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ekf2: block process noise increment without constraining the variance

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The wind variance can be reset to a value larger than the wind init
variance (e.g.: when the reset occurs when flying close to the N or E
axis). Constraining the variance after a covariance initialization would
artificially increase the correlation and could destabilize the filter.
This commit is contained in:
bresch
2024-07-24 15:09:17 +02:00
committed by Mathieu Bresciani
parent 39abd87949
commit 79e0e00d8c
1 changed files with 8 additions and 7 deletions
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src/modules/ekf2/EKF/covariance.cpp
+8 -7
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@@ -201,14 +201,15 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
#if defined(CONFIG_EKF2_WIND) #if defined(CONFIG_EKF2_WIND)
// wind vel: add process noise // wind vel: add process noise
if (!_external_wind_init) { float wind_vel_nsd_scaled = math::constrain(_params.wind_vel_nsd, 0.f, 1.f)
float wind_vel_nsd_scaled = math::constrain(_params.wind_vel_nsd, 0.f, 1.f) * (1.f + _params.wind_vel_nsd_scaler * fabsf(_height_rate_lpf));
* (1.f + _params.wind_vel_nsd_scaler * fabsf(_height_rate_lpf)); float wind_vel_process_noise = sq(wind_vel_nsd_scaled) * dt;
float wind_vel_process_noise = sq(wind_vel_nsd_scaled) * dt;
for (unsigned index = 0; index < State::wind_vel.dof; index++) { for (unsigned index = 0; index < State::wind_vel.dof; index++) {
const unsigned i = State::wind_vel.idx + index; const unsigned i = State::wind_vel.idx + index;
P(i, i) = fminf(P(i, i) + wind_vel_process_noise, sq(_params.initial_wind_uncertainty));
if (P(i, i) < sq(_params.initial_wind_uncertainty)) {
P(i, i) += wind_vel_process_noise;
} }
} }