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ekf2: Use ecl library with recent bug fixes and enhancements.

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Bug Fixes:

https://github.com/PX4/ecl/pull/586 - EKF: fix covariance and output filter buffer initialization
https://github.com/PX4/ecl/pull/590 - EKF: Fix innovation in fuseDeclination()

Enhancements:

https://github.com/PX4/ecl/pull/543 - ekf_helper: add more useful methods to interface with the covariances
https://github.com/PX4/ecl/pull/588 - Add unit tests for DataValidator

Note:

https://github.com/PX4/ecl/pull/543  has required a change to how the state variances are accessed .
This commit is contained in:
Paul Riseborough
2019-03-14 19:25:36 +11:00
committed by Paul Riseborough
parent edad4c40c3
commit f8ae8ba502
2 changed files with 3 additions and 3 deletions
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src/lib/ecl
+1 -1
Submodule src/lib/ecl updated: a85d3a43ed...a892ececf8
src/modules/ekf2/ekf2_main.cpp
+2 -2
View File
@@ -1423,7 +1423,7 @@ void Ekf2::run()
// Get covariances to vehicle odometry
float covariances[24];
_ekf.get_covariances(covariances);
_ekf.covariances_diagonal().copyTo(covariances);
// get the covariance matrix size
const size_t POS_URT_SIZE = sizeof(odom.pose_covariance) / sizeof(odom.pose_covariance[0]);
@@ -1540,7 +1540,7 @@ void Ekf2::run()
status.timestamp = now;
_ekf.get_state_delayed(status.states);
status.n_states = 24;
_ekf.get_covariances(status.covariances);
_ekf.covariances_diagonal().copyTo(status.covariances);
_ekf.get_gps_check_status(&status.gps_check_fail_flags);
// only report enabled GPS check failures (the param indexes are shifted by 1 bit, because they don't include
// the GPS Fix bit, which is always checked)