ekf: use float instead of Vector2f for innov gate in pos/vel fusion

We always use the same innovation gate for X and Y anyway

src/modules/ekf2/EKF/control.cpp

@@ -243,7 +243,6 @@ void Ekf::controlExternalVisionFusion()
 			}
 
 			Vector3f ev_pos_obs_var;
-			Vector2f ev_pos_innov_gates;
 
 			// correct position and height for offset relative to IMU
 			const Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;
@@ -307,9 +306,9 @@ void Ekf::controlExternalVisionFusion()
 			}
 
 			// innovation gate size
-			ev_pos_innov_gates(0) = fmaxf(_params.ev_pos_innov_gate, 1.0f);
+			const float ev_pos_innov_gate = fmaxf(_params.ev_pos_innov_gate, 1.0f);
 
-			fuseHorizontalPosition(_ev_pos_innov, ev_pos_innov_gates, ev_pos_obs_var, _ev_pos_innov_var, _ev_pos_test_ratio);
+			fuseHorizontalPosition(_ev_pos_innov, ev_pos_innov_gate, ev_pos_obs_var, _ev_pos_innov_var, _ev_pos_test_ratio);
 		}
 
 		// determine if we should use the velocity observations
@@ -332,10 +331,9 @@ void Ekf::controlExternalVisionFusion()
 			const Vector3f obs_var = matrix::max(getVisionVelocityVarianceInEkfFrame(), sq(0.05f));
 
 			const float innov_gate = fmaxf(_params.ev_vel_innov_gate, 1.f);
-			const Vector2f ev_vel_innov_gates{innov_gate, innov_gate};
 
-			fuseHorizontalVelocity(_ev_vel_innov, ev_vel_innov_gates, obs_var, _ev_vel_innov_var, _ev_vel_test_ratio);
-			fuseVerticalVelocity(_ev_vel_innov, ev_vel_innov_gates, obs_var, _ev_vel_innov_var, _ev_vel_test_ratio);
+			fuseHorizontalVelocity(_ev_vel_innov, innov_gate, obs_var, _ev_vel_innov_var, _ev_vel_test_ratio);
+			fuseVerticalVelocity(_ev_vel_innov, innov_gate, obs_var, _ev_vel_innov_var, _ev_vel_test_ratio);
 		}
 
 		// determine if we should use the yaw observation
@@ -1073,7 +1071,7 @@ void Ekf::controlAuxVelFusion()
 
 			if (isHorizontalAidingActive()) {
 
-				const Vector2f aux_vel_innov_gate(_params.auxvel_gate, _params.auxvel_gate);
+				const float aux_vel_innov_gate = fmaxf(_params.auxvel_gate, 1.f);
 
 				_aux_vel_innov = _state.vel - auxvel_sample_delayed.vel;
 

src/modules/ekf2/EKF/ekf.h

@@ -660,16 +660,16 @@ private:
 	// fuse optical flow line of sight rate measurements
 	void fuseOptFlow();
 
-	bool fuseHorizontalVelocity(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
+	bool fuseHorizontalVelocity(const Vector3f &innov, float innov_gate, const Vector3f &obs_var,
 				    Vector3f &innov_var, Vector2f &test_ratio);
 
-	bool fuseVerticalVelocity(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
+	bool fuseVerticalVelocity(const Vector3f &innov, float innov_gate, const Vector3f &obs_var,
 				  Vector3f &innov_var, Vector2f &test_ratio);
 
-	bool fuseHorizontalPosition(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
+	bool fuseHorizontalPosition(const Vector3f &innov, float innov_gate, const Vector3f &obs_var,
 				    Vector3f &innov_var, Vector2f &test_ratiov, bool inhibit_gate = false);
 
-	bool fuseVerticalPosition(const float innov, const float innov_gate, const float obs_var,
+	bool fuseVerticalPosition(float innov, float innov_gate, float obs_var,
 				  float &innov_var, float &test_ratio);
 
 	void fuseGpsVelPos();

src/modules/ekf2/EKF/fake_pos_control.cpp

@@ -116,7 +116,7 @@ void Ekf::fuseFakePosition()
 
 	_gps_pos_innov.xy() = Vector2f(_state.pos) - _last_known_posNE;
 
-	const Vector2f fake_pos_innov_gate(3.0f, 3.0f);
+	const float fake_pos_innov_gate = 3.f;
 
 	if (fuseHorizontalPosition(_gps_pos_innov, fake_pos_innov_gate, fake_pos_obs_var,
 	                           _gps_pos_innov_var, _gps_pos_test_ratio, true)) {

src/modules/ekf2/EKF/gps_fusion.cpp

@@ -78,13 +78,11 @@ void Ekf::fuseGpsVelPos()
 	_gps_pos_innov.xy() = Vector2f(_state.pos) - _gps_sample_delayed.pos;
 
 	// set innovation gate size
-	const Vector2f gps_pos_innov_gates{fmaxf(_params.gps_pos_innov_gate, 1.f), 0.f};
-
+	const float pos_innov_gate = fmaxf(_params.gps_pos_innov_gate, 1.f);
 	const float vel_innov_gate = fmaxf(_params.gps_vel_innov_gate, 1.f);
-	const Vector2f gps_vel_innov_gates{vel_innov_gate, vel_innov_gate};
 
 	// fuse GPS measurement
-	fuseHorizontalVelocity(_gps_vel_innov, gps_vel_innov_gates, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
-	fuseVerticalVelocity(_gps_vel_innov, gps_vel_innov_gates, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
-	fuseHorizontalPosition(_gps_pos_innov, gps_pos_innov_gates, gps_pos_obs_var, _gps_pos_innov_var, _gps_pos_test_ratio);
+	fuseHorizontalVelocity(_gps_vel_innov, vel_innov_gate, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
+	fuseVerticalVelocity(_gps_vel_innov, vel_innov_gate, gps_vel_obs_var, _gps_vel_innov_var, _gps_vel_test_ratio);
+	fuseHorizontalPosition(_gps_pos_innov, pos_innov_gate, gps_pos_obs_var, _gps_pos_innov_var, _gps_pos_test_ratio);
 }

src/modules/ekf2/EKF/vel_pos_fusion.cpp

@@ -44,14 +44,14 @@
 #include <mathlib/mathlib.h>
 #include "ekf.h"
 
-bool Ekf::fuseHorizontalVelocity(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
+bool Ekf::fuseHorizontalVelocity(const Vector3f &innov, const float innov_gate, const Vector3f &obs_var,
 				 Vector3f &innov_var, Vector2f &test_ratio)
 {
 
 	innov_var(0) = P(4, 4) + obs_var(0);
 	innov_var(1) = P(5, 5) + obs_var(1);
-	test_ratio(0) = fmaxf(sq(innov(0)) / (sq(innov_gate(0)) * innov_var(0)),
-			      sq(innov(1)) / (sq(innov_gate(0)) * innov_var(1)));
+	test_ratio(0) = fmaxf(sq(innov(0)) / (sq(innov_gate) * innov_var(0)),
+			      sq(innov(1)) / (sq(innov_gate) * innov_var(1)));
 
 	const bool innov_check_pass = (test_ratio(0) <= 1.0f);
 
@@ -70,12 +70,12 @@ bool Ekf::fuseHorizontalVelocity(const Vector3f &innov, const Vector2f &innov_ga
 	}
 }
 
-bool Ekf::fuseVerticalVelocity(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
+bool Ekf::fuseVerticalVelocity(const Vector3f &innov, const float innov_gate, const Vector3f &obs_var,
 			       Vector3f &innov_var, Vector2f &test_ratio)
 {
 
 	innov_var(2) = P(6, 6) + obs_var(2);
-	test_ratio(1) = sq(innov(2)) / (sq(innov_gate(1)) * innov_var(2));
+	test_ratio(1) = sq(innov(2)) / (sq(innov_gate) * innov_var(2));
 	_vert_vel_innov_ratio = innov(2) / sqrtf(innov_var(2));
 	_vert_vel_fuse_time_us = _time_last_imu;
 	bool innov_check_pass = (test_ratio(1) <= 1.0f);
@@ -85,7 +85,7 @@ bool Ekf::fuseVerticalVelocity(const Vector3f &innov, const Vector2f &innov_gate
 	float innovation;
 
 	if (_fault_status.flags.bad_acc_vertical && !innov_check_pass) {
-		const float innov_limit = innov_gate(1) * sqrtf(innov_var(2));
+		const float innov_limit = innov_gate * sqrtf(innov_var(2));
 		innovation = math::constrain(innov(2), -innov_limit, innov_limit);
 		innov_check_pass = true;
 
@@ -107,19 +107,19 @@ bool Ekf::fuseVerticalVelocity(const Vector3f &innov, const Vector2f &innov_gate
 	}
 }
 
-bool Ekf::fuseHorizontalPosition(const Vector3f &innov, const Vector2f &innov_gate, const Vector3f &obs_var,
+bool Ekf::fuseHorizontalPosition(const Vector3f &innov, const float innov_gate, const Vector3f &obs_var,
 				 Vector3f &innov_var, Vector2f &test_ratio, bool inhibit_gate)
 {
 
 	innov_var(0) = P(7, 7) + obs_var(0);
 	innov_var(1) = P(8, 8) + obs_var(1);
-	test_ratio(0) = fmaxf(sq(innov(0)) / (sq(innov_gate(0)) * innov_var(0)),
-			      sq(innov(1)) / (sq(innov_gate(0)) * innov_var(1)));
+	test_ratio(0) = fmaxf(sq(innov(0)) / (sq(innov_gate) * innov_var(0)),
+			      sq(innov(1)) / (sq(innov_gate) * innov_var(1)));
 
 	const bool innov_check_pass = test_ratio(0) <= 1.0f;
 
 	if (innov_check_pass || inhibit_gate) {
-		if (inhibit_gate && test_ratio(0) > sq(100.0f / innov_gate(0))) {
+		if (inhibit_gate && test_ratio(0) > sq(100.0f / innov_gate)) {
 			// always protect against extreme values that could result in a NaN
 			return false;
 		}