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ekf2: fix sideslip fusion sign

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bresch 2022-10-12 16:05:49 +02:00 committed by Mathieu Bresciani
parent 53865118fb
commit bdd043f27f
2 changed files with 3 additions and 3 deletions
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2
src/modules/ekf2/EKF/python/ekf_derivation/derivation.py
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@ -126,7 +126,7 @@ def compute_sideslip_innov_and_innov_var(
sideslip_pred = predict_sideslip(state, epsilon);
innov = 0.0 - sideslip_pred
innov = sideslip_pred - 0.0
H = sf.V1(sideslip_pred).jacobian(state)
innov_var = (H * P * H.T + R)[0,0]

4
src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_sideslip_innov_and_innov_var.h
View File

@ -30,7 +30,7 @@ void ComputeSideslipInnovAndInnovVar(const matrix::Matrix<Scalar, 24, 1>& state,
const matrix::Matrix<Scalar, 24, 24>& P, const Scalar R,
const Scalar epsilon, Scalar* const innov = nullptr,
Scalar* const innov_var = nullptr) {
// Total ops: 277
// Total ops: 276
// Input arrays
@ -85,7 +85,7 @@ void ComputeSideslipInnovAndInnovVar(const matrix::Matrix<Scalar, 24, 1>& state,
if (innov != nullptr) {
Scalar& _innov = (*innov);
_innov = -_tmp15 * _tmp21;
_innov = _tmp15 * _tmp21;
}
if (innov_var != nullptr) {