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ekf2: do not fuse ZVU if other velocity source is active #20611

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Nov 15, 2022
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ekf2: do not fuse ZVU if other velocity source is active #20611

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7 changes: 4 additions & 3 deletions src/modules/ekf2/EKF/zero_velocity_update.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -45,15 +45,16 @@ void Ekf::controlZeroVelocityUpdate()

if (zero_velocity_update_data_ready) {
const bool continuing_conditions_passing = _control_status.flags.vehicle_at_rest
&& _control_status_prev.flags.vehicle_at_rest;
&& _control_status_prev.flags.vehicle_at_rest
&& !isVerticalVelocityAidingActive(); // otherwise the filter is "too rigid" to follow a position drift
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How about just skipping vz fuse below if vertical velocity aiding active? ~ line 65

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The only sources of velocity are VIO and GNSS and when active they're fusing a 3D vector so isVerticalVelocityAidingActive is the same as "is velocity aiding active" (maybe I should make a function that makes this obvious). I think that the same logic should apply on the horizontal axes, this is why I implemented it that way


if (continuing_conditions_passing) {
Vector3f vel_obs{0, 0, 0};
Vector3f innovation = _state.vel - vel_obs;

// Set a low variance initially for faster accel bias learning and higher
// Set a low variance initially for faster leveling and higher
// later to let the states follow the measurements
const float obs_var = _NED_origin_initialised ? sq(0.2f) : sq(0.001f);
const float obs_var = _control_status.flags.tilt_align ? sq(0.2f) : sq(0.001f);
Vector3f innov_var{
P(4, 4) + obs_var,
P(5, 5) + obs_var,
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