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EKF: Improvements to covariance reset

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This commit is contained in:
Paul Riseborough
2016-05-07 12:57:41 +10:00
parent d9aeace6ac
commit da9d894441
5 changed files with 19 additions and 22 deletions
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EKF/ekf.cpp
+5 -2
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@@ -263,14 +263,17 @@ bool Ekf::update()
}
// determine if baro data has fallen behind the fuson time horizon and fuse it in the main filter if enabled
uint64_t last_baro_time_us = _baro_sample_delayed.time_us;
if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_baro_sample_delayed)) {
if (_control_status.flags.baro_hgt) {
_fuse_height = true;
} else {
// calculate a filtered offset between the baro origin and local NED origin if we are not using the baro as a height reference
float offset_error = _state.pos(2) + _baro_sample_delayed.hgt - _hgt_sensor_offset - _baro_hgt_offset;
_baro_hgt_offset += 0.02f * math::constrain(offset_error, -5.0f, 5.0f);
float dt = math::constrain(1e-6f*(float)(_baro_sample_delayed.time_us - last_baro_time_us),0.0f,1.0f);
last_baro_time_us = _baro_sample_delayed.time_us;
float raw_offset_error = (_baro_sample_delayed.hgt - _hgt_sensor_offset) + _state.pos(2) - _baro_hgt_offset;
_baro_hgt_offset += dt * math::constrain(0.1f * raw_offset_error, -0.1f, 0.1f);
}
}