPS velocity innovation consistency check ratios Vector2f _gps_pos_test_ratio; // GPS position innovation consistency check ratios Vector2f _ev_vel_test_ratio; // EV velocity innovation consistency check ratios diff --git a/EKF/gps_yaw_fusion.cpp b/EKF/gps_yaw_fusion.cpp index 938c91f1c5..1c92aa2022 100644 --- a/EKF/gps_yaw_fusion.cpp +++ b/EKF/gps_yaw_fusion.cpp @@ -195,7 +195,7 @@ void Ekf::fuseGpsAntYaw() _yaw_test_ratio = sq(_heading_innov) / (sq(innov_gate) * _heading_innov_var); // we are no longer using 3-axis fusion so set the reported test levels to zero - memset(_mag_test_ratio, 0, sizeof(_mag_test_ratio)); + _mag_test_ratio.setZero(); if (_yaw_test_ratio > 1.0f) { _innov_check_fail_status.flags.reject_yaw = true; diff --git a/EKF/mag_fusion.cpp b/EKF/mag_fusion.cpp index c7c11109a4..ddd543ca92 100644 --- a/EKF/mag_fusion.cpp +++ b/EKF/mag_fusion.cpp @@ -77,25 +77,23 @@ void Ekf::fuseMag() const Vector3f mag_I_rot = R_to_body * _state.mag_I; // compute magnetometer innovations - _mag_innov[0] = (mag_I_rot(0) + _state.mag_B(0)) - _mag_sample_delayed.mag(0); - _mag_innov[1] = (mag_I_rot(1) + _state.mag_B(1)) - _mag_sample_delayed.mag(1); + _mag_innov = mag_I_rot + _state.mag_B - _mag_sample_delayed.mag; // do not use the synthesized measurement for the magnetomter Z component for 3D fusion if (_control_status.flags.synthetic_mag_z) { - _mag_innov[2] = 0.0f; - } else { - _mag_innov[2] = (mag_I_rot(2) + _state.mag_B(2)) - _mag_sample_delayed.mag(2); + _mag_innov(2) = 0.0f; } + // Observation jacobian and Kalman gain vectors float H_MAG[24]; float Kfusion[24]; // X axis innovation variance - _mag_innov_var[0] = (P(19,19) + R_MAG + P(1,19)*SH_MAG[0] - P(2,19)*SH_MAG[1] + P(3,19)*SH_MAG[2] - P(16,19)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + (2.0f*q0*q3 + 2.0f*q1*q2)*(P(19,17) + P(1,17)*SH_MAG[0] - P(2,17)*SH_MAG[1] + P(3,17)*SH_MAG[2] - P(16,17)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,17)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,17)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,17)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - (2.0f*q0*q2 - 2.0f*q1*q3)*(P(19,18) + P(1,18)*SH_MAG[0] - P(2,18)*SH_MAG[1] + P(3,18)*SH_MAG[2] - P(16,18)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,18)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,18)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,18)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + (SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)*(P(19,0) + P(1,0)*SH_MAG[0] - P(2,0)*SH_MAG[1] + P(3,0)*SH_MAG[2] - P(16,0)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,0)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,0)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,0)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + P(17,19)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,19)*(2.0f*q0*q2 - 2.0f*q1*q3) + SH_MAG[0]*(P(19,1) + P(1,1)*SH_MAG[0] - P(2,1)*SH_MAG[1] + P(3,1)*SH_MAG[2] - P(16,1)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,1)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,1)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,1)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - SH_MAG[1]*(P(19,2) + P(1,2)*SH_MAG[0] - P(2,2)*SH_MAG[1] + P(3,2)*SH_MAG[2] - P(16,2)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,2)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,2)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,2)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + SH_MAG[2]*(P(19,3) + P(1,3)*SH_MAG[0] - P(2,3)*SH_MAG[1] + P(3,3)*SH_MAG[2] - P(16,3)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,3)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,3)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,3)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - (SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6])*(P(19,16) + P(1,16)*SH_MAG[0] - P(2,16)*SH_MAG[1] + P(3,16)*SH_MAG[2] - P(16,16)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,16)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,16)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,16)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + P(0,19)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)); + _mag_innov_var(0) = (P(19,19) + R_MAG + P(1,19)*SH_MAG[0] - P(2,19)*SH_MAG[1] + P(3,19)*SH_MAG[2] - P(16,19)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + (2.0f*q0*q3 + 2.0f*q1*q2)*(P(19,17) + P(1,17)*SH_MAG[0] - P(2,17)*SH_MAG[1] + P(3,17)*SH_MAG[2] - P(16,17)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,17)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,17)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,17)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - (2.0f*q0*q2 - 2.0f*q1*q3)*(P(19,18) + P(1,18)*SH_MAG[0] - P(2,18)*SH_MAG[1] + P(3,18)*SH_MAG[2] - P(16,18)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,18)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,18)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,18)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + (SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)*(P(19,0) + P(1,0)*SH_MAG[0] - P(2,0)*SH_MAG[1] + P(3,0)*SH_MAG[2] - P(16,0)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,0)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,0)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,0)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + P(17,19)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,19)*(2.0f*q0*q2 - 2.0f*q1*q3) + SH_MAG[0]*(P(19,1) + P(1,1)*SH_MAG[0] - P(2,1)*SH_MAG[1] + P(3,1)*SH_MAG[2] - P(16,1)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,1)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,1)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,1)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - SH_MAG[1]*(P(19,2) + P(1,2)*SH_MAG[0] - P(2,2)*SH_MAG[1] + P(3,2)*SH_MAG[2] - P(16,2)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,2)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,2)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,2)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + SH_MAG[2]*(P(19,3) + P(1,3)*SH_MAG[0] - P(2,3)*SH_MAG[1] + P(3,3)*SH_MAG[2] - P(16,3)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,3)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,3)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,3)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - (SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6])*(P(19,16) + P(1,16)*SH_MAG[0] - P(2,16)*SH_MAG[1] + P(3,16)*SH_MAG[2] - P(16,16)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,16)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,16)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,16)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + P(0,19)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)); // check for a badly conditioned covariance matrix const char* numerical_error_covariance_reset_string = "numerical error - covariance reset"; - if (_mag_innov_var[0] >= R_MAG) { + if (_mag_innov_var(0) >= R_MAG) { // the innovation variance contribution from the state covariances is non-negative - no fault _fault_status.flags.bad_mag_x = false; @@ -111,10 +109,10 @@ void Ekf::fuseMag() } // Y axis innovation variance - _mag_innov_var[1] = (P(20,20) + R_MAG + P(0,20)*SH_MAG[2] + P(1,20)*SH_MAG[1] + P(2,20)*SH_MAG[0] - P(17,20)*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - (2.0f*q0*q3 - 2.0f*q1*q2)*(P(20,16) + P(0,16)*SH_MAG[2] + P(1,16)*SH_MAG[1] + P(2,16)*SH_MAG[0] - P(17,16)*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P(16,16)*(2.0f*q0*q3 - 2.0f*q1*q2) + P(18,16)*(2.0f*q0*q1 + 2.0f*q2*q3) - P(3,16)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + (2.0f*q0*q1 + 2.0f*q2*q3)*(P(20,18) + P(0,18)*SH_MAG[2] + P(1,18)*SH_MAG[1] + P(2,18)*SH_MAG[0] - P(17,18)*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P(16,18)*(2.0f*q0*q3 - 2.0f*q1*q2) + P(18,18)*(2.0f*q0*q1 + 2.0f*q2*q3) - P(3,18)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - (SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)*(P(20,3) + P(0,3)*SH_MAG[2] + P(1,3)*SH_MAG[1] + P(2,3)*SH_MAG[0] - P(17,3)*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P(16,3)*(2.0f*q0*q3 - 2.0f*q1*q2) + P(18,3)*(2.0f*q0*q1 + 2.0f*q2*q3) - P(3,3)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - P(16,20)*(2.0f*q0*q3 - 2.0f*q1*q2) + P(18,20)*(2.0f*q0*q1 + 2.0f*q2*q3) + SH_MAG[2]*(P(20,0) + P(0,0)*SH_MAG[2] + P(1,0)*SH_MAG[1] + P(2,0)*SH_MAG[0] - P(17,0)*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P(16,0)*(2.0f*q0*q3 - 2.0f*q1*q2) + P(18,0)*(2.0f*q0*q1 + 2.0f*q2*q3) - P(3,0)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + SH_MAG[1]*(P(20,1) + P(0,1)*SH_MAG[2] + P(1,1)*SH_MAG[1] + P(2,1)*SH_MAG[0] - P(17,1)*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P(16,1)*(2.0f*q0*q3 - 2.0f*q1*q2) + P(18,1)*(2.0f*q0*q1 + 2.0f*q2*q3) - P(3,1)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + SH_MAG[0]*(P(20,2) + P(0,2)*SH_MAG[2] + P(1,2)*SH_MAG[1] + P(2,2)*SH_MAG[0] - P(17,2)*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P(16,2)*(2.0f*q0*q3 - 2.0f*q1*q2) + P(18,2)*(2.0f*q0*q1 + 2.0f*q2*q3) - P(3,2)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - (SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6])*(P(20,17) + P(0,17)*SH_MAG[2] + P(1,17)*SH_MAG[1] + P(2,17)*SH_MAG[0] - P(17,17)*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P(16,17)*(2.0f*q0*q3 - 2.0f*q1*q2) + P(18,17)*(2.0f*q0*q1 + 2.0f*q2*q3) - P(3,17)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - P(3,20)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)); + _mag_innov_var(1) = (P(20,20) + R_MAG + P(0,20)*SH_MAG[2] + P(1,20)*SH_MAG[1] + P(2,20)*SH_MAG[0] - P(17,20)*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - (2.0f*q0*q3 - 2.0f*q1*q2)*(P(20,16) + P(0,16)*SH_MAG[2] + P(1,16)*SH_MAG[1] + P(2,16)*SH_MAG[0] - P(17,16)*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P(16,16)*(2.0f*q0*q3 - 2.0f*q1*q2) + P(18,16)*(2.0f*q0*q1 + 2.0f*q2*q3) - P(3,16)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + (2.0f*q0*q1 + 2.0f*q2*q3)*(P(20,18) + P(0,18)*SH_MAG[2] + P(1,18)*SH_MAG[1] + P(2,18)*SH_MAG[0] - P(17,18)*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P(16,18)*(2.0f*q0*q3 - 2.0f*q1*q2) + P(18,18)*(2.0f*q0*q1 + 2.0f*q2*q3) - P(3,18)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - (SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)*(P(20,3) + P(0,3)*SH_MAG[2] + P(1,3)*SH_MAG[1] + P(2,3)*SH_MAG[0] - P(17,3)*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P(16,3)*(2.0f*q0*q3 - 2.0f*q1*q2) + P(18,3)*(2.0f*q0*q1 + 2.0f*q2*q3) - P(3,3)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - P(16,20)*(2.0f*q0*q3 - 2.0f*q1*q2) + P(18,20)*(2.0f*q0*q1 + 2.0f*q2*q3) + SH_MAG[2]*(P(20,0) + P(0,0)*SH_MAG[2] + P(1,0)*SH_MAG[1] + P(2,0)*SH_MAG[0] - P(17,0)*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P(16,0)*(2.0f*q0*q3 - 2.0f*q1*q2) + P(18,0)*(2.0f*q0*q1 + 2.0f*q2*q3) - P(3,0)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + SH_MAG[1]*(P(20,1) + P(0,1)*SH_MAG[2] + P(1,1)*SH_MAG[1] + P(2,1)*SH_MAG[0] - P(17,1)*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P(16,1)*(2.0f*q0*q3 - 2.0f*q1*q2) + P(18,1)*(2.0f*q0*q1 + 2.0f*q2*q3) - P(3,1)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + SH_MAG[0]*(P(20,2) + P(0,2)*SH_MAG[2] + P(1,2)*SH_MAG[1] + P(2,2)*SH_MAG[0] - P(17,2)*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P(16,2)*(2.0f*q0*q3 - 2.0f*q1*q2) + P(18,2)*(2.0f*q0*q1 + 2.0f*q2*q3) - P(3,2)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - (SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6])*(P(20,17) + P(0,17)*SH_MAG[2] + P(1,17)*SH_MAG[1] + P(2,17)*SH_MAG[0] - P(17,17)*(SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]) - P(16,17)*(2.0f*q0*q3 - 2.0f*q1*q2) + P(18,17)*(2.0f*q0*q1 + 2.0f*q2*q3) - P(3,17)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - P(3,20)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)); // check for a badly conditioned covariance matrix - if (_mag_innov_var[1] >= R_MAG) { + if (_mag_innov_var(1) >= R_MAG) { // the innovation variance contribution from the state covariances is non-negative - no fault _fault_status.flags.bad_mag_y = false; @@ -130,14 +128,14 @@ void Ekf::fuseMag() } // Z axis innovation variance - _mag_innov_var[2] = (P(21,21) + R_MAG + P(0,21)*SH_MAG[1] - P(1,21)*SH_MAG[2] + P(3,21)*SH_MAG[0] + P(18,21)*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + (2.0f*q0*q2 + 2.0f*q1*q3)*(P(21,16) + P(0,16)*SH_MAG[1] - P(1,16)*SH_MAG[2] + P(3,16)*SH_MAG[0] + P(18,16)*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P(16,16)*(2.0f*q0*q2 + 2.0f*q1*q3) - P(17,16)*(2.0f*q0*q1 - 2.0f*q2*q3) + P(2,16)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - (2.0f*q0*q1 - 2.0f*q2*q3)*(P(21,17) + P(0,17)*SH_MAG[1] - P(1,17)*SH_MAG[2] + P(3,17)*SH_MAG[0] + P(18,17)*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P(16,17)*(2.0f*q0*q2 + 2.0f*q1*q3) - P(17,17)*(2.0f*q0*q1 - 2.0f*q2*q3) + P(2,17)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + (SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)*(P(21,2) + P(0,2)*SH_MAG[1] - P(1,2)*SH_MAG[2] + P(3,2)*SH_MAG[0] + P(18,2)*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P(16,2)*(2.0f*q0*q2 + 2.0f*q1*q3) - P(17,2)*(2.0f*q0*q1 - 2.0f*q2*q3) + P(2,2)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + P(16,21)*(2.0f*q0*q2 + 2.0f*q1*q3) - P(17,21)*(2.0f*q0*q1 - 2.0f*q2*q3) + SH_MAG[1]*(P(21,0) + P(0,0)*SH_MAG[1] - P(1,0)*SH_MAG[2] + P(3,0)*SH_MAG[0] + P(18,0)*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P(16,0)*(2.0f*q0*q2 + 2.0f*q1*q3) - P(17,0)*(2.0f*q0*q1 - 2.0f*q2*q3) + P(2,0)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - SH_MAG[2]*(P(21,1) + P(0,1)*SH_MAG[1] - P(1,1)*SH_MAG[2] + P(3,1)*SH_MAG[0] + P(18,1)*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P(16,1)*(2.0f*q0*q2 + 2.0f*q1*q3) - P(17,1)*(2.0f*q0*q1 - 2.0f*q2*q3) + P(2,1)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + SH_MAG[0]*(P(21,3) + P(0,3)*SH_MAG[1] - P(1,3)*SH_MAG[2] + P(3,3)*SH_MAG[0] + P(18,3)*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P(16,3)*(2.0f*q0*q2 + 2.0f*q1*q3) - P(17,3)*(2.0f*q0*q1 - 2.0f*q2*q3) + P(2,3)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + (SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6])*(P(21,18) + P(0,18)*SH_MAG[1] - P(1,18)*SH_MAG[2] + P(3,18)*SH_MAG[0] + P(18,18)*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P(16,18)*(2.0f*q0*q2 + 2.0f*q1*q3) - P(17,18)*(2.0f*q0*q1 - 2.0f*q2*q3) + P(2,18)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + P(2,21)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)); + _mag_innov_var(2) = (P(21,21) + R_MAG + P(0,21)*SH_MAG[1] - P(1,21)*SH_MAG[2] + P(3,21)*SH_MAG[0] + P(18,21)*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + (2.0f*q0*q2 + 2.0f*q1*q3)*(P(21,16) + P(0,16)*SH_MAG[1] - P(1,16)*SH_MAG[2] + P(3,16)*SH_MAG[0] + P(18,16)*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P(16,16)*(2.0f*q0*q2 + 2.0f*q1*q3) - P(17,16)*(2.0f*q0*q1 - 2.0f*q2*q3) + P(2,16)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - (2.0f*q0*q1 - 2.0f*q2*q3)*(P(21,17) + P(0,17)*SH_MAG[1] - P(1,17)*SH_MAG[2] + P(3,17)*SH_MAG[0] + P(18,17)*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P(16,17)*(2.0f*q0*q2 + 2.0f*q1*q3) - P(17,17)*(2.0f*q0*q1 - 2.0f*q2*q3) + P(2,17)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + (SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)*(P(21,2) + P(0,2)*SH_MAG[1] - P(1,2)*SH_MAG[2] + P(3,2)*SH_MAG[0] + P(18,2)*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P(16,2)*(2.0f*q0*q2 + 2.0f*q1*q3) - P(17,2)*(2.0f*q0*q1 - 2.0f*q2*q3) + P(2,2)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + P(16,21)*(2.0f*q0*q2 + 2.0f*q1*q3) - P(17,21)*(2.0f*q0*q1 - 2.0f*q2*q3) + SH_MAG[1]*(P(21,0) + P(0,0)*SH_MAG[1] - P(1,0)*SH_MAG[2] + P(3,0)*SH_MAG[0] + P(18,0)*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P(16,0)*(2.0f*q0*q2 + 2.0f*q1*q3) - P(17,0)*(2.0f*q0*q1 - 2.0f*q2*q3) + P(2,0)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - SH_MAG[2]*(P(21,1) + P(0,1)*SH_MAG[1] - P(1,1)*SH_MAG[2] + P(3,1)*SH_MAG[0] + P(18,1)*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P(16,1)*(2.0f*q0*q2 + 2.0f*q1*q3) - P(17,1)*(2.0f*q0*q1 - 2.0f*q2*q3) + P(2,1)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + SH_MAG[0]*(P(21,3) + P(0,3)*SH_MAG[1] - P(1,3)*SH_MAG[2] + P(3,3)*SH_MAG[0] + P(18,3)*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P(16,3)*(2.0f*q0*q2 + 2.0f*q1*q3) - P(17,3)*(2.0f*q0*q1 - 2.0f*q2*q3) + P(2,3)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + (SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6])*(P(21,18) + P(0,18)*SH_MAG[1] - P(1,18)*SH_MAG[2] + P(3,18)*SH_MAG[0] + P(18,18)*(SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]) + P(16,18)*(2.0f*q0*q2 + 2.0f*q1*q3) - P(17,18)*(2.0f*q0*q1 - 2.0f*q2*q3) + P(2,18)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + P(2,21)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)); // check for a badly conditioned covariance matrix - if (_mag_innov_var[2] >= R_MAG) { + if (_mag_innov_var(2) >= R_MAG) { // the innovation variance contribution from the state covariances is non-negative - no fault _fault_status.flags.bad_mag_z = false; - } else if (_mag_innov_var[2] > 0.0f) { + } else { // the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned _fault_status.flags.bad_mag_z = true; @@ -152,9 +150,9 @@ void Ekf::fuseMag() bool healthy = true; for (uint8_t index = 0; index <= 2; index++) { - _mag_test_ratio[index] = sq(_mag_innov[index]) / (sq(math::max(_params.mag_innov_gate, 1.0f)) * _mag_innov_var[index]); + _mag_test_ratio(index) = sq(_mag_innov(index)) / (sq(math::max(_params.mag_innov_gate, 1.0f)) * _mag_innov_var(index)); - if (_mag_test_ratio[index] > 1.0f) { + if (_mag_test_ratio(index) > 1.0f) { healthy = false; _innov_check_fail_status.value |= (1 << (index + 3)); @@ -193,7 +191,7 @@ void Ekf::fuseMag() // Calculate X axis Kalman gains float SK_MX[5]; - SK_MX[0] = 1.0f / _mag_innov_var[0]; + SK_MX[0] = 1.0f / _mag_innov_var(0); SK_MX[1] = SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]; SK_MX[2] = SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2; SK_MX[3] = 2.0f*q0*q2 - 2.0f*q1*q3; @@ -248,7 +246,7 @@ void Ekf::fuseMag() // Calculate Y axis Kalman gains float SK_MY[5]; - SK_MY[0] = 1.0f / _mag_innov_var[1]; + SK_MY[0] = 1.0f / _mag_innov_var(1); SK_MY[1] = SH_MAG[3] - SH_MAG[4] + SH_MAG[5] - SH_MAG[6]; SK_MY[2] = SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2; SK_MY[3] = 2.0f*q0*q3 - 2.0f*q1*q2; @@ -309,7 +307,7 @@ void Ekf::fuseMag() // Calculate Z axis Kalman gains float SK_MZ[5]; - SK_MZ[0] = 1.0f / _mag_innov_var[2]; + SK_MZ[0] = 1.0f / _mag_innov_var(2); SK_MZ[1] = SH_MAG[3] - SH_MAG[4] - SH_MAG[5] + SH_MAG[6]; SK_MZ[2] = SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2; SK_MZ[3] = 2.0f*q0*q1 - 2.0f*q2*q3; @@ -428,7 +426,7 @@ void Ekf::fuseMag() fixCovarianceErrors(true); // apply the state corrections - fuse(Kfusion, _mag_innov[index]); + fuse(Kfusion, _mag_innov(index)); // constrain the declination of the earth field states limitDeclination(); @@ -688,7 +686,7 @@ void Ekf::updateQuaternion(const float innovation, const float variance, const f _yaw_test_ratio = sq(innovation) / (sq(gate_sigma) * _heading_innov_var); // we are no longer using 3-axis fusion so set the reported test levels to zero - memset(_mag_test_ratio, 0, sizeof(_mag_test_ratio)); + _mag_test_ratio.setZero(); // set the magnetometer unhealthy if the test fails if (_yaw_test_ratio > 1.0f) {