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CleanUp of the EKFGSF (#769)

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* Add const modifiers

* Pass imu data as sampe

* Remove emergency reset request counter

* Improve matrix library usage

* Indentation fix

* Do not store innovation matrix for each model

* Make weights a separate vector

* EKF: Add missing alignment transfer to AHRS solutions

* EKF: Replace #define constants with static constexpr

* EKF: Move declaration for weights into GSF section

* EKF: Fix documentation error

Co-authored-by: Paul Riseborough <p_riseborough@live.com.au>
This commit is contained in:
kritz
2020-03-06 19:37:35 +11:00
committed by GitHub
co-authored by Paul Riseborough
parent 4669aa6312
commit bcd3869ca2
5 changed files with 102 additions and 133 deletions
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EKF/estimator_interface.h
+1 -1
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@@ -417,7 +417,7 @@ public:
// request the EKF reset the yaw to the estimate from the internal EKF-GSF filter
// argment should be incremented only when a new reset is required
virtual void requestEmergencyNavReset(uint8_t counter) = 0;
virtual void requestEmergencyNavReset() = 0;
// get ekf-gsf debug data
virtual bool getDataEKFGSF(float *yaw_composite, float *yaw_variance, float yaw[N_MODELS_EKFGSF], float innov_VN[N_MODELS_EKFGSF], float innov_VE[N_MODELS_EKFGSF], float weight[N_MODELS_EKFGSF]) = 0;