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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/ekf.h
+2 -5
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@@ -254,7 +254,7 @@ public:
// get the diagonal elements of the covariance matrix
matrix::Vector<float, State::size> covariances_diagonal() const { return P.diag(); }
matrix::Vector<float, State::quat_nominal.dof> getQuaternionVariance() const { return getStateVariance<State::quat_nominal>(); }
matrix::Vector3f getRotVarBody() const;
matrix::Vector3f getRotVarNed() const;
float getYawVar() const;
float getTiltVariance() const;
@@ -1109,7 +1109,7 @@ private:
#endif // CONFIG_EKF2_GRAVITY_FUSION
void resetQuatCov(const float yaw_noise = NAN);
void resetQuatCov(const Vector3f &euler_noise_ned);
void resetQuatCov(const Vector3f &rot_var_ned);
#if defined(CONFIG_EKF2_MAGNETOMETER)
void resetMagCov();
@@ -1124,9 +1124,6 @@ private:
void resetGyroBiasZCov();
// uncorrelate quaternion states from other states
void uncorrelateQuatFromOtherStates();
bool isTimedOut(uint64_t last_sensor_timestamp, uint64_t timeout_period) const
{
return (last_sensor_timestamp == 0) || (last_sensor_timestamp + timeout_period < _time_delayed_us);