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ekf2-mag: always add process noise until initial value

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bresch 2024-05-22 10:11:33 +02:00 committed by Daniel Agar
parent 493c9e49db
commit c11c75d32e
1 changed files with 15 additions and 11 deletions
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26
src/modules/ekf2/EKF/covariance.cpp
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@ -163,22 +163,26 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
#if defined(CONFIG_EKF2_MAGNETOMETER)
if (_control_status.flags.mag) {
// mag_I: add process noise
float mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.f, 1.f);
float mag_I_process_noise = sq(mag_I_sig);
// mag_I: add process noise
float mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.f, 1.f);
float mag_I_process_noise = sq(mag_I_sig);
for (unsigned index = 0; index < State::mag_I.dof; index++) {
const unsigned i = State::mag_I.idx + index;
for (unsigned index = 0; index < State::mag_I.dof; index++) {
const unsigned i = State::mag_I.idx + index;
if (P(i, i) < sq(_params.mag_noise)) {
P(i, i) += mag_I_process_noise;
}
}
// mag_B: add process noise
float mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.f, 1.f);
float mag_B_process_noise = sq(mag_B_sig);
// mag_B: add process noise
float mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.f, 1.f);
float mag_B_process_noise = sq(mag_B_sig);
for (unsigned index = 0; index < State::mag_B.dof; index++) {
const unsigned i = State::mag_B.idx + index;
for (unsigned index = 0; index < State::mag_B.dof; index++) {
const unsigned i = State::mag_B.idx + index;
if (P(i, i) < sq(_params.mag_noise)) {
P(i, i) += mag_B_process_noise;
}
}