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EKF: Fix bug in output observer

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Bug was causing output observer state history to be stored at the the EKF, not IMU output rate and resulted in degraded tracking performance
This commit is contained in:
Paul Riseborough 2016-05-14 08:33:05 +09:30
parent d595596c42
commit 03f3df7415
1 changed files with 1 additions and 4 deletions
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5
EKF/ekf.cpp
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@ -674,10 +674,7 @@ void Ekf::calculateOutputStates()
_output_new.pos += (_output_new.vel + vel_last) * (imu_new.delta_vel_dt * 0.5f) + _vel_corr * imu_new.delta_vel_dt;
// store INS states in a ring buffer that with the same length and time coordinates as the IMU data buffer
if (_imu_updated) {
_output_buffer.push(_output_new);
_imu_updated = false;
}
_output_buffer.push(_output_new);
// get the oldest INS state data from the ring buffer
// this data will be at the EKF fusion time horizon