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EKF: initialize vertical position and velocity variables

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- otherwise checkVerticalAccelerationHealth() can fail if GPS or EV
aren't available to correctly set vertical velocity fusion time and
innovation ratio
This commit is contained in:
Daniel Agar 2021-07-06 14:13:05 -04:00
parent 0c15624a0c
commit ca4932cfc0
1 changed files with 4 additions and 4 deletions
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8
EKF/ekf.h
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@ -408,10 +408,10 @@ private:
Vector3f _last_vel_obs; ///< last velocity observation (m/s)
Vector3f _last_vel_obs_var; ///< last velocity observation variance (m/s)**2
Vector2f _last_fail_hvel_innov; ///< last failed horizontal velocity innovation (m/s)**2
float _vert_pos_innov_ratio; ///< vertical position innovation divided by estimated standard deviation of innovation
uint64_t _vert_pos_fuse_attempt_time_us; ///< last system time in usec vertical position measurement fuson was attempted
float _vert_vel_innov_ratio; ///< standard deviation of vertical velocity innovation
uint64_t _vert_vel_fuse_time_us; ///< last system time in usec time vertical velocity measurement fuson was attempted
float _vert_pos_innov_ratio{0.f}; ///< vertical position innovation divided by estimated standard deviation of innovation
uint64_t _vert_pos_fuse_attempt_time_us{0}; ///< last system time in usec vertical position measurement fuson was attempted
float _vert_vel_innov_ratio{0.f}; ///< standard deviation of vertical velocity innovation
uint64_t _vert_vel_fuse_time_us{0}; ///< last system time in usec time vertical velocity measurement fuson was attempted
Vector3f _gps_vel_innov; ///< GPS velocity innovations (m/sec)
Vector3f _gps_vel_innov_var; ///< GPS velocity innovation variances ((m/sec)**2)