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Merge pull request 'Fix Dimension Error in MEKF' (#873) from fix-mekf-dim into main
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Reviewed-on: #873
Reviewed-by: Robin Müller <muellerr@irs.uni-stuttgart.de>
This commit is contained in:
Marius Eggert 2024-03-06 10:17:10 +01:00
commit be0bae58ac
2 changed files with 6 additions and 1 deletions
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5
CHANGELOG.md
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@ -16,6 +16,11 @@ will consitute of a breaking change warranting a new major release:
# [unreleased] # [unreleased]
## Fixed
- Fixed wrong dimension of a matrix within the `MEKF`, which would lead to a seg fault, if the
star tracker was available.
# [v7.7.0] 2024-02-29 # [v7.7.0] 2024-02-29
- Bumped `eive-tmtc` to v6.1.0 - Bumped `eive-tmtc` to v6.1.0

2
mission/controller/acs/MultiplicativeKalmanFilter.cpp
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@ -342,7 +342,7 @@ ReturnValue_t MultiplicativeKalmanFilter::kfGain(
double *measSensMatrix, double *measCovMatrix, double *kalmanGain, double *measSensMatrix, double *measCovMatrix, double *kalmanGain,
acsctrl::AttitudeEstimationData *attitudeEstimationData) { acsctrl::AttitudeEstimationData *attitudeEstimationData) {
// Kalman Gain: K = P * H' / (H * P * H' + R) // Kalman Gain: K = P * H' / (H * P * H' + R)
double kalmanGainDen[6][matrixDimensionFactor] = {{0}}, double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}}, invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
residualCov[6][matrixDimensionFactor] = {{0}}, residualCov[6][matrixDimensionFactor] = {{0}},
measSensMatrixTransposed[6][matrixDimensionFactor] = {{0}}; measSensMatrixTransposed[6][matrixDimensionFactor] = {{0}};