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ekf2: use global definition of quaternion error

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bresch
2024-04-05 22:26:03 -04:00
committed by Daniel Agar
parent 3931379efe
commit 12fefbcfbd
23 changed files with 1345 additions and 1168 deletions
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src/modules/ekf2/EKF/covariance.cpp
+1 -2
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@@ -279,8 +279,7 @@ void Ekf::resetQuatCov(const float yaw_noise)
void Ekf::resetQuatCov(const Vector3f &rot_var_ned)
{
matrix::SquareMatrix<float, State::quat_nominal.dof> q_cov_ned = diag(rot_var_ned);
resetStateCovariance<State::quat_nominal>(_R_to_earth.T() * q_cov_ned * _R_to_earth);
P.uncorrelateCovarianceSetVariance<State::quat_nominal.dof>(State::quat_nominal.idx, rot_var_ned);
}
#if defined(CONFIG_EKF2_MAGNETOMETER)