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EKF: Convert airspeed fusion to use SymPy generated auto-code#890
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kamilritz
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Aug 13, 2020
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The SITL log replay was repeated with the same results:
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kamilritz
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Aug 15, 2020
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Replaces matlab symbolic toolbox generated equations with equivalents generated using the SymPy library.
The following innovation and innovation variance sequence was generated from replay of a gazebo_plane SITL log. The sequences are visually identical.
Before:
After:
Output from the test program comparing the Jacobians and Kalman gain values from the Matlab and SymPy method is shown below. Differences are within the expect range for single precision operations.
Pass: Airspeed Hfusion max diff fraction = 0.000000e+00
Pass: Airspeed Kfusion max diff fraction = 3.226521e-07