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Checking all used vision data for being finite

This commit is contained in:
kamilritz 2019-12-09 15:19:25 +01:00 committed by Julian Kent
parent 90aa4bb852
commit 1560309687
1 changed files with 7 additions and 3 deletions
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10
src/modules/ekf2/ekf2_main.cpp
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@ -1110,7 +1110,9 @@ void Ekf2::Run()
// velocity measurement error from ev_data or parameters // velocity measurement error from ev_data or parameters
float param_evv_noise_var = sq(_param_ekf2_evv_noise.get()); float param_evv_noise_var = sq(_param_ekf2_evv_noise.get());
if (!_param_ekf2_ev_noise_md.get() && PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VX_VARIANCE])) { if (!_param_ekf2_ev_noise_md.get() && PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VX_VARIANCE])
&& PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VY_VARIANCE])
&& PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VZ_VARIANCE])) {
ev_data.velVar(0) = fmaxf(param_evv_noise_var, _ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VX_VARIANCE]); ev_data.velVar(0) = fmaxf(param_evv_noise_var, _ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VX_VARIANCE]);
ev_data.velVar(1) = fmaxf(param_evv_noise_var, _ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VY_VARIANCE]); ev_data.velVar(1) = fmaxf(param_evv_noise_var, _ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VY_VARIANCE]);
ev_data.velVar(2) = fmaxf(param_evv_noise_var, _ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VZ_VARIANCE]); ev_data.velVar(2) = fmaxf(param_evv_noise_var, _ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VZ_VARIANCE]);
@ -1129,13 +1131,15 @@ void Ekf2::Run()
float param_evp_noise_var = sq(_param_ekf2_evp_noise.get()); float param_evp_noise_var = sq(_param_ekf2_evp_noise.get());
// position measurement error from ev_data or parameters // position measurement error from ev_data or parameters
if (!_param_ekf2_ev_noise_md.get() && PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_X_VARIANCE])) { if (!_param_ekf2_ev_noise_md.get() && PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_X_VARIANCE])
&& PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_Y_VARIANCE])
&& PX4_ISFINITE(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_Z_VARIANCE])) {
ev_data.posVar(0) = fmaxf(param_evp_noise_var, _ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_X_VARIANCE]); ev_data.posVar(0) = fmaxf(param_evp_noise_var, _ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_X_VARIANCE]);
ev_data.posVar(1) = fmaxf(param_evp_noise_var, _ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_Y_VARIANCE]); ev_data.posVar(1) = fmaxf(param_evp_noise_var, _ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_Y_VARIANCE]);
ev_data.posVar(2) = fmaxf(param_evp_noise_var, _ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_Z_VARIANCE]); ev_data.posVar(2) = fmaxf(param_evp_noise_var, _ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_Z_VARIANCE]);
} else { } else {
ev_data.posVar.setAll(_param_ekf2_evp_noise.get()); ev_data.posVar.setAll(param_evp_noise_var);
} }
} }