fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 09:33:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

Support full vision variance

Browse Source
This commit is contained in:
kamilritz
2020-01-08 14:36:03 +01:00
committed by Mathieu Bresciani
parent 4ab3dd50c9
commit 07e8e88e88
5 changed files with 28 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/estimator_interface.cpp
+3 -4
View File
@@ -434,10 +434,9 @@ void EstimatorInterface::setExtVisionData(uint64_t time_usec, ext_vision_message
// calculate the system time-stamp for the mid point of the integration period
ev_sample_new.time_us = time_usec - _params.ev_delay_ms * 1000;
ev_sample_new.angErr = evdata->angErr;
ev_sample_new.posErr = evdata->posErr;
ev_sample_new.velErr = evdata->velErr;
ev_sample_new.hgtErr = evdata->hgtErr;
ev_sample_new.angVar = evdata->angVar;
ev_sample_new.posVar = evdata->posVar;
ev_sample_new.velVar = evdata->velVar;
ev_sample_new.quat = evdata->quat;
ev_sample_new.pos = evdata->pos;
ev_sample_new.vel = evdata->vel;