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ekf2: changes arising from code review

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Paul Riseborough
2017-05-17 08:59:01 +02:00
committed by Lorenz Meier
parent 394dd95cba
commit 05c3c46f83
3 changed files with 9 additions and 8 deletions
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EKF/ekf.cpp
+2 -1
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@@ -494,7 +494,8 @@ void Ekf::calculateOutputStates()
_R_to_earth_now(2,2) * delta_angle(2);
_yaw_delta_ef += spin_del_ang_D;
// calculate filtered yaw rate to be used by the magnetomer fusion type selection logic
// Calculate filtered yaw rate to be used by the magnetomer fusion type selection logic
// Note fixed coefficients are used to save operations. The exact time constant is not important.
_yaw_rate_lpf_ef = 0.95f * _yaw_rate_lpf_ef + 0.05f * spin_del_ang_D / _imu_sample_new.delta_ang_dt;
// correct delta velocity for bias offsets