[ECL] Full variance usage of vision data #13705
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kamilritz
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mhkabir
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@kamilritz How did you test this? |
mhkabir
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msg/vehicle_odometry.msg
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| @@ -17,7 +17,7 @@ uint8 COVARIANCE_MATRIX_YAWRATE_VARIANCE=20 | |||
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| # Position and linear velocity frame of reference constants | |||
| uint8 LOCAL_FRAME_NED=0 # NED earth-fixed frame | |||
| uint8 LOCAL_FRAME_ENU=1 # ENU earth-fixed frame | |||
| uint8 LOCAL_FRAME_FRD=1 # FRD earth-fixed frame, heading different to NED | |||
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| uint8 LOCAL_FRAME_FRD=1 # FRD earth-fixed frame, heading different to NED | |
| uint8 LOCAL_FRAME_FRD=1 # FRD earth-fixed frame, arbitrary heading reference point |
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jkflying
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dagar
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| sqrtf(fmaxf(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VX_VARIANCE], | ||
| fmaxf(_ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VY_VARIANCE], | ||
| _ev_odom.pose_covariance[_ev_odom.COVARIANCE_MATRIX_VZ_VARIANCE])))); | ||
| float param_evv_noise_var = sq(_param_ekf2_evv_noise.get()); |
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Update the EKF2_EVV_NOISE parameter description to mention the new behaviour?
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Updated the parameter description for |
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This adapts the interface to ECL EKF to support the use of all variance information in the visual_odometry message. More information can be found in the ECL PR.
This needs recently added function of Matrix. Therefore, it is also updating Matrix to newest version.
In addition, it is adding the missing transformation of the linear velocity covariances to local frame. This was undone before and therefore not completely correct.
Testing:
Run estimation on vehicle, which does not have a true full covariance. But it still shows that the vision estimation is not broken by this PR. Log