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ekf2: estimator aid source status (baro height)

This commit is contained in:
Daniel Agar 2022-05-22 13:58:55 -04:00
parent 4dbe6f0a1c
commit 1e25aee6fa
13 changed files with 218 additions and 156 deletions
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1
msg/estimator_aid_source_1d.msg
View File

@ -19,3 +19,4 @@ bool innovation_rejected # true if the observation has been rejected
bool fused # true if the sample was successfully fused
# TOPICS estimator_aid_source_1d
# TOPICS estimator_aid_src_baro_hgt

30
src/modules/ekf2/EKF/control.cpp
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@ -779,16 +779,16 @@ void Ekf::checkVerticalAccelerationHealth()
bool are_vertical_pos_and_vel_independant = false;
if (_control_status.flags.gps) {
// velocity
auto &gps_vel = _aid_src_gnss_vel;
// GNSS velocity
const auto &gps_vel = _aid_src_gnss_vel;
if (gps_vel.time_last_fuse[2] > _vert_vel_fuse_time_us) {
_vert_vel_fuse_time_us = gps_vel.time_last_fuse[2];
_vert_vel_innov_ratio = gps_vel.innovation[2] / sqrtf(gps_vel.innovation_variance[2]);
}
// position
auto &gps_pos = _aid_src_gnss_pos;
// GNSS position
const auto &gps_pos = _aid_src_gnss_pos;
if (gps_pos.time_last_fuse[2] > _vert_pos_fuse_attempt_time_us) {
_vert_pos_fuse_attempt_time_us = gps_pos.time_last_fuse[2];
@ -796,6 +796,16 @@ void Ekf::checkVerticalAccelerationHealth()
}
}
if (_control_status.flags.baro_hgt) {
// baro height
const auto &baro_hgt = _aid_src_baro_hgt;
if (baro_hgt.time_last_fuse > _vert_pos_fuse_attempt_time_us) {
_vert_pos_fuse_attempt_time_us = baro_hgt.time_last_fuse;
_vert_pos_innov_ratio = baro_hgt.innovation / sqrtf(baro_hgt.innovation_variance);
}
}
if (isRecent(_vert_pos_fuse_attempt_time_us, 1000000)) {
if (isRecent(_vert_vel_fuse_time_us, 1000000)) {
// If vertical position and velocity come from independent sensors then we can
@ -941,15 +951,15 @@ void Ekf::controlHeightFusion()
updateBaroHgtOffset();
updateGroundEffect();
if (_control_status.flags.baro_hgt) {
if (_baro_data_ready) {
updateBaroHgt(_baro_sample_delayed, _aid_src_baro_hgt);
if (_baro_data_ready && !_baro_hgt_faulty) {
fuseBaroHgt();
if (_control_status.flags.baro_hgt && !_baro_hgt_faulty) {
fuseBaroHgt(_aid_src_baro_hgt);
}
}
} else if (_control_status.flags.gps_hgt) {
// handled by gps fusion
} else if (_control_status.flags.rng_hgt) {
if (_control_status.flags.rng_hgt) {
if (_range_sensor.isDataHealthy()) {
fuseRngHgt();

2
src/modules/ekf2/EKF/covariance.cpp
View File

@ -991,7 +991,7 @@ void Ekf::fixCovarianceErrors(bool force_symmetry)
bool bad_vz_ev = _control_status.flags.ev_vel && (down_dvel_bias * _ev_vel_innov(2) < 0.0f);
if (bad_vz_gps || bad_vz_ev) {
bool bad_z_baro = _control_status.flags.baro_hgt && (down_dvel_bias * _baro_hgt_innov < 0.0f);
bool bad_z_baro = _control_status.flags.baro_hgt && (down_dvel_bias * _aid_src_baro_hgt.innovation < 0.0f);
bool bad_z_gps = _control_status.flags.gps_hgt && (down_dvel_bias * _aid_src_gnss_pos.innovation[2] < 0.0f);
bool bad_z_rng = _control_status.flags.rng_hgt && (down_dvel_bias * _rng_hgt_innov < 0.0f);
bool bad_z_ev = _control_status.flags.ev_hgt && (down_dvel_bias * _ev_pos_innov(2) < 0.0f);

49
src/modules/ekf2/EKF/ekf.h
View File

@ -86,9 +86,9 @@ public:
void getEvVelPosInnovVar(float hvel[2], float &vvel, float hpos[2], float &vpos) const;
void getEvVelPosInnovRatio(float &hvel, float &vvel, float &hpos, float &vpos) const;
void getBaroHgtInnov(float &baro_hgt_innov) const { baro_hgt_innov = _baro_hgt_innov; }
void getBaroHgtInnovVar(float &baro_hgt_innov_var) const { baro_hgt_innov_var = _baro_hgt_innov_var; }
void getBaroHgtInnovRatio(float &baro_hgt_innov_ratio) const { baro_hgt_innov_ratio = _baro_hgt_test_ratio; }
void getBaroHgtInnov(float &baro_hgt_innov) const { baro_hgt_innov = _aid_src_baro_hgt.innovation; }
void getBaroHgtInnovVar(float &baro_hgt_innov_var) const { baro_hgt_innov_var = _aid_src_baro_hgt.innovation_variance; }
void getBaroHgtInnovRatio(float &baro_hgt_innov_ratio) const { baro_hgt_innov_ratio = _aid_src_baro_hgt.test_ratio; }
void getRngHgtInnov(float &rng_hgt_innov) const { rng_hgt_innov = _rng_hgt_innov; }
void getRngHgtInnovVar(float &rng_hgt_innov_var) const { rng_hgt_innov_var = _rng_hgt_innov_var; }
@ -340,11 +340,13 @@ public:
const BaroBiasEstimator::status &getBaroBiasEstimatorStatus() const { return _baro_b_est.getStatus(); }
const auto &aid_src_gnss_vel() const { return _aid_src_gnss_vel; }
const auto &aid_src_gnss_pos() const { return _aid_src_gnss_pos; }
const auto &aid_src_baro_hgt() const { return _aid_src_baro_hgt; }
const auto &aid_src_fake_pos() const { return _aid_src_fake_pos; }
const auto &aid_src_gnss_vel() const { return _aid_src_gnss_vel; }
const auto &aid_src_gnss_pos() const { return _aid_src_gnss_pos; }
private:
// set the internal states and status to their default value
@ -452,9 +454,6 @@ private:
Vector3f _ev_pos_innov{}; ///< external vision position innovations (m)
Vector3f _ev_pos_innov_var{}; ///< external vision position innovation variances (m**2)
float _baro_hgt_innov{}; ///< baro hgt innovations (m)
float _baro_hgt_innov_var{}; ///< baro hgt innovation variances (m**2)
float _rng_hgt_innov{}; ///< range hgt innovations (m)
float _rng_hgt_innov_var{}; ///< range hgt innovation variances (m**2)
@ -493,11 +492,13 @@ private:
bool _inhibit_flow_use{false}; ///< true when use of optical flow and range finder is being inhibited
Vector2f _flow_compensated_XY_rad{}; ///< measured delta angle of the image about the X and Y body axes after removal of body rotation (rad), RH rotation is positive
estimator_aid_source_3d_s _aid_src_gnss_vel{};
estimator_aid_source_3d_s _aid_src_gnss_pos{};
estimator_aid_source_1d_s _aid_src_baro_hgt{};
estimator_aid_source_2d_s _aid_src_fake_pos{};
estimator_aid_source_3d_s _aid_src_gnss_vel{};
estimator_aid_source_3d_s _aid_src_gnss_pos{};
// output predictor states
Vector3f _delta_angle_corr{}; ///< delta angle correction vector (rad)
Vector3f _vel_err_integ{}; ///< integral of velocity tracking error (m)
@ -644,10 +645,13 @@ private:
// fuse body frame drag specific forces for multi-rotor wind estimation
void fuseDrag(const dragSample &drag_sample);
void fuseBaroHgt();
void fuseBaroHgt(estimator_aid_source_1d_s &baro_hgt);
void fuseRngHgt();
void fuseEvHgt();
void updateBaroHgt(const baroSample &baro_sample, estimator_aid_source_1d_s &baro_hgt);
// fuse single velocity and position measurement
bool fuseVelPosHeight(const float innov, const float innov_var, const int obs_index);
@ -1063,7 +1067,7 @@ private:
void resetGpsDriftCheckFilters();
bool resetEstimatorAidStatusFlags(estimator_aid_source_1d_s &status)
bool resetEstimatorAidStatusFlags(estimator_aid_source_1d_s &status) const
{
if (status.timestamp_sample != 0) {
status.timestamp_sample = 0;
@ -1077,7 +1081,7 @@ private:
return false;
}
void resetEstimatorAidStatus(estimator_aid_source_1d_s &status)
void resetEstimatorAidStatus(estimator_aid_source_1d_s &status) const
{
if (resetEstimatorAidStatusFlags(status)) {
status.observation = 0;
@ -1090,7 +1094,7 @@ private:
}
template <typename T>
bool resetEstimatorAidStatusFlags(T &status)
bool resetEstimatorAidStatusFlags(T &status) const
{
if (status.timestamp_sample != 0) {
status.timestamp_sample = 0;
@ -1108,7 +1112,7 @@ private:
}
template <typename T>
void resetEstimatorAidStatus(T &status)
void resetEstimatorAidStatus(T &status) const
{
if (resetEstimatorAidStatusFlags(status)) {
for (size_t i = 0; i < (sizeof(status.fusion_enabled) / sizeof(status.fusion_enabled[0])); i++) {
@ -1121,6 +1125,21 @@ private:
}
}
}
void setEstimatorAidStatusTestRatio(estimator_aid_source_1d_s &status, float innovation_gate) const
{
status.test_ratio = sq(status.innovation) / (sq(innovation_gate) * status.innovation_variance);
status.innovation_rejected = (status.test_ratio > 1.f);
}
template <typename T>
void setEstimatorAidStatusTestRatio(T &status, float innovation_gate) const
{
for (size_t i = 0; i < (sizeof(status.test_ratio) / sizeof(status.test_ratio[0])); i++) {
status.test_ratio[i] = sq(status.innovation[i]) / (sq(innovation_gate) * status.innovation_variance[i]);
status.innovation_rejected[i] = (status.test_ratio[i] > 1.f);
}
}
};
#endif // !EKF_EKF_H

2
src/modules/ekf2/EKF/ekf_helper.cpp
View File

@ -941,7 +941,7 @@ void Ekf::get_innovation_test_status(uint16_t &status, float &mag, float &vel, f
// return the vertical position innovation test ratio
if (_control_status.flags.baro_hgt) {
hgt = math::max(sqrtf(_baro_hgt_test_ratio), FLT_MIN);
hgt = math::max(sqrtf(_aid_src_baro_hgt.test_ratio), FLT_MIN);
} else if (_control_status.flags.gps_hgt) {
hgt = math::max(sqrtf(_aid_src_gnss_pos.test_ratio[2]), FLT_MIN);

1
src/modules/ekf2/EKF/estimator_interface.h
View File

@ -334,7 +334,6 @@ protected:
Vector2f _ev_vel_test_ratio{}; // EV velocity innovation consistency check ratios
Vector2f _ev_pos_test_ratio{}; // EV position innovation consistency check ratios
Vector2f _aux_vel_test_ratio{}; // Auxiliary horizontal velocity innovation consistency check ratio
float _baro_hgt_test_ratio{}; // baro height innovation consistency check ratios
float _rng_hgt_test_ratio{}; // range finder height innovation consistency check ratios
float _optflow_test_ratio{}; // Optical flow innovation consistency check ratio
float _tas_test_ratio{}; // tas innovation consistency check ratio

6
src/modules/ekf2/EKF/fake_pos_control.cpp
View File

@ -139,10 +139,12 @@ void Ekf::fuseFakePosition()
fake_pos.innovation[i] = _state.pos(i) - _last_known_posNE(i);
fake_pos.innovation_variance[i] = P(7 + i, 7 + i) + obs_var(i);
fake_pos.test_ratio[i] = sq(fake_pos.innovation[i]) / (sq(innov_gate) * fake_pos.innovation_variance[i]);
}
fake_pos.innovation_rejected[i] = (fake_pos.test_ratio[i] > 1.f);
setEstimatorAidStatusTestRatio(fake_pos, innov_gate);
// fuse
for (int i = 0; i < 2; i++) {
// always protect against extreme values that could result in a NaN
fake_pos.fusion_enabled[i] = fake_pos.test_ratio[i] < sq(100.0f / innov_gate);

10
src/modules/ekf2/EKF/gps_fusion.cpp
View File

@ -55,11 +55,10 @@ void Ekf::updateGpsVel(const gpsSample &gps_sample)
gps_vel.innovation[i] = _state.vel(i) - gps_sample.vel(i);
gps_vel.innovation_variance[i] = P(4 + i, 4 + i) + obs_var(i);
gps_vel.test_ratio[i] = sq(gps_vel.innovation[i]) / (sq(innov_gate) * gps_vel.innovation_variance[i]);
gps_vel.innovation_rejected[i] = (gps_vel.test_ratio[i] > 1.f);
}
setEstimatorAidStatusTestRatio(gps_vel, innov_gate);
// vz special case if there is bad vertical acceleration data, then don't reject measurement,
// but limit innovation to prevent spikes that could destabilise the filter
if (_fault_status.flags.bad_acc_vertical && gps_vel.innovation_rejected[2]) {
@ -109,11 +108,10 @@ void Ekf::updateGpsPos(const gpsSample &gps_sample)
gps_pos.innovation[i] = _state.pos(i) - position(i);
gps_pos.innovation_variance[i] = P(7 + i, 7 + i) + obs_var(i);
gps_pos.test_ratio[i] = sq(gps_pos.innovation[i]) / (sq(innov_gate) * gps_pos.innovation_variance[i]);
gps_pos.innovation_rejected[i] = (gps_pos.test_ratio[i] > 1.f);
}
setEstimatorAidStatusTestRatio(gps_pos, innov_gate);
// z special case if there is bad vertical acceleration data, then don't reject measurement,
// but limit innovation to prevent spikes that could destabilise the filter
if (_fault_status.flags.bad_acc_vertical && gps_pos.innovation_rejected[2]) {

55
src/modules/ekf2/EKF/height_fusion.cpp
View File

@ -38,12 +38,23 @@
#include "ekf.h"
void Ekf::fuseBaroHgt()
void Ekf::updateBaroHgt(const baroSample &baro_sample, estimator_aid_source_1d_s &baro_hgt)
{
// vertical position innovation - baro measurement has opposite sign to earth z axis
const float unbiased_baro = _baro_sample_delayed.hgt - _baro_b_est.getBias();
// reset flags
resetEstimatorAidStatusFlags(baro_hgt);
_baro_hgt_innov = _state.pos(2) + unbiased_baro - _baro_hgt_offset;
// innovation gate size
float innov_gate = fmaxf(_params.baro_innov_gate, 1.f);
// observation variance - user parameter defined
float obs_var = sq(fmaxf(_params.baro_noise, 0.01f));
// vertical position innovation - baro measurement has opposite sign to earth z axis
baro_hgt.observation = -(_baro_sample_delayed.hgt - _baro_b_est.getBias() - _baro_hgt_offset);
baro_hgt.observation_variance = obs_var;
baro_hgt.innovation = _state.pos(2) - baro_hgt.observation;
baro_hgt.innovation_variance = P(9, 9) + obs_var;
// Compensate for positive static pressure transients (negative vertical position innovations)
// caused by rotor wash ground interaction by applying a temporary deadzone to baro innovations.
@ -52,24 +63,40 @@ void Ekf::fuseBaroHgt()
const float deadzone_start = 0.0f;
const float deadzone_end = deadzone_start + _params.gnd_effect_deadzone;
if (_baro_hgt_innov < -deadzone_start) {
if (_baro_hgt_innov <= -deadzone_end) {
_baro_hgt_innov += deadzone_end;
if (baro_hgt.innovation < -deadzone_start) {
if (baro_hgt.innovation <= -deadzone_end) {
baro_hgt.innovation += deadzone_end;
} else {
_baro_hgt_innov = -deadzone_start;
baro_hgt.innovation = -deadzone_start;
}
}
}
// innovation gate size
float innov_gate = fmaxf(_params.baro_innov_gate, 1.f);
setEstimatorAidStatusTestRatio(baro_hgt, innov_gate);
// observation variance - user parameter defined
float obs_var = sq(fmaxf(_params.baro_noise, 0.01f));
// special case if there is bad vertical acceleration data, then don't reject measurement,
// but limit innovation to prevent spikes that could destabilise the filter
if (_fault_status.flags.bad_acc_vertical && baro_hgt.innovation_rejected) {
const float innov_limit = innov_gate * sqrtf(baro_hgt.innovation_variance);
baro_hgt.innovation = math::constrain(baro_hgt.innovation, -innov_limit, innov_limit);
baro_hgt.innovation_rejected = false;
}
fuseVerticalPosition(_baro_hgt_innov, innov_gate, obs_var,
_baro_hgt_innov_var, _baro_hgt_test_ratio);
baro_hgt.fusion_enabled = _control_status.flags.baro_hgt;
baro_hgt.timestamp_sample = baro_sample.time_us;
}
void Ekf::fuseBaroHgt(estimator_aid_source_1d_s &baro_hgt)
{
if (baro_hgt.fusion_enabled
&& !baro_hgt.innovation_rejected
&& fuseVelPosHeight(baro_hgt.innovation, baro_hgt.innovation_variance, 5)) {
baro_hgt.fused = true;
baro_hgt.time_last_fuse = _time_last_imu;
}
}
void Ekf::fuseRngHgt()

8
src/modules/ekf2/EKF2.cpp
View File

@ -636,12 +636,16 @@ void EKF2::Run()
void EKF2::PublishAidSourceStatus(const hrt_abstime &timestamp)
{
// baro height
PublishAidSourceStatus(_ekf.aid_src_baro_hgt(), _status_baro_hgt_pub_last, _estimator_aid_src_baro_hgt_pub);
// fake position
PublishAidSourceStatus(_ekf.aid_src_fake_pos(), _status_fake_pos_pub_last, _estimator_aid_src_fake_pos_pub);
// GNSS velocity & position
PublishAidSourceStatus(_ekf.aid_src_gnss_vel(), _status_gnss_vel_pub_last, _estimator_aid_src_gnss_vel_pub);
PublishAidSourceStatus(_ekf.aid_src_gnss_pos(), _status_gnss_pos_pub_last, _estimator_aid_src_gnss_pos_pub);
// fake position
PublishAidSourceStatus(_ekf.aid_src_fake_pos(), _status_fake_pos_pub_last, _estimator_aid_src_fake_pos_pub);
}
void EKF2::PublishAttitude(const hrt_abstime &timestamp)

10
src/modules/ekf2/EKF2.hpp
View File

@ -255,11 +255,13 @@ private:
hrt_abstime _last_sensor_bias_published{0};
hrt_abstime _last_gps_status_published{0};
hrt_abstime _status_gnss_vel_pub_last{0};
hrt_abstime _status_gnss_pos_pub_last{0};
hrt_abstime _status_baro_hgt_pub_last{0};
hrt_abstime _status_fake_pos_pub_last{0};
hrt_abstime _status_gnss_vel_pub_last{0};
hrt_abstime _status_gnss_pos_pub_last{0};
float _last_baro_bias_published{};
float _airspeed_scale_factor{1.0f}; ///< scale factor correction applied to airspeed measurements
@ -319,11 +321,11 @@ private:
uORB::PublicationMulti<vehicle_odometry_s> _estimator_visual_odometry_aligned_pub{ORB_ID(estimator_visual_odometry_aligned)};
uORB::PublicationMulti<yaw_estimator_status_s> _yaw_est_pub{ORB_ID(yaw_estimator_status)};
uORB::PublicationMulti<estimator_aid_source_1d_s> _estimator_aid_src_baro_hgt_pub{ORB_ID(estimator_aid_src_baro_hgt)};
uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_fake_pos_pub{ORB_ID(estimator_aid_src_fake_pos)};
uORB::PublicationMulti<estimator_aid_source_3d_s> _estimator_aid_src_gnss_vel_pub{ORB_ID(estimator_aid_src_gnss_vel)};
uORB::PublicationMulti<estimator_aid_source_3d_s> _estimator_aid_src_gnss_pos_pub{ORB_ID(estimator_aid_src_gnss_pos)};
uORB::PublicationMulti<estimator_aid_source_2d_s> _estimator_aid_src_fake_pos_pub{ORB_ID(estimator_aid_src_fake_pos)};
// publications with topic dependent on multi-mode
uORB::PublicationMulti<vehicle_attitude_s> _attitude_pub;
uORB::PublicationMulti<vehicle_local_position_s> _local_position_pub;

150
src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv
View File

@ -14,8 +14,8 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
1190000,1,-0.0112,-0.0137,-0.0166,0.0163,-0.0049,-0.155,0.00161,-0.000401,-0.0818,-1.25e-07,-6.6e-07,-2.4e-09,4.68e-07,-8.34e-08,-1.35e-08,0.192,0.00189,0.404,0,0,0,0,0,1.85e-06,0.00506,0.00506,0.00108,0.85,0.85,0.491,0.151,0.151,0.328,9.88e-07,9.88e-07,6.56e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
1290000,1,-0.0113,-0.0139,-0.0166,0.0212,-0.00611,-0.169,0.00349,-0.000977,-0.098,-1.25e-07,-6.6e-07,-2.4e-09,4.68e-07,-8.34e-08,-1.35e-08,0.192,0.00189,0.404,0,0,0,0,0,2.06e-06,0.0056,0.0056,0.00108,1.03,1.03,0.5,0.214,0.214,0.402,9.88e-07,9.88e-07,5.97e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
1390000,1,-0.0114,-0.0142,-0.0166,0.0275,-0.00825,-0.181,0.00597,-0.00168,-0.115,-1.25e-07,-6.6e-07,-2.4e-09,4.68e-07,-8.34e-08,-1.35e-08,0.192,0.00189,0.404,0,0,0,0,0,2.31e-06,0.00618,0.00619,0.00108,1.26,1.26,0.509,0.301,0.301,0.487,9.88e-07,9.88e-07,5.41e-07,3.99e-06,3.99e-06,3.99e-06,0,0,0,0,0,0,0,0
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19390000,0.707,9.08e-05,-0.012,0.708,0.0122,0.000596,0.0106,0.00784,-0.000191,-365,-1.39e-05,-6.06e-05,5.88e-06,-2.92e-05,6.7e-05,-0.00131,0.209,0.00206,0.432,0,0,0,0,0,0.000136,0.000111,0.000111,0.000131,0.0276,0.0276,0.0115,0.0445,0.0445,0.0431,3.3e-10,3.3e-10,6.72e-10,3.09e-06,3.09e-06,5.69e-08,0,0,0,0,0,0,0,0
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
14 1190000 1 -0.0112 -0.0137 -0.0166 0.0163 -0.0049 -0.155 0.00161 -0.000401 -0.0818 -1.25e-07 -6.6e-07 -2.4e-09 4.68e-07 -8.34e-08 -1.35e-08 0.192 0.00189 0.404 0 0 0 0 0 1.85e-06 0.00506 0.00506 0.00108 0.85 0.85 0.491 0.151 0.151 0.328 9.88e-07 9.88e-07 6.56e-07 3.99e-06 3.99e-06 3.99e-06 0 0 0 0 0 0 0 0
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52 4990000 1 -0.00999 -0.0112 -0.0168 0.01 -0.00373 -0.675 0.00313 -0.00121 -1.65 -1.57e-05 -5.46e-05 2.53e-07 2.19e-06 -9.75e-08 -2.96e-08 0.192 0.00189 0.404 0 0 0 0 0 4e-07 0.000965 0.000966 0.000492 0.353 0.353 1.37 0.121 0.121 14.6 5.44e-08 5.44e-08 2.38e-08 3.9e-06 3.9e-06 3.99e-06 0 0 0 0 0 0 0 0
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50
src/modules/ekf2/test/change_indication/iris_gps.csv
View File

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@ -202,13 +202,13 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@ -224,7 +224,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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@ -249,7 +249,7 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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1 Timestamp state[0] state[1] state[2] state[3] state[4] state[5] state[6] state[7] state[8] state[9] state[10] state[11] state[12] state[13] state[14] state[15] state[16] state[17] state[18] state[19] state[20] state[21] state[22] state[23] variance[0] variance[1] variance[2] variance[3] variance[4] variance[5] variance[6] variance[7] variance[8] variance[9] variance[10] variance[11] variance[12] variance[13] variance[14] variance[15] variance[16] variance[17] variance[18] variance[19] variance[20] variance[21] variance[22] variance[23]
2 10000 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
3 90000 1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
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5 290000 0.979 -0.00873 -0.0141 0.205 0.000802 -0.000466 -0.0239 -6.92e-05 -2.29e-05 -0.0538 5.72e-12 5.71e-12 -9.05e-13 -1.79e-13 1.07e-09 -1.03e-09 4.57e-08 0.203 0.0109 0.434 0 0 0 0 0 9.44e-05 0.00253 0.00253 0.00213 25 25 0.562 101 101 0.337 1e-06 1e-06 9.97e-07 4e-06 4e-06 4e-06 0 0 0 0 0 0 0 0
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