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ekf2: height aid source consistency (#20405)

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- working towards keeping all height source (baro/ev/gnss/rng) handling as consistent as possible, possibly refactoring these out into separate classes later
This commit is contained in:
Daniel Agar
2022-10-19 15:35:07 -04:00
committed by GitHub
parent 870229ef49
commit f9509b442c
21 changed files with 890 additions and 1083 deletions
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src/modules/ekf2/EKF/bias_estimator.cpp
+1 -1
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@@ -69,7 +69,7 @@ void BiasEstimator::constrainStateVar()
void BiasEstimator::fuseBias(const float measurement, const float measurement_var)
{
const float innov_var = _state_var + measurement_var;
const float innov_var = _state_var + math::max(sq(0.01f), measurement_var);
const float innov = measurement - _state;
const float K = _state_var / innov_var;
const float innov_test_ratio = computeInnovTestRatio(innov, innov_var);