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px4-firmware
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EKF: Set position fusion gate option false by default

This commit is contained in:
Paul Riseborough 2021-01-21 10:10:35 +11:00 committed by Paul Riseborough
parent 556a195320
commit efb78deef9
2 changed files with 3 additions and 3 deletions
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4
EKF/control.cpp
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@ -300,7 +300,7 @@ void Ekf::controlExternalVisionFusion()
// innovation gate size
ev_pos_innov_gates(0) = fmaxf(_params.ev_pos_innov_gate, 1.0f);
fuseHorizontalPosition(_ev_pos_innov, ev_pos_innov_gates, ev_pos_obs_var, _ev_pos_innov_var, _ev_pos_test_ratio, false);
fuseHorizontalPosition(_ev_pos_innov, ev_pos_innov_gates, ev_pos_obs_var, _ev_pos_innov_var, _ev_pos_test_ratio);
}
// determine if we should use the velocity observations
@ -712,7 +712,7 @@ void Ekf::controlGpsFusion()
// fuse GPS measurement
fuseHorizontalVelocity(_gps_vel_innov, gps_vel_innov_gates,gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
fuseVerticalVelocity(_gps_vel_innov, gps_vel_innov_gates, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
fuseHorizontalPosition(_gps_pos_innov, gps_pos_innov_gates, gps_pos_obs_var, _gps_pos_innov_var, _gps_pos_test_ratio, false);
fuseHorizontalPosition(_gps_pos_innov, gps_pos_innov_gates, gps_pos_obs_var, _gps_pos_innov_var, _gps_pos_test_ratio);
}
} else if (_control_status.flags.gps && (_imu_sample_delayed.time_us - _gps_sample_delayed.time_us > (uint64_t)10e6)) {

2
EKF/ekf.h
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@ -622,7 +622,7 @@ private:
Vector3f &innov_var, Vector2f &test_ratio);
bool fuseHorizontalPosition(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
Vector3f &innov_var, Vector2f &test_ratiov, bool inhibit_gate);
Vector3f &innov_var, Vector2f &test_ratiov, bool inhibit_gate = false);
bool fuseVerticalPosition(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
Vector3f &innov_var, Vector2f &test_ratio);