From a187bb3b8000ac89bb38979faf205ab43f81b693 Mon Sep 17 00:00:00 2001 From: Mathieu Bresciani Date: Wed, 7 Dec 2022 15:34:19 +0100 Subject: [PATCH] ekf2: predict covariance before predicting state (#20715) * To predict the covariance, the jacobian from the previous to the current state is required. --- src/modules/ekf2/EKF/ekf.cpp | 2 +- .../test/change_indication/ekf_gsf_reset.csv | 224 ++++++++-------- .../ekf2/test/change_indication/iris_gps.csv | 246 +++++++++--------- 3 files changed, 236 insertions(+), 236 deletions(-) diff --git a/src/modules/ekf2/EKF/ekf.cpp b/src/modules/ekf2/EKF/ekf.cpp index 4e3b7ed479..6d1fb8fa7a 100644 --- a/src/modules/ekf2/EKF/ekf.cpp +++ b/src/modules/ekf2/EKF/ekf.cpp @@ -103,8 +103,8 @@ bool Ekf::update() // Only run the filter if IMU data in the buffer has been updated if (_imu_updated) { // perform state and covariance prediction for the main filter - predictState(); predictCovariance(); + predictState(); // control fusion of observation data controlFusionModes(); diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv index 67c4ab69fc..d12a6b3a6d 100644 --- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv +++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv @@ -1,13 +1,13 @@ 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] 10000,1,-0.011,-0.011,-0.00011,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0 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