fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 10:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: use global definition of quaternion error

Browse Source
This commit is contained in:
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/test/test_EKF_initialization.cpp
+1 -1
View File
@@ -78,7 +78,7 @@ public:
void quaternionVarianceBigEnoughAfterOrientationInitialization(float quat_variance_limit = 0.00001f)
{
const matrix::Vector3f quat_variance = _ekf->getQuaternionVariance();
const matrix::Vector3f quat_variance = _ekf->getRotVarBody();
EXPECT_TRUE(quat_variance(0) > quat_variance_limit) << "quat_variance(3): " << quat_variance(0);
EXPECT_TRUE(quat_variance(1) > quat_variance_limit) << "quat_variance(1): " << quat_variance(1);
EXPECT_TRUE(quat_variance(2) > quat_variance_limit) << "quat_variance(2): " << quat_variance(2);