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ekf2: use global definition of quaternion error

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bresch
2024-03-01 18:57:19 +01:00
committed by Daniel Agar
parent 3931379efe
commit 12fefbcfbd
23 changed files with 1345 additions and 1168 deletions
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src/modules/ekf2/EKF2.cpp
+1 -1
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@@ -1658,7 +1658,7 @@ void EKF2::PublishOdometry(const hrt_abstime &timestamp, const imuSample &imu_sa
_ekf.getPositionVariance().copyTo(odom.position_variance);
// orientation covariance
_ekf.getQuaternionVariance().copyTo(odom.orientation_variance);
_ekf.getRotVarBody().copyTo(odom.orientation_variance);
odom.reset_counter = _ekf.get_quat_reset_count()
+ _ekf.get_velNE_reset_count() + _ekf.get_velD_reset_count()