Improved TDoA outlier filter #1237
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| @@ -71,6 +76,7 @@ void kalmanCoreUpdateWithTDOA(kalmanCoreData_t* this, tdoaMeasurement_t *tdoa) | |||
| h[KC_STATE_Y] = (dy1 / d1 - dy0 / d0); | |||
| h[KC_STATE_Z] = (dz1 / d1 - dz0 / d0); | |||
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| #if USE_STEP_OUTLIER_FILTER | |||
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Shouldn't this be part of the kbuild config?
| @@ -29,6 +29,7 @@ | |||
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| bool outlierFilterValidateTdoaSimple(const tdoaMeasurement_t* tdoa); | |||
| bool outlierFilterValidateTdoaSteps(const tdoaMeasurement_t* tdoa, const float error, const vector_t* jacobian, const point_t* estPos); | |||
| bool outlierFilterValidateTdoaIntegrator(const tdoaMeasurement_t* tdoa, const float error, const uint32_t nowMs); | |||
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Just a comment, with kalmanCoreUpdateWithTDOA we use all caps for TDOA, but here it is only Tdoa. Shouldn't all be TDOA for concistency?
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We could make a separate PR for this, it might be too much of a rabbit hole for now.
src/modules/src/outlierFilter.c
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| // Integrator TDoA outlier filter ------------------------------------- |
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Great comments! But perhaps it should be more according to doxygen convention and put it closer to the function. If we ever want to make doxygen comments for these, it might get lost
src/modules/src/outlierFilter.c
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| // The maximum size of the integrator. This size determines the time [in ms] needed to open/close the filter. | ||
| static const float INTEGRATOR_SIZE = 300.0f; |
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I'm wondering if we should make a struct for these values and initialize the avalues when the kalman filter is initialize? What do you think? It will make it more suitable for wrapping and the bindings?
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Also it would make it possible to use this filter for something else
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| * You should have received a copy of the GNU General Public License | ||
| * along with this program. If not, see <http://www.gnu.org/licenses/>. | ||
| * | ||
| * outlierFilter.c: Outlier rejection filter for the LPS system |
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Fixed the comment, and some other I found as well |
This PR contains an updated outlier filter for TDoA samples in the kalman filter. It has generally been simplified and now better supports various packet rates and nose levels in the system. This should make it work with TDoA long range and in systems with many anchors.
Closes #1158