EKF2: range measurement rejection in rain/fog #23579
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bresch
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Aug 22, 2024
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I generally like the concept, but I think that the check should have its own class. It shares absolutely nothing with the kinematic consistency check (except _time_last_update_us) and make that class just less readable (e.g.: the setParams is for both but the update update function is for the kinematic check only).
src/modules/ekf2/EKF/aid_sources/range_finder/range_finder_consistency_check.hpp
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bresch
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Aug 26, 2024
src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.hpp
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bresch
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src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.hpp
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bresch
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When there's rain or fog the range sensor can provide wrong distance measurements. The goal was to create somewhat of a sanity check for the distance sensor while moving horizontally. Currently we only have the kin-consistency check without horizontal movement.
The current implementation is dependent on a new param and the magic hardcoded factor 2.