mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Make Kfusion a Vector24f
This commit is contained in:
kamilritz
committed by
Mathieu Bresciani
Mathieu Bresciani
parent
356b2f6ffe
commit
16a00eae0b
+1
-1
@@ -134,7 +134,7 @@ if(CMAKE_SOURCE_DIR STREQUAL PROJECT_SOURCE_DIR)
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include(ExternalProject)
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ExternalProject_Add(matrix
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GIT_REPOSITORY "https://github.com/PX4/Matrix.git"
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GIT_TAG d613055462bcbeacfd188cbd53de56c1dbc7b94d
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GIT_TAG f529358e9ac28b0809572c14a964ba7ba691adc4
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UPDATE_COMMAND ""
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PATCH_COMMAND ""
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CONFIGURE_COMMAND ""
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+30
-31
@@ -49,7 +49,7 @@ void Ekf::fuseAirspeed()
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float SH_TAS[3] = {}; // Variable used to optimise calculations of measurement jacobian
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float H_TAS[24] = {}; // Observation Jacobian
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float SK_TAS[2] = {}; // Variable used to optimise calculations of the Kalman gain vector
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float Kfusion[24] = {}; // Kalman gain vector
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Vector24f Kfusion; // Kalman gain vector
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const float vn = _state.vel(0); // Velocity in north direction
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const float ve = _state.vel(1); // Velocity in east direction
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@@ -114,32 +114,31 @@ void Ekf::fuseAirspeed()
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if (!update_wind_only) {
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// we have no other source of aiding, so use airspeed measurements to correct states
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Kfusion[0] = SK_TAS[0]*(P(0,4)*SH_TAS[2] - P(0,22)*SH_TAS[2] + P(0,5)*SK_TAS[1] - P(0,23)*SK_TAS[1] + P(0,6)*vd*SH_TAS[0]);
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Kfusion[1] = SK_TAS[0]*(P(1,4)*SH_TAS[2] - P(1,22)*SH_TAS[2] + P(1,5)*SK_TAS[1] - P(1,23)*SK_TAS[1] + P(1,6)*vd*SH_TAS[0]);
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Kfusion[2] = SK_TAS[0]*(P(2,4)*SH_TAS[2] - P(2,22)*SH_TAS[2] + P(2,5)*SK_TAS[1] - P(2,23)*SK_TAS[1] + P(2,6)*vd*SH_TAS[0]);
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Kfusion[3] = SK_TAS[0]*(P(3,4)*SH_TAS[2] - P(3,22)*SH_TAS[2] + P(3,5)*SK_TAS[1] - P(3,23)*SK_TAS[1] + P(3,6)*vd*SH_TAS[0]);
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Kfusion[4] = SK_TAS[0]*(P(4,4)*SH_TAS[2] - P(4,22)*SH_TAS[2] + P(4,5)*SK_TAS[1] - P(4,23)*SK_TAS[1] + P(4,6)*vd*SH_TAS[0]);
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Kfusion[5] = SK_TAS[0]*(P(5,4)*SH_TAS[2] - P(5,22)*SH_TAS[2] + P(5,5)*SK_TAS[1] - P(5,23)*SK_TAS[1] + P(5,6)*vd*SH_TAS[0]);
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Kfusion[6] = SK_TAS[0]*(P(6,4)*SH_TAS[2] - P(6,22)*SH_TAS[2] + P(6,5)*SK_TAS[1] - P(6,23)*SK_TAS[1] + P(6,6)*vd*SH_TAS[0]);
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Kfusion[7] = SK_TAS[0]*(P(7,4)*SH_TAS[2] - P(7,22)*SH_TAS[2] + P(7,5)*SK_TAS[1] - P(7,23)*SK_TAS[1] + P(7,6)*vd*SH_TAS[0]);
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Kfusion[8] = SK_TAS[0]*(P(8,4)*SH_TAS[2] - P(8,22)*SH_TAS[2] + P(8,5)*SK_TAS[1] - P(8,23)*SK_TAS[1] + P(8,6)*vd*SH_TAS[0]);
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Kfusion[9] = SK_TAS[0]*(P(9,4)*SH_TAS[2] - P(9,22)*SH_TAS[2] + P(9,5)*SK_TAS[1] - P(9,23)*SK_TAS[1] + P(9,6)*vd*SH_TAS[0]);
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Kfusion[10] = SK_TAS[0]*(P(10,4)*SH_TAS[2] - P(10,22)*SH_TAS[2] + P(10,5)*SK_TAS[1] - P(10,23)*SK_TAS[1] + P(10,6)*vd*SH_TAS[0]);
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Kfusion[11] = SK_TAS[0]*(P(11,4)*SH_TAS[2] - P(11,22)*SH_TAS[2] + P(11,5)*SK_TAS[1] - P(11,23)*SK_TAS[1] + P(11,6)*vd*SH_TAS[0]);
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Kfusion[12] = SK_TAS[0]*(P(12,4)*SH_TAS[2] - P(12,22)*SH_TAS[2] + P(12,5)*SK_TAS[1] - P(12,23)*SK_TAS[1] + P(12,6)*vd*SH_TAS[0]);
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Kfusion[13] = SK_TAS[0]*(P(13,4)*SH_TAS[2] - P(13,22)*SH_TAS[2] + P(13,5)*SK_TAS[1] - P(13,23)*SK_TAS[1] + P(13,6)*vd*SH_TAS[0]);
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Kfusion[14] = SK_TAS[0]*(P(14,4)*SH_TAS[2] - P(14,22)*SH_TAS[2] + P(14,5)*SK_TAS[1] - P(14,23)*SK_TAS[1] + P(14,6)*vd*SH_TAS[0]);
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Kfusion[15] = SK_TAS[0]*(P(15,4)*SH_TAS[2] - P(15,22)*SH_TAS[2] + P(15,5)*SK_TAS[1] - P(15,23)*SK_TAS[1] + P(15,6)*vd*SH_TAS[0]);
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Kfusion[16] = SK_TAS[0]*(P(16,4)*SH_TAS[2] - P(16,22)*SH_TAS[2] + P(16,5)*SK_TAS[1] - P(16,23)*SK_TAS[1] + P(16,6)*vd*SH_TAS[0]);
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Kfusion[17] = SK_TAS[0]*(P(17,4)*SH_TAS[2] - P(17,22)*SH_TAS[2] + P(17,5)*SK_TAS[1] - P(17,23)*SK_TAS[1] + P(17,6)*vd*SH_TAS[0]);
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Kfusion[18] = SK_TAS[0]*(P(18,4)*SH_TAS[2] - P(18,22)*SH_TAS[2] + P(18,5)*SK_TAS[1] - P(18,23)*SK_TAS[1] + P(18,6)*vd*SH_TAS[0]);
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Kfusion[19] = SK_TAS[0]*(P(19,4)*SH_TAS[2] - P(19,22)*SH_TAS[2] + P(19,5)*SK_TAS[1] - P(19,23)*SK_TAS[1] + P(19,6)*vd*SH_TAS[0]);
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Kfusion[20] = SK_TAS[0]*(P(20,4)*SH_TAS[2] - P(20,22)*SH_TAS[2] + P(20,5)*SK_TAS[1] - P(20,23)*SK_TAS[1] + P(20,6)*vd*SH_TAS[0]);
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Kfusion[21] = SK_TAS[0]*(P(21,4)*SH_TAS[2] - P(21,22)*SH_TAS[2] + P(21,5)*SK_TAS[1] - P(21,23)*SK_TAS[1] + P(21,6)*vd*SH_TAS[0]);
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Kfusion(0) = SK_TAS[0]*(P(0,4)*SH_TAS[2] - P(0,22)*SH_TAS[2] + P(0,5)*SK_TAS[1] - P(0,23)*SK_TAS[1] + P(0,6)*vd*SH_TAS[0]);
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Kfusion(1) = SK_TAS[0]*(P(1,4)*SH_TAS[2] - P(1,22)*SH_TAS[2] + P(1,5)*SK_TAS[1] - P(1,23)*SK_TAS[1] + P(1,6)*vd*SH_TAS[0]);
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Kfusion(2) = SK_TAS[0]*(P(2,4)*SH_TAS[2] - P(2,22)*SH_TAS[2] + P(2,5)*SK_TAS[1] - P(2,23)*SK_TAS[1] + P(2,6)*vd*SH_TAS[0]);
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Kfusion(3) = SK_TAS[0]*(P(3,4)*SH_TAS[2] - P(3,22)*SH_TAS[2] + P(3,5)*SK_TAS[1] - P(3,23)*SK_TAS[1] + P(3,6)*vd*SH_TAS[0]);
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Kfusion(4) = SK_TAS[0]*(P(4,4)*SH_TAS[2] - P(4,22)*SH_TAS[2] + P(4,5)*SK_TAS[1] - P(4,23)*SK_TAS[1] + P(4,6)*vd*SH_TAS[0]);
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Kfusion(5) = SK_TAS[0]*(P(5,4)*SH_TAS[2] - P(5,22)*SH_TAS[2] + P(5,5)*SK_TAS[1] - P(5,23)*SK_TAS[1] + P(5,6)*vd*SH_TAS[0]);
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Kfusion(6) = SK_TAS[0]*(P(6,4)*SH_TAS[2] - P(6,22)*SH_TAS[2] + P(6,5)*SK_TAS[1] - P(6,23)*SK_TAS[1] + P(6,6)*vd*SH_TAS[0]);
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Kfusion(7) = SK_TAS[0]*(P(7,4)*SH_TAS[2] - P(7,22)*SH_TAS[2] + P(7,5)*SK_TAS[1] - P(7,23)*SK_TAS[1] + P(7,6)*vd*SH_TAS[0]);
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Kfusion(8) = SK_TAS[0]*(P(8,4)*SH_TAS[2] - P(8,22)*SH_TAS[2] + P(8,5)*SK_TAS[1] - P(8,23)*SK_TAS[1] + P(8,6)*vd*SH_TAS[0]);
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Kfusion(9) = SK_TAS[0]*(P(9,4)*SH_TAS[2] - P(9,22)*SH_TAS[2] + P(9,5)*SK_TAS[1] - P(9,23)*SK_TAS[1] + P(9,6)*vd*SH_TAS[0]);
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Kfusion(10) = SK_TAS[0]*(P(10,4)*SH_TAS[2] - P(10,22)*SH_TAS[2] + P(10,5)*SK_TAS[1] - P(10,23)*SK_TAS[1] + P(10,6)*vd*SH_TAS[0]);
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Kfusion(11) = SK_TAS[0]*(P(11,4)*SH_TAS[2] - P(11,22)*SH_TAS[2] + P(11,5)*SK_TAS[1] - P(11,23)*SK_TAS[1] + P(11,6)*vd*SH_TAS[0]);
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Kfusion(12) = SK_TAS[0]*(P(12,4)*SH_TAS[2] - P(12,22)*SH_TAS[2] + P(12,5)*SK_TAS[1] - P(12,23)*SK_TAS[1] + P(12,6)*vd*SH_TAS[0]);
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Kfusion(13) = SK_TAS[0]*(P(13,4)*SH_TAS[2] - P(13,22)*SH_TAS[2] + P(13,5)*SK_TAS[1] - P(13,23)*SK_TAS[1] + P(13,6)*vd*SH_TAS[0]);
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Kfusion(14) = SK_TAS[0]*(P(14,4)*SH_TAS[2] - P(14,22)*SH_TAS[2] + P(14,5)*SK_TAS[1] - P(14,23)*SK_TAS[1] + P(14,6)*vd*SH_TAS[0]);
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Kfusion(15) = SK_TAS[0]*(P(15,4)*SH_TAS[2] - P(15,22)*SH_TAS[2] + P(15,5)*SK_TAS[1] - P(15,23)*SK_TAS[1] + P(15,6)*vd*SH_TAS[0]);
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Kfusion(16) = SK_TAS[0]*(P(16,4)*SH_TAS[2] - P(16,22)*SH_TAS[2] + P(16,5)*SK_TAS[1] - P(16,23)*SK_TAS[1] + P(16,6)*vd*SH_TAS[0]);
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Kfusion(17) = SK_TAS[0]*(P(17,4)*SH_TAS[2] - P(17,22)*SH_TAS[2] + P(17,5)*SK_TAS[1] - P(17,23)*SK_TAS[1] + P(17,6)*vd*SH_TAS[0]);
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Kfusion(18) = SK_TAS[0]*(P(18,4)*SH_TAS[2] - P(18,22)*SH_TAS[2] + P(18,5)*SK_TAS[1] - P(18,23)*SK_TAS[1] + P(18,6)*vd*SH_TAS[0]);
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Kfusion(19) = SK_TAS[0]*(P(19,4)*SH_TAS[2] - P(19,22)*SH_TAS[2] + P(19,5)*SK_TAS[1] - P(19,23)*SK_TAS[1] + P(19,6)*vd*SH_TAS[0]);
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Kfusion(20) = SK_TAS[0]*(P(20,4)*SH_TAS[2] - P(20,22)*SH_TAS[2] + P(20,5)*SK_TAS[1] - P(20,23)*SK_TAS[1] + P(20,6)*vd*SH_TAS[0]);
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Kfusion(21) = SK_TAS[0]*(P(21,4)*SH_TAS[2] - P(21,22)*SH_TAS[2] + P(21,5)*SK_TAS[1] - P(21,23)*SK_TAS[1] + P(21,6)*vd*SH_TAS[0]);
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}
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Kfusion[22] = SK_TAS[0]*(P(22,4)*SH_TAS[2] - P(22,22)*SH_TAS[2] + P(22,5)*SK_TAS[1] - P(22,23)*SK_TAS[1] + P(22,6)*vd*SH_TAS[0]);
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Kfusion[23] = SK_TAS[0]*(P(23,4)*SH_TAS[2] - P(23,22)*SH_TAS[2] + P(23,5)*SK_TAS[1] - P(23,23)*SK_TAS[1] + P(23,6)*vd*SH_TAS[0]);
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Kfusion(22) = SK_TAS[0]*(P(22,4)*SH_TAS[2] - P(22,22)*SH_TAS[2] + P(22,5)*SK_TAS[1] - P(22,23)*SK_TAS[1] + P(22,6)*vd*SH_TAS[0]);
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Kfusion(23) = SK_TAS[0]*(P(23,4)*SH_TAS[2] - P(23,22)*SH_TAS[2] + P(23,5)*SK_TAS[1] - P(23,23)*SK_TAS[1] + P(23,6)*vd*SH_TAS[0]);
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// Calculate measurement innovation
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_airspeed_innov = v_tas_pred -
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@@ -171,11 +170,11 @@ void Ekf::fuseAirspeed()
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for (unsigned row = 0; row < _k_num_states; row++) {
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KH[0] = Kfusion[row] * H_TAS[4];
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KH[1] = Kfusion[row] * H_TAS[5];
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KH[2] = Kfusion[row] * H_TAS[6];
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KH[3] = Kfusion[row] * H_TAS[22];
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KH[4] = Kfusion[row] * H_TAS[23];
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KH[0] = Kfusion(row) * H_TAS[4];
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KH[1] = Kfusion(row) * H_TAS[5];
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KH[2] = Kfusion(row) * H_TAS[6];
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KH[3] = Kfusion(row) * H_TAS[22];
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KH[4] = Kfusion(row) * H_TAS[23];
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for (unsigned column = 0; column < _k_num_states; column++) {
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float tmp = KH[0] * P(4,column);
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+58
-58
@@ -48,7 +48,7 @@ void Ekf::fuseDrag()
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float SH_ACC[4] = {}; // Variable used to optimise calculations of measurement jacobian
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float H_ACC[24] = {}; // Observation Jacobian
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float SK_ACC[9] = {}; // Variable used to optimise calculations of the Kalman gain vector
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float Kfusion[24] = {}; // Kalman gain vector
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Vector24f Kfusion; // Kalman gain vector
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// TODO: resolve variance vs stdDev bug
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const float R_ACC = _params.drag_noise; // observation noise variance in specific force drag (m/sec**2)**2
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@@ -120,30 +120,30 @@ void Ekf::fuseDrag()
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SK_ACC[5] = 2.0f*q0*q2 - 2.0f*q1*q3;
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SK_ACC[6] = SH_ACC[3];
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// Don't allow modification of any states other than wind velocity at this stage of development - we only need a wind estimate.
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// Kfusion[0] = -SK_ACC[0]*(Kacc*P(0,4)*SH_ACC[0] - Kacc*P(0,22)*SH_ACC[0] + Kacc*P(0,0)*SK_ACC[3] - Kacc*P(0,2)*SK_ACC[2] + Kacc*P(0,3)*SK_ACC[1] + Kacc*P(0,1)*SK_ACC[4] + Kacc*P(0,5)*SK_ACC[6] - Kacc*P(0,6)*SK_ACC[5] - Kacc*P(0,23)*SK_ACC[6]);
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// Kfusion[1] = -SK_ACC[0]*(Kacc*P(1,4)*SH_ACC[0] - Kacc*P(1,22)*SH_ACC[0] + Kacc*P(1,0)*SK_ACC[3] - Kacc*P(1,2)*SK_ACC[2] + Kacc*P(1,3)*SK_ACC[1] + Kacc*P(1,1)*SK_ACC[4] + Kacc*P(1,5)*SK_ACC[6] - Kacc*P(1,6)*SK_ACC[5] - Kacc*P(1,23)*SK_ACC[6]);
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// Kfusion[2] = -SK_ACC[0]*(Kacc*P(2,4)*SH_ACC[0] - Kacc*P(2,22)*SH_ACC[0] + Kacc*P(2,0)*SK_ACC[3] - Kacc*P(2,2)*SK_ACC[2] + Kacc*P(2,3)*SK_ACC[1] + Kacc*P(2,1)*SK_ACC[4] + Kacc*P(2,5)*SK_ACC[6] - Kacc*P(2,6)*SK_ACC[5] - Kacc*P(2,23)*SK_ACC[6]);
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// Kfusion[3] = -SK_ACC[0]*(Kacc*P(3,4)*SH_ACC[0] - Kacc*P(3,22)*SH_ACC[0] + Kacc*P(3,0)*SK_ACC[3] - Kacc*P(3,2)*SK_ACC[2] + Kacc*P(3,3)*SK_ACC[1] + Kacc*P(3,1)*SK_ACC[4] + Kacc*P(3,5)*SK_ACC[6] - Kacc*P(3,6)*SK_ACC[5] - Kacc*P(3,23)*SK_ACC[6]);
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// Kfusion[4] = -SK_ACC[0]*(Kacc*P(4,4)*SH_ACC[0] - Kacc*P(4,22)*SH_ACC[0] + Kacc*P(4,0)*SK_ACC[3] - Kacc*P(4,2)*SK_ACC[2] + Kacc*P(4,3)*SK_ACC[1] + Kacc*P(4,1)*SK_ACC[4] + Kacc*P(4,5)*SK_ACC[6] - Kacc*P(4,6)*SK_ACC[5] - Kacc*P(4,23)*SK_ACC[6]);
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// Kfusion[5] = -SK_ACC[0]*(Kacc*P(5,4)*SH_ACC[0] - Kacc*P(5,22)*SH_ACC[0] + Kacc*P(5,0)*SK_ACC[3] - Kacc*P(5,2)*SK_ACC[2] + Kacc*P(5,3)*SK_ACC[1] + Kacc*P(5,1)*SK_ACC[4] + Kacc*P(5,5)*SK_ACC[6] - Kacc*P(5,6)*SK_ACC[5] - Kacc*P(5,23)*SK_ACC[6]);
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// Kfusion[6] = -SK_ACC[0]*(Kacc*P(6,4)*SH_ACC[0] - Kacc*P(6,22)*SH_ACC[0] + Kacc*P(6,0)*SK_ACC[3] - Kacc*P(6,2)*SK_ACC[2] + Kacc*P(6,3)*SK_ACC[1] + Kacc*P(6,1)*SK_ACC[4] + Kacc*P(6,5)*SK_ACC[6] - Kacc*P(6,6)*SK_ACC[5] - Kacc*P(6,23)*SK_ACC[6]);
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// Kfusion[7] = -SK_ACC[0]*(Kacc*P(7,4)*SH_ACC[0] - Kacc*P(7,22)*SH_ACC[0] + Kacc*P(7,0)*SK_ACC[3] - Kacc*P(7,2)*SK_ACC[2] + Kacc*P(7,3)*SK_ACC[1] + Kacc*P(7,1)*SK_ACC[4] + Kacc*P(7,5)*SK_ACC[6] - Kacc*P(7,6)*SK_ACC[5] - Kacc*P(7,23)*SK_ACC[6]);
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// Kfusion[8] = -SK_ACC[0]*(Kacc*P(8,4)*SH_ACC[0] - Kacc*P(8,22)*SH_ACC[0] + Kacc*P(8,0)*SK_ACC[3] - Kacc*P(8,2)*SK_ACC[2] + Kacc*P(8,3)*SK_ACC[1] + Kacc*P(8,1)*SK_ACC[4] + Kacc*P(8,5)*SK_ACC[6] - Kacc*P(8,6)*SK_ACC[5] - Kacc*P(8,23)*SK_ACC[6]);
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// Kfusion[9] = -SK_ACC[0]*(Kacc*P(9,4)*SH_ACC[0] - Kacc*P(9,22)*SH_ACC[0] + Kacc*P(9,0)*SK_ACC[3] - Kacc*P(9,2)*SK_ACC[2] + Kacc*P(9,3)*SK_ACC[1] + Kacc*P(9,1)*SK_ACC[4] + Kacc*P(9,5)*SK_ACC[6] - Kacc*P(9,6)*SK_ACC[5] - Kacc*P(9,23)*SK_ACC[6]);
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// Kfusion[10] = -SK_ACC[0]*(Kacc*P(10,4)*SH_ACC[0] - Kacc*P(10,22)*SH_ACC[0] + Kacc*P(10,0)*SK_ACC[3] - Kacc*P(10,2)*SK_ACC[2] + Kacc*P(10,3)*SK_ACC[1] + Kacc*P(10,1)*SK_ACC[4] + Kacc*P(10,5)*SK_ACC[6] - Kacc*P(10,6)*SK_ACC[5] - Kacc*P(10,23)*SK_ACC[6]);
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// Kfusion[11] = -SK_ACC[0]*(Kacc*P(11,4)*SH_ACC[0] - Kacc*P(11,22)*SH_ACC[0] + Kacc*P(11,0)*SK_ACC[3] - Kacc*P(11,2)*SK_ACC[2] + Kacc*P(11,3)*SK_ACC[1] + Kacc*P(11,1)*SK_ACC[4] + Kacc*P(11,5)*SK_ACC[6] - Kacc*P(11,6)*SK_ACC[5] - Kacc*P(11,23)*SK_ACC[6]);
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// Kfusion[12] = -SK_ACC[0]*(Kacc*P(12,4)*SH_ACC[0] - Kacc*P(12,22)*SH_ACC[0] + Kacc*P(12,0)*SK_ACC[3] - Kacc*P(12,2)*SK_ACC[2] + Kacc*P(12,3)*SK_ACC[1] + Kacc*P(12,1)*SK_ACC[4] + Kacc*P(12,5)*SK_ACC[6] - Kacc*P(12,6)*SK_ACC[5] - Kacc*P(12,23)*SK_ACC[6]);
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// Kfusion[13] = -SK_ACC[0]*(Kacc*P(13,4)*SH_ACC[0] - Kacc*P(13,22)*SH_ACC[0] + Kacc*P(13,0)*SK_ACC[3] - Kacc*P(13,2)*SK_ACC[2] + Kacc*P(13,3)*SK_ACC[1] + Kacc*P(13,1)*SK_ACC[4] + Kacc*P(13,5)*SK_ACC[6] - Kacc*P(13,6)*SK_ACC[5] - Kacc*P(13,23)*SK_ACC[6]);
|
||||
// Kfusion[14] = -SK_ACC[0]*(Kacc*P(14,4)*SH_ACC[0] - Kacc*P(14,22)*SH_ACC[0] + Kacc*P(14,0)*SK_ACC[3] - Kacc*P(14,2)*SK_ACC[2] + Kacc*P(14,3)*SK_ACC[1] + Kacc*P(14,1)*SK_ACC[4] + Kacc*P(14,5)*SK_ACC[6] - Kacc*P(14,6)*SK_ACC[5] - Kacc*P(14,23)*SK_ACC[6]);
|
||||
// Kfusion[15] = -SK_ACC[0]*(Kacc*P(15,4)*SH_ACC[0] - Kacc*P(15,22)*SH_ACC[0] + Kacc*P(15,0)*SK_ACC[3] - Kacc*P(15,2)*SK_ACC[2] + Kacc*P(15,3)*SK_ACC[1] + Kacc*P(15,1)*SK_ACC[4] + Kacc*P(15,5)*SK_ACC[6] - Kacc*P(15,6)*SK_ACC[5] - Kacc*P(15,23)*SK_ACC[6]);
|
||||
// Kfusion[16] = -SK_ACC[0]*(Kacc*P(16,4)*SH_ACC[0] - Kacc*P(16,22)*SH_ACC[0] + Kacc*P(16,0)*SK_ACC[3] - Kacc*P(16,2)*SK_ACC[2] + Kacc*P(16,3)*SK_ACC[1] + Kacc*P(16,1)*SK_ACC[4] + Kacc*P(16,5)*SK_ACC[6] - Kacc*P(16,6)*SK_ACC[5] - Kacc*P(16,23)*SK_ACC[6]);
|
||||
// Kfusion[17] = -SK_ACC[0]*(Kacc*P(17,4)*SH_ACC[0] - Kacc*P(17,22)*SH_ACC[0] + Kacc*P(17,0)*SK_ACC[3] - Kacc*P(17,2)*SK_ACC[2] + Kacc*P(17,3)*SK_ACC[1] + Kacc*P(17,1)*SK_ACC[4] + Kacc*P(17,5)*SK_ACC[6] - Kacc*P(17,6)*SK_ACC[5] - Kacc*P(17,23)*SK_ACC[6]);
|
||||
// Kfusion[18] = -SK_ACC[0]*(Kacc*P(18,4)*SH_ACC[0] - Kacc*P(18,22)*SH_ACC[0] + Kacc*P(18,0)*SK_ACC[3] - Kacc*P(18,2)*SK_ACC[2] + Kacc*P(18,3)*SK_ACC[1] + Kacc*P(18,1)*SK_ACC[4] + Kacc*P(18,5)*SK_ACC[6] - Kacc*P(18,6)*SK_ACC[5] - Kacc*P(18,23)*SK_ACC[6]);
|
||||
// Kfusion[19] = -SK_ACC[0]*(Kacc*P(19,4)*SH_ACC[0] - Kacc*P(19,22)*SH_ACC[0] + Kacc*P(19,0)*SK_ACC[3] - Kacc*P(19,2)*SK_ACC[2] + Kacc*P(19,3)*SK_ACC[1] + Kacc*P(19,1)*SK_ACC[4] + Kacc*P(19,5)*SK_ACC[6] - Kacc*P(19,6)*SK_ACC[5] - Kacc*P(19,23)*SK_ACC[6]);
|
||||
// Kfusion[20] = -SK_ACC[0]*(Kacc*P(20,4)*SH_ACC[0] - Kacc*P(20,22)*SH_ACC[0] + Kacc*P(20,0)*SK_ACC[3] - Kacc*P(20,2)*SK_ACC[2] + Kacc*P(20,3)*SK_ACC[1] + Kacc*P(20,1)*SK_ACC[4] + Kacc*P(20,5)*SK_ACC[6] - Kacc*P(20,6)*SK_ACC[5] - Kacc*P(20,23)*SK_ACC[6]);
|
||||
// Kfusion[21] = -SK_ACC[0]*(Kacc*P(21,4)*SH_ACC[0] - Kacc*P(21,22)*SH_ACC[0] + Kacc*P(21,0)*SK_ACC[3] - Kacc*P(21,2)*SK_ACC[2] + Kacc*P(21,3)*SK_ACC[1] + Kacc*P(21,1)*SK_ACC[4] + Kacc*P(21,5)*SK_ACC[6] - Kacc*P(21,6)*SK_ACC[5] - Kacc*P(21,23)*SK_ACC[6]);
|
||||
Kfusion[22] = -SK_ACC[0]*(Kacc*P(22,4)*SH_ACC[0] - Kacc*P(22,22)*SH_ACC[0] + Kacc*P(22,0)*SK_ACC[3] - Kacc*P(22,2)*SK_ACC[2] + Kacc*P(22,3)*SK_ACC[1] + Kacc*P(22,1)*SK_ACC[4] + Kacc*P(22,5)*SK_ACC[6] - Kacc*P(22,6)*SK_ACC[5] - Kacc*P(22,23)*SK_ACC[6]);
|
||||
Kfusion[23] = -SK_ACC[0]*(Kacc*P(23,4)*SH_ACC[0] - Kacc*P(23,22)*SH_ACC[0] + Kacc*P(23,0)*SK_ACC[3] - Kacc*P(23,2)*SK_ACC[2] + Kacc*P(23,3)*SK_ACC[1] + Kacc*P(23,1)*SK_ACC[4] + Kacc*P(23,5)*SK_ACC[6] - Kacc*P(23,6)*SK_ACC[5] - Kacc*P(23,23)*SK_ACC[6]);
|
||||
// Kfusion(0) = -SK_ACC[0]*(Kacc*P(0,4)*SH_ACC[0] - Kacc*P(0,22)*SH_ACC[0] + Kacc*P(0,0)*SK_ACC[3] - Kacc*P(0,2)*SK_ACC[2] + Kacc*P(0,3)*SK_ACC[1] + Kacc*P(0,1)*SK_ACC[4] + Kacc*P(0,5)*SK_ACC[6] - Kacc*P(0,6)*SK_ACC[5] - Kacc*P(0,23)*SK_ACC[6]);
|
||||
// Kfusion(1) = -SK_ACC[0]*(Kacc*P(1,4)*SH_ACC[0] - Kacc*P(1,22)*SH_ACC[0] + Kacc*P(1,0)*SK_ACC[3] - Kacc*P(1,2)*SK_ACC[2] + Kacc*P(1,3)*SK_ACC[1] + Kacc*P(1,1)*SK_ACC[4] + Kacc*P(1,5)*SK_ACC[6] - Kacc*P(1,6)*SK_ACC[5] - Kacc*P(1,23)*SK_ACC[6]);
|
||||
// Kfusion(2) = -SK_ACC[0]*(Kacc*P(2,4)*SH_ACC[0] - Kacc*P(2,22)*SH_ACC[0] + Kacc*P(2,0)*SK_ACC[3] - Kacc*P(2,2)*SK_ACC[2] + Kacc*P(2,3)*SK_ACC[1] + Kacc*P(2,1)*SK_ACC[4] + Kacc*P(2,5)*SK_ACC[6] - Kacc*P(2,6)*SK_ACC[5] - Kacc*P(2,23)*SK_ACC[6]);
|
||||
// Kfusion(3) = -SK_ACC[0]*(Kacc*P(3,4)*SH_ACC[0] - Kacc*P(3,22)*SH_ACC[0] + Kacc*P(3,0)*SK_ACC[3] - Kacc*P(3,2)*SK_ACC[2] + Kacc*P(3,3)*SK_ACC[1] + Kacc*P(3,1)*SK_ACC[4] + Kacc*P(3,5)*SK_ACC[6] - Kacc*P(3,6)*SK_ACC[5] - Kacc*P(3,23)*SK_ACC[6]);
|
||||
// Kfusion(4) = -SK_ACC[0]*(Kacc*P(4,4)*SH_ACC[0] - Kacc*P(4,22)*SH_ACC[0] + Kacc*P(4,0)*SK_ACC[3] - Kacc*P(4,2)*SK_ACC[2] + Kacc*P(4,3)*SK_ACC[1] + Kacc*P(4,1)*SK_ACC[4] + Kacc*P(4,5)*SK_ACC[6] - Kacc*P(4,6)*SK_ACC[5] - Kacc*P(4,23)*SK_ACC[6]);
|
||||
// Kfusion(5) = -SK_ACC[0]*(Kacc*P(5,4)*SH_ACC[0] - Kacc*P(5,22)*SH_ACC[0] + Kacc*P(5,0)*SK_ACC[3] - Kacc*P(5,2)*SK_ACC[2] + Kacc*P(5,3)*SK_ACC[1] + Kacc*P(5,1)*SK_ACC[4] + Kacc*P(5,5)*SK_ACC[6] - Kacc*P(5,6)*SK_ACC[5] - Kacc*P(5,23)*SK_ACC[6]);
|
||||
// Kfusion(6) = -SK_ACC[0]*(Kacc*P(6,4)*SH_ACC[0] - Kacc*P(6,22)*SH_ACC[0] + Kacc*P(6,0)*SK_ACC[3] - Kacc*P(6,2)*SK_ACC[2] + Kacc*P(6,3)*SK_ACC[1] + Kacc*P(6,1)*SK_ACC[4] + Kacc*P(6,5)*SK_ACC[6] - Kacc*P(6,6)*SK_ACC[5] - Kacc*P(6,23)*SK_ACC[6]);
|
||||
// Kfusion(7) = -SK_ACC[0]*(Kacc*P(7,4)*SH_ACC[0] - Kacc*P(7,22)*SH_ACC[0] + Kacc*P(7,0)*SK_ACC[3] - Kacc*P(7,2)*SK_ACC[2] + Kacc*P(7,3)*SK_ACC[1] + Kacc*P(7,1)*SK_ACC[4] + Kacc*P(7,5)*SK_ACC[6] - Kacc*P(7,6)*SK_ACC[5] - Kacc*P(7,23)*SK_ACC[6]);
|
||||
// Kfusion(8) = -SK_ACC[0]*(Kacc*P(8,4)*SH_ACC[0] - Kacc*P(8,22)*SH_ACC[0] + Kacc*P(8,0)*SK_ACC[3] - Kacc*P(8,2)*SK_ACC[2] + Kacc*P(8,3)*SK_ACC[1] + Kacc*P(8,1)*SK_ACC[4] + Kacc*P(8,5)*SK_ACC[6] - Kacc*P(8,6)*SK_ACC[5] - Kacc*P(8,23)*SK_ACC[6]);
|
||||
// Kfusion(9) = -SK_ACC[0]*(Kacc*P(9,4)*SH_ACC[0] - Kacc*P(9,22)*SH_ACC[0] + Kacc*P(9,0)*SK_ACC[3] - Kacc*P(9,2)*SK_ACC[2] + Kacc*P(9,3)*SK_ACC[1] + Kacc*P(9,1)*SK_ACC[4] + Kacc*P(9,5)*SK_ACC[6] - Kacc*P(9,6)*SK_ACC[5] - Kacc*P(9,23)*SK_ACC[6]);
|
||||
// Kfusion(10) = -SK_ACC[0]*(Kacc*P(10,4)*SH_ACC[0] - Kacc*P(10,22)*SH_ACC[0] + Kacc*P(10,0)*SK_ACC[3] - Kacc*P(10,2)*SK_ACC[2] + Kacc*P(10,3)*SK_ACC[1] + Kacc*P(10,1)*SK_ACC[4] + Kacc*P(10,5)*SK_ACC[6] - Kacc*P(10,6)*SK_ACC[5] - Kacc*P(10,23)*SK_ACC[6]);
|
||||
// Kfusion(11) = -SK_ACC[0]*(Kacc*P(11,4)*SH_ACC[0] - Kacc*P(11,22)*SH_ACC[0] + Kacc*P(11,0)*SK_ACC[3] - Kacc*P(11,2)*SK_ACC[2] + Kacc*P(11,3)*SK_ACC[1] + Kacc*P(11,1)*SK_ACC[4] + Kacc*P(11,5)*SK_ACC[6] - Kacc*P(11,6)*SK_ACC[5] - Kacc*P(11,23)*SK_ACC[6]);
|
||||
// Kfusion(12) = -SK_ACC[0]*(Kacc*P(12,4)*SH_ACC[0] - Kacc*P(12,22)*SH_ACC[0] + Kacc*P(12,0)*SK_ACC[3] - Kacc*P(12,2)*SK_ACC[2] + Kacc*P(12,3)*SK_ACC[1] + Kacc*P(12,1)*SK_ACC[4] + Kacc*P(12,5)*SK_ACC[6] - Kacc*P(12,6)*SK_ACC[5] - Kacc*P(12,23)*SK_ACC[6]);
|
||||
// Kfusion(13) = -SK_ACC[0]*(Kacc*P(13,4)*SH_ACC[0] - Kacc*P(13,22)*SH_ACC[0] + Kacc*P(13,0)*SK_ACC[3] - Kacc*P(13,2)*SK_ACC[2] + Kacc*P(13,3)*SK_ACC[1] + Kacc*P(13,1)*SK_ACC[4] + Kacc*P(13,5)*SK_ACC[6] - Kacc*P(13,6)*SK_ACC[5] - Kacc*P(13,23)*SK_ACC[6]);
|
||||
// Kfusion(14) = -SK_ACC[0]*(Kacc*P(14,4)*SH_ACC[0] - Kacc*P(14,22)*SH_ACC[0] + Kacc*P(14,0)*SK_ACC[3] - Kacc*P(14,2)*SK_ACC[2] + Kacc*P(14,3)*SK_ACC[1] + Kacc*P(14,1)*SK_ACC[4] + Kacc*P(14,5)*SK_ACC[6] - Kacc*P(14,6)*SK_ACC[5] - Kacc*P(14,23)*SK_ACC[6]);
|
||||
// Kfusion(15) = -SK_ACC[0]*(Kacc*P(15,4)*SH_ACC[0] - Kacc*P(15,22)*SH_ACC[0] + Kacc*P(15,0)*SK_ACC[3] - Kacc*P(15,2)*SK_ACC[2] + Kacc*P(15,3)*SK_ACC[1] + Kacc*P(15,1)*SK_ACC[4] + Kacc*P(15,5)*SK_ACC[6] - Kacc*P(15,6)*SK_ACC[5] - Kacc*P(15,23)*SK_ACC[6]);
|
||||
// Kfusion(16) = -SK_ACC[0]*(Kacc*P(16,4)*SH_ACC[0] - Kacc*P(16,22)*SH_ACC[0] + Kacc*P(16,0)*SK_ACC[3] - Kacc*P(16,2)*SK_ACC[2] + Kacc*P(16,3)*SK_ACC[1] + Kacc*P(16,1)*SK_ACC[4] + Kacc*P(16,5)*SK_ACC[6] - Kacc*P(16,6)*SK_ACC[5] - Kacc*P(16,23)*SK_ACC[6]);
|
||||
// Kfusion(17) = -SK_ACC[0]*(Kacc*P(17,4)*SH_ACC[0] - Kacc*P(17,22)*SH_ACC[0] + Kacc*P(17,0)*SK_ACC[3] - Kacc*P(17,2)*SK_ACC[2] + Kacc*P(17,3)*SK_ACC[1] + Kacc*P(17,1)*SK_ACC[4] + Kacc*P(17,5)*SK_ACC[6] - Kacc*P(17,6)*SK_ACC[5] - Kacc*P(17,23)*SK_ACC[6]);
|
||||
// Kfusion(18) = -SK_ACC[0]*(Kacc*P(18,4)*SH_ACC[0] - Kacc*P(18,22)*SH_ACC[0] + Kacc*P(18,0)*SK_ACC[3] - Kacc*P(18,2)*SK_ACC[2] + Kacc*P(18,3)*SK_ACC[1] + Kacc*P(18,1)*SK_ACC[4] + Kacc*P(18,5)*SK_ACC[6] - Kacc*P(18,6)*SK_ACC[5] - Kacc*P(18,23)*SK_ACC[6]);
|
||||
// Kfusion(19) = -SK_ACC[0]*(Kacc*P(19,4)*SH_ACC[0] - Kacc*P(19,22)*SH_ACC[0] + Kacc*P(19,0)*SK_ACC[3] - Kacc*P(19,2)*SK_ACC[2] + Kacc*P(19,3)*SK_ACC[1] + Kacc*P(19,1)*SK_ACC[4] + Kacc*P(19,5)*SK_ACC[6] - Kacc*P(19,6)*SK_ACC[5] - Kacc*P(19,23)*SK_ACC[6]);
|
||||
// Kfusion(20) = -SK_ACC[0]*(Kacc*P(20,4)*SH_ACC[0] - Kacc*P(20,22)*SH_ACC[0] + Kacc*P(20,0)*SK_ACC[3] - Kacc*P(20,2)*SK_ACC[2] + Kacc*P(20,3)*SK_ACC[1] + Kacc*P(20,1)*SK_ACC[4] + Kacc*P(20,5)*SK_ACC[6] - Kacc*P(20,6)*SK_ACC[5] - Kacc*P(20,23)*SK_ACC[6]);
|
||||
// Kfusion(21) = -SK_ACC[0]*(Kacc*P(21,4)*SH_ACC[0] - Kacc*P(21,22)*SH_ACC[0] + Kacc*P(21,0)*SK_ACC[3] - Kacc*P(21,2)*SK_ACC[2] + Kacc*P(21,3)*SK_ACC[1] + Kacc*P(21,1)*SK_ACC[4] + Kacc*P(21,5)*SK_ACC[6] - Kacc*P(21,6)*SK_ACC[5] - Kacc*P(21,23)*SK_ACC[6]);
|
||||
Kfusion(22) = -SK_ACC[0]*(Kacc*P(22,4)*SH_ACC[0] - Kacc*P(22,22)*SH_ACC[0] + Kacc*P(22,0)*SK_ACC[3] - Kacc*P(22,2)*SK_ACC[2] + Kacc*P(22,3)*SK_ACC[1] + Kacc*P(22,1)*SK_ACC[4] + Kacc*P(22,5)*SK_ACC[6] - Kacc*P(22,6)*SK_ACC[5] - Kacc*P(22,23)*SK_ACC[6]);
|
||||
Kfusion(23) = -SK_ACC[0]*(Kacc*P(23,4)*SH_ACC[0] - Kacc*P(23,22)*SH_ACC[0] + Kacc*P(23,0)*SK_ACC[3] - Kacc*P(23,2)*SK_ACC[2] + Kacc*P(23,3)*SK_ACC[1] + Kacc*P(23,1)*SK_ACC[4] + Kacc*P(23,5)*SK_ACC[6] - Kacc*P(23,6)*SK_ACC[5] - Kacc*P(23,23)*SK_ACC[6]);
|
||||
|
||||
// calculate the predicted acceleration and innovation measured along the X body axis
|
||||
float drag_sign;
|
||||
@@ -195,30 +195,30 @@ void Ekf::fuseDrag()
|
||||
SK_ACC[7] = 2.0f*q0*q1 + 2.0f*q2*q3;
|
||||
SK_ACC[8] = SH_ACC[0];
|
||||
// Don't allow modification of any states other than wind velocity at this stage of development - we only need a wind estimate.
|
||||
// Kfusion[0] = -SK_ACC[0]*(Kacc*P(0,0)*SK_ACC[3] + Kacc*P(0,1)*SK_ACC[2] - Kacc*P(0,3)*SK_ACC[1] + Kacc*P(0,2)*SK_ACC[4] - Kacc*P(0,4)*SK_ACC[5] + Kacc*P(0,5)*SK_ACC[8] + Kacc*P(0,6)*SK_ACC[7] + 2*Kacc*P(0,22)*SK_ACC[6] - Kacc*P(0,23)*SK_ACC[8]);
|
||||
// Kfusion[1] = -SK_ACC[0]*(Kacc*P(1,0)*SK_ACC[3] + Kacc*P(1,1)*SK_ACC[2] - Kacc*P(1,3)*SK_ACC[1] + Kacc*P(1,2)*SK_ACC[4] - Kacc*P(1,4)*SK_ACC[5] + Kacc*P(1,5)*SK_ACC[8] + Kacc*P(1,6)*SK_ACC[7] + 2*Kacc*P(1,22)*SK_ACC[6] - Kacc*P(1,23)*SK_ACC[8]);
|
||||
// Kfusion[2] = -SK_ACC[0]*(Kacc*P(2,0)*SK_ACC[3] + Kacc*P(2,1)*SK_ACC[2] - Kacc*P(2,3)*SK_ACC[1] + Kacc*P(2,2)*SK_ACC[4] - Kacc*P(2,4)*SK_ACC[5] + Kacc*P(2,5)*SK_ACC[8] + Kacc*P(2,6)*SK_ACC[7] + 2*Kacc*P(2,22)*SK_ACC[6] - Kacc*P(2,23)*SK_ACC[8]);
|
||||
// Kfusion[3] = -SK_ACC[0]*(Kacc*P(3,0)*SK_ACC[3] + Kacc*P(3,1)*SK_ACC[2] - Kacc*P(3,3)*SK_ACC[1] + Kacc*P(3,2)*SK_ACC[4] - Kacc*P(3,4)*SK_ACC[5] + Kacc*P(3,5)*SK_ACC[8] + Kacc*P(3,6)*SK_ACC[7] + 2*Kacc*P(3,22)*SK_ACC[6] - Kacc*P(3,23)*SK_ACC[8]);
|
||||
// Kfusion[4] = -SK_ACC[0]*(Kacc*P(4,0)*SK_ACC[3] + Kacc*P(4,1)*SK_ACC[2] - Kacc*P(4,3)*SK_ACC[1] + Kacc*P(4,2)*SK_ACC[4] - Kacc*P(4,4)*SK_ACC[5] + Kacc*P(4,5)*SK_ACC[8] + Kacc*P(4,6)*SK_ACC[7] + 2*Kacc*P(4,22)*SK_ACC[6] - Kacc*P(4,23)*SK_ACC[8]);
|
||||
// Kfusion[5] = -SK_ACC[0]*(Kacc*P(5,0)*SK_ACC[3] + Kacc*P(5,1)*SK_ACC[2] - Kacc*P(5,3)*SK_ACC[1] + Kacc*P(5,2)*SK_ACC[4] - Kacc*P(5,4)*SK_ACC[5] + Kacc*P(5,5)*SK_ACC[8] + Kacc*P(5,6)*SK_ACC[7] + 2*Kacc*P(5,22)*SK_ACC[6] - Kacc*P(5,23)*SK_ACC[8]);
|
||||
// Kfusion[6] = -SK_ACC[0]*(Kacc*P(6,0)*SK_ACC[3] + Kacc*P(6,1)*SK_ACC[2] - Kacc*P(6,3)*SK_ACC[1] + Kacc*P(6,2)*SK_ACC[4] - Kacc*P(6,4)*SK_ACC[5] + Kacc*P(6,5)*SK_ACC[8] + Kacc*P(6,6)*SK_ACC[7] + 2*Kacc*P(6,22)*SK_ACC[6] - Kacc*P(6,23)*SK_ACC[8]);
|
||||
// Kfusion[7] = -SK_ACC[0]*(Kacc*P(7,0)*SK_ACC[3] + Kacc*P(7,1)*SK_ACC[2] - Kacc*P(7,3)*SK_ACC[1] + Kacc*P(7,2)*SK_ACC[4] - Kacc*P(7,4)*SK_ACC[5] + Kacc*P(7,5)*SK_ACC[8] + Kacc*P(7,6)*SK_ACC[7] + 2*Kacc*P(7,22)*SK_ACC[6] - Kacc*P(7,23)*SK_ACC[8]);
|
||||
// Kfusion[8] = -SK_ACC[0]*(Kacc*P(8,0)*SK_ACC[3] + Kacc*P(8,1)*SK_ACC[2] - Kacc*P(8,3)*SK_ACC[1] + Kacc*P(8,2)*SK_ACC[4] - Kacc*P(8,4)*SK_ACC[5] + Kacc*P(8,5)*SK_ACC[8] + Kacc*P(8,6)*SK_ACC[7] + 2*Kacc*P(8,22)*SK_ACC[6] - Kacc*P(8,23)*SK_ACC[8]);
|
||||
// Kfusion[9] = -SK_ACC[0]*(Kacc*P(9,0)*SK_ACC[3] + Kacc*P(9,1)*SK_ACC[2] - Kacc*P(9,3)*SK_ACC[1] + Kacc*P(9,2)*SK_ACC[4] - Kacc*P(9,4)*SK_ACC[5] + Kacc*P(9,5)*SK_ACC[8] + Kacc*P(9,6)*SK_ACC[7] + 2*Kacc*P(9,22)*SK_ACC[6] - Kacc*P(9,23)*SK_ACC[8]);
|
||||
// Kfusion[10] = -SK_ACC[0]*(Kacc*P(10,0)*SK_ACC[3] + Kacc*P(10,1)*SK_ACC[2] - Kacc*P(10,3)*SK_ACC[1] + Kacc*P(10,2)*SK_ACC[4] - Kacc*P(10,4)*SK_ACC[5] + Kacc*P(10,5)*SK_ACC[8] + Kacc*P(10,6)*SK_ACC[7] + 2*Kacc*P(10,22)*SK_ACC[6] - Kacc*P(10,23)*SK_ACC[8]);
|
||||
// Kfusion[11] = -SK_ACC[0]*(Kacc*P(11,0)*SK_ACC[3] + Kacc*P(11,1)*SK_ACC[2] - Kacc*P(11,3)*SK_ACC[1] + Kacc*P(11,2)*SK_ACC[4] - Kacc*P(11,4)*SK_ACC[5] + Kacc*P(11,5)*SK_ACC[8] + Kacc*P(11,6)*SK_ACC[7] + 2*Kacc*P(11,22)*SK_ACC[6] - Kacc*P(11,23)*SK_ACC[8]);
|
||||
// Kfusion[12] = -SK_ACC[0]*(Kacc*P(12,0)*SK_ACC[3] + Kacc*P(12,1)*SK_ACC[2] - Kacc*P(12,3)*SK_ACC[1] + Kacc*P(12,2)*SK_ACC[4] - Kacc*P(12,4)*SK_ACC[5] + Kacc*P(12,5)*SK_ACC[8] + Kacc*P(12,6)*SK_ACC[7] + 2*Kacc*P(12,22)*SK_ACC[6] - Kacc*P(12,23)*SK_ACC[8]);
|
||||
// Kfusion[13] = -SK_ACC[0]*(Kacc*P(13,0)*SK_ACC[3] + Kacc*P(13,1)*SK_ACC[2] - Kacc*P(13,3)*SK_ACC[1] + Kacc*P(13,2)*SK_ACC[4] - Kacc*P(13,4)*SK_ACC[5] + Kacc*P(13,5)*SK_ACC[8] + Kacc*P(13,6)*SK_ACC[7] + 2*Kacc*P(13,22)*SK_ACC[6] - Kacc*P(13,23)*SK_ACC[8]);
|
||||
// Kfusion[14] = -SK_ACC[0]*(Kacc*P(14,0)*SK_ACC[3] + Kacc*P(14,1)*SK_ACC[2] - Kacc*P(14,3)*SK_ACC[1] + Kacc*P(14,2)*SK_ACC[4] - Kacc*P(14,4)*SK_ACC[5] + Kacc*P(14,5)*SK_ACC[8] + Kacc*P(14,6)*SK_ACC[7] + 2*Kacc*P(14,22)*SK_ACC[6] - Kacc*P(14,23)*SK_ACC[8]);
|
||||
// Kfusion[15] = -SK_ACC[0]*(Kacc*P(15,0)*SK_ACC[3] + Kacc*P(15,1)*SK_ACC[2] - Kacc*P(15,3)*SK_ACC[1] + Kacc*P(15,2)*SK_ACC[4] - Kacc*P(15,4)*SK_ACC[5] + Kacc*P(15,5)*SK_ACC[8] + Kacc*P(15,6)*SK_ACC[7] + 2*Kacc*P(15,22)*SK_ACC[6] - Kacc*P(15,23)*SK_ACC[8]);
|
||||
// Kfusion[16] = -SK_ACC[0]*(Kacc*P(16,0)*SK_ACC[3] + Kacc*P(16,1)*SK_ACC[2] - Kacc*P(16,3)*SK_ACC[1] + Kacc*P(16,2)*SK_ACC[4] - Kacc*P(16,4)*SK_ACC[5] + Kacc*P(16,5)*SK_ACC[8] + Kacc*P(16,6)*SK_ACC[7] + 2*Kacc*P(16,22)*SK_ACC[6] - Kacc*P(16,23)*SK_ACC[8]);
|
||||
// Kfusion[17] = -SK_ACC[0]*(Kacc*P(17,0)*SK_ACC[3] + Kacc*P(17,1)*SK_ACC[2] - Kacc*P(17,3)*SK_ACC[1] + Kacc*P(17,2)*SK_ACC[4] - Kacc*P(17,4)*SK_ACC[5] + Kacc*P(17,5)*SK_ACC[8] + Kacc*P(17,6)*SK_ACC[7] + 2*Kacc*P(17,22)*SK_ACC[6] - Kacc*P(17,23)*SK_ACC[8]);
|
||||
// Kfusion[18] = -SK_ACC[0]*(Kacc*P(18,0)*SK_ACC[3] + Kacc*P(18,1)*SK_ACC[2] - Kacc*P(18,3)*SK_ACC[1] + Kacc*P(18,2)*SK_ACC[4] - Kacc*P(18,4)*SK_ACC[5] + Kacc*P(18,5)*SK_ACC[8] + Kacc*P(18,6)*SK_ACC[7] + 2*Kacc*P(18,22)*SK_ACC[6] - Kacc*P(18,23)*SK_ACC[8]);
|
||||
// Kfusion[19] = -SK_ACC[0]*(Kacc*P(19,0)*SK_ACC[3] + Kacc*P(19,1)*SK_ACC[2] - Kacc*P(19,3)*SK_ACC[1] + Kacc*P(19,2)*SK_ACC[4] - Kacc*P(19,4)*SK_ACC[5] + Kacc*P(19,5)*SK_ACC[8] + Kacc*P(19,6)*SK_ACC[7] + 2*Kacc*P(19,22)*SK_ACC[6] - Kacc*P(19,23)*SK_ACC[8]);
|
||||
// Kfusion[20] = -SK_ACC[0]*(Kacc*P(20,0)*SK_ACC[3] + Kacc*P(20,1)*SK_ACC[2] - Kacc*P(20,3)*SK_ACC[1] + Kacc*P(20,2)*SK_ACC[4] - Kacc*P(20,4)*SK_ACC[5] + Kacc*P(20,5)*SK_ACC[8] + Kacc*P(20,6)*SK_ACC[7] + 2*Kacc*P(20,22)*SK_ACC[6] - Kacc*P(20,23)*SK_ACC[8]);
|
||||
// Kfusion[21] = -SK_ACC[0]*(Kacc*P(21,0)*SK_ACC[3] + Kacc*P(21,1)*SK_ACC[2] - Kacc*P(21,3)*SK_ACC[1] + Kacc*P(21,2)*SK_ACC[4] - Kacc*P(21,4)*SK_ACC[5] + Kacc*P(21,5)*SK_ACC[8] + Kacc*P(21,6)*SK_ACC[7] + 2*Kacc*P(21,22)*SK_ACC[6] - Kacc*P(21,23)*SK_ACC[8]);
|
||||
Kfusion[22] = -SK_ACC[0]*(Kacc*P(22,0)*SK_ACC[3] + Kacc*P(22,1)*SK_ACC[2] - Kacc*P(22,3)*SK_ACC[1] + Kacc*P(22,2)*SK_ACC[4] - Kacc*P(22,4)*SK_ACC[5] + Kacc*P(22,5)*SK_ACC[8] + Kacc*P(22,6)*SK_ACC[7] + 2*Kacc*P(22,22)*SK_ACC[6] - Kacc*P(22,23)*SK_ACC[8]);
|
||||
Kfusion[23] = -SK_ACC[0]*(Kacc*P(23,0)*SK_ACC[3] + Kacc*P(23,1)*SK_ACC[2] - Kacc*P(23,3)*SK_ACC[1] + Kacc*P(23,2)*SK_ACC[4] - Kacc*P(23,4)*SK_ACC[5] + Kacc*P(23,5)*SK_ACC[8] + Kacc*P(23,6)*SK_ACC[7] + 2*Kacc*P(23,22)*SK_ACC[6] - Kacc*P(23,23)*SK_ACC[8]);
|
||||
// Kfusion(0) = -SK_ACC[0]*(Kacc*P(0,0)*SK_ACC[3] + Kacc*P(0,1)*SK_ACC[2] - Kacc*P(0,3)*SK_ACC[1] + Kacc*P(0,2)*SK_ACC[4] - Kacc*P(0,4)*SK_ACC[5] + Kacc*P(0,5)*SK_ACC[8] + Kacc*P(0,6)*SK_ACC[7] + 2*Kacc*P(0,22)*SK_ACC[6] - Kacc*P(0,23)*SK_ACC[8]);
|
||||
// Kfusion(1) = -SK_ACC[0]*(Kacc*P(1,0)*SK_ACC[3] + Kacc*P(1,1)*SK_ACC[2] - Kacc*P(1,3)*SK_ACC[1] + Kacc*P(1,2)*SK_ACC[4] - Kacc*P(1,4)*SK_ACC[5] + Kacc*P(1,5)*SK_ACC[8] + Kacc*P(1,6)*SK_ACC[7] + 2*Kacc*P(1,22)*SK_ACC[6] - Kacc*P(1,23)*SK_ACC[8]);
|
||||
// Kfusion(2) = -SK_ACC[0]*(Kacc*P(2,0)*SK_ACC[3] + Kacc*P(2,1)*SK_ACC[2] - Kacc*P(2,3)*SK_ACC[1] + Kacc*P(2,2)*SK_ACC[4] - Kacc*P(2,4)*SK_ACC[5] + Kacc*P(2,5)*SK_ACC[8] + Kacc*P(2,6)*SK_ACC[7] + 2*Kacc*P(2,22)*SK_ACC[6] - Kacc*P(2,23)*SK_ACC[8]);
|
||||
// Kfusion(3) = -SK_ACC[0]*(Kacc*P(3,0)*SK_ACC[3] + Kacc*P(3,1)*SK_ACC[2] - Kacc*P(3,3)*SK_ACC[1] + Kacc*P(3,2)*SK_ACC[4] - Kacc*P(3,4)*SK_ACC[5] + Kacc*P(3,5)*SK_ACC[8] + Kacc*P(3,6)*SK_ACC[7] + 2*Kacc*P(3,22)*SK_ACC[6] - Kacc*P(3,23)*SK_ACC[8]);
|
||||
// Kfusion(4) = -SK_ACC[0]*(Kacc*P(4,0)*SK_ACC[3] + Kacc*P(4,1)*SK_ACC[2] - Kacc*P(4,3)*SK_ACC[1] + Kacc*P(4,2)*SK_ACC[4] - Kacc*P(4,4)*SK_ACC[5] + Kacc*P(4,5)*SK_ACC[8] + Kacc*P(4,6)*SK_ACC[7] + 2*Kacc*P(4,22)*SK_ACC[6] - Kacc*P(4,23)*SK_ACC[8]);
|
||||
// Kfusion(5) = -SK_ACC[0]*(Kacc*P(5,0)*SK_ACC[3] + Kacc*P(5,1)*SK_ACC[2] - Kacc*P(5,3)*SK_ACC[1] + Kacc*P(5,2)*SK_ACC[4] - Kacc*P(5,4)*SK_ACC[5] + Kacc*P(5,5)*SK_ACC[8] + Kacc*P(5,6)*SK_ACC[7] + 2*Kacc*P(5,22)*SK_ACC[6] - Kacc*P(5,23)*SK_ACC[8]);
|
||||
// Kfusion(6) = -SK_ACC[0]*(Kacc*P(6,0)*SK_ACC[3] + Kacc*P(6,1)*SK_ACC[2] - Kacc*P(6,3)*SK_ACC[1] + Kacc*P(6,2)*SK_ACC[4] - Kacc*P(6,4)*SK_ACC[5] + Kacc*P(6,5)*SK_ACC[8] + Kacc*P(6,6)*SK_ACC[7] + 2*Kacc*P(6,22)*SK_ACC[6] - Kacc*P(6,23)*SK_ACC[8]);
|
||||
// Kfusion(7) = -SK_ACC[0]*(Kacc*P(7,0)*SK_ACC[3] + Kacc*P(7,1)*SK_ACC[2] - Kacc*P(7,3)*SK_ACC[1] + Kacc*P(7,2)*SK_ACC[4] - Kacc*P(7,4)*SK_ACC[5] + Kacc*P(7,5)*SK_ACC[8] + Kacc*P(7,6)*SK_ACC[7] + 2*Kacc*P(7,22)*SK_ACC[6] - Kacc*P(7,23)*SK_ACC[8]);
|
||||
// Kfusion(8) = -SK_ACC[0]*(Kacc*P(8,0)*SK_ACC[3] + Kacc*P(8,1)*SK_ACC[2] - Kacc*P(8,3)*SK_ACC[1] + Kacc*P(8,2)*SK_ACC[4] - Kacc*P(8,4)*SK_ACC[5] + Kacc*P(8,5)*SK_ACC[8] + Kacc*P(8,6)*SK_ACC[7] + 2*Kacc*P(8,22)*SK_ACC[6] - Kacc*P(8,23)*SK_ACC[8]);
|
||||
// Kfusion(9) = -SK_ACC[0]*(Kacc*P(9,0)*SK_ACC[3] + Kacc*P(9,1)*SK_ACC[2] - Kacc*P(9,3)*SK_ACC[1] + Kacc*P(9,2)*SK_ACC[4] - Kacc*P(9,4)*SK_ACC[5] + Kacc*P(9,5)*SK_ACC[8] + Kacc*P(9,6)*SK_ACC[7] + 2*Kacc*P(9,22)*SK_ACC[6] - Kacc*P(9,23)*SK_ACC[8]);
|
||||
// Kfusion(10) = -SK_ACC[0]*(Kacc*P(10,0)*SK_ACC[3] + Kacc*P(10,1)*SK_ACC[2] - Kacc*P(10,3)*SK_ACC[1] + Kacc*P(10,2)*SK_ACC[4] - Kacc*P(10,4)*SK_ACC[5] + Kacc*P(10,5)*SK_ACC[8] + Kacc*P(10,6)*SK_ACC[7] + 2*Kacc*P(10,22)*SK_ACC[6] - Kacc*P(10,23)*SK_ACC[8]);
|
||||
// Kfusion(11) = -SK_ACC[0]*(Kacc*P(11,0)*SK_ACC[3] + Kacc*P(11,1)*SK_ACC[2] - Kacc*P(11,3)*SK_ACC[1] + Kacc*P(11,2)*SK_ACC[4] - Kacc*P(11,4)*SK_ACC[5] + Kacc*P(11,5)*SK_ACC[8] + Kacc*P(11,6)*SK_ACC[7] + 2*Kacc*P(11,22)*SK_ACC[6] - Kacc*P(11,23)*SK_ACC[8]);
|
||||
// Kfusion(12) = -SK_ACC[0]*(Kacc*P(12,0)*SK_ACC[3] + Kacc*P(12,1)*SK_ACC[2] - Kacc*P(12,3)*SK_ACC[1] + Kacc*P(12,2)*SK_ACC[4] - Kacc*P(12,4)*SK_ACC[5] + Kacc*P(12,5)*SK_ACC[8] + Kacc*P(12,6)*SK_ACC[7] + 2*Kacc*P(12,22)*SK_ACC[6] - Kacc*P(12,23)*SK_ACC[8]);
|
||||
// Kfusion(13) = -SK_ACC[0]*(Kacc*P(13,0)*SK_ACC[3] + Kacc*P(13,1)*SK_ACC[2] - Kacc*P(13,3)*SK_ACC[1] + Kacc*P(13,2)*SK_ACC[4] - Kacc*P(13,4)*SK_ACC[5] + Kacc*P(13,5)*SK_ACC[8] + Kacc*P(13,6)*SK_ACC[7] + 2*Kacc*P(13,22)*SK_ACC[6] - Kacc*P(13,23)*SK_ACC[8]);
|
||||
// Kfusion(14) = -SK_ACC[0]*(Kacc*P(14,0)*SK_ACC[3] + Kacc*P(14,1)*SK_ACC[2] - Kacc*P(14,3)*SK_ACC[1] + Kacc*P(14,2)*SK_ACC[4] - Kacc*P(14,4)*SK_ACC[5] + Kacc*P(14,5)*SK_ACC[8] + Kacc*P(14,6)*SK_ACC[7] + 2*Kacc*P(14,22)*SK_ACC[6] - Kacc*P(14,23)*SK_ACC[8]);
|
||||
// Kfusion(15) = -SK_ACC[0]*(Kacc*P(15,0)*SK_ACC[3] + Kacc*P(15,1)*SK_ACC[2] - Kacc*P(15,3)*SK_ACC[1] + Kacc*P(15,2)*SK_ACC[4] - Kacc*P(15,4)*SK_ACC[5] + Kacc*P(15,5)*SK_ACC[8] + Kacc*P(15,6)*SK_ACC[7] + 2*Kacc*P(15,22)*SK_ACC[6] - Kacc*P(15,23)*SK_ACC[8]);
|
||||
// Kfusion(16) = -SK_ACC[0]*(Kacc*P(16,0)*SK_ACC[3] + Kacc*P(16,1)*SK_ACC[2] - Kacc*P(16,3)*SK_ACC[1] + Kacc*P(16,2)*SK_ACC[4] - Kacc*P(16,4)*SK_ACC[5] + Kacc*P(16,5)*SK_ACC[8] + Kacc*P(16,6)*SK_ACC[7] + 2*Kacc*P(16,22)*SK_ACC[6] - Kacc*P(16,23)*SK_ACC[8]);
|
||||
// Kfusion(17) = -SK_ACC[0]*(Kacc*P(17,0)*SK_ACC[3] + Kacc*P(17,1)*SK_ACC[2] - Kacc*P(17,3)*SK_ACC[1] + Kacc*P(17,2)*SK_ACC[4] - Kacc*P(17,4)*SK_ACC[5] + Kacc*P(17,5)*SK_ACC[8] + Kacc*P(17,6)*SK_ACC[7] + 2*Kacc*P(17,22)*SK_ACC[6] - Kacc*P(17,23)*SK_ACC[8]);
|
||||
// Kfusion(18) = -SK_ACC[0]*(Kacc*P(18,0)*SK_ACC[3] + Kacc*P(18,1)*SK_ACC[2] - Kacc*P(18,3)*SK_ACC[1] + Kacc*P(18,2)*SK_ACC[4] - Kacc*P(18,4)*SK_ACC[5] + Kacc*P(18,5)*SK_ACC[8] + Kacc*P(18,6)*SK_ACC[7] + 2*Kacc*P(18,22)*SK_ACC[6] - Kacc*P(18,23)*SK_ACC[8]);
|
||||
// Kfusion(19) = -SK_ACC[0]*(Kacc*P(19,0)*SK_ACC[3] + Kacc*P(19,1)*SK_ACC[2] - Kacc*P(19,3)*SK_ACC[1] + Kacc*P(19,2)*SK_ACC[4] - Kacc*P(19,4)*SK_ACC[5] + Kacc*P(19,5)*SK_ACC[8] + Kacc*P(19,6)*SK_ACC[7] + 2*Kacc*P(19,22)*SK_ACC[6] - Kacc*P(19,23)*SK_ACC[8]);
|
||||
// Kfusion(20) = -SK_ACC[0]*(Kacc*P(20,0)*SK_ACC[3] + Kacc*P(20,1)*SK_ACC[2] - Kacc*P(20,3)*SK_ACC[1] + Kacc*P(20,2)*SK_ACC[4] - Kacc*P(20,4)*SK_ACC[5] + Kacc*P(20,5)*SK_ACC[8] + Kacc*P(20,6)*SK_ACC[7] + 2*Kacc*P(20,22)*SK_ACC[6] - Kacc*P(20,23)*SK_ACC[8]);
|
||||
// Kfusion(21) = -SK_ACC[0]*(Kacc*P(21,0)*SK_ACC[3] + Kacc*P(21,1)*SK_ACC[2] - Kacc*P(21,3)*SK_ACC[1] + Kacc*P(21,2)*SK_ACC[4] - Kacc*P(21,4)*SK_ACC[5] + Kacc*P(21,5)*SK_ACC[8] + Kacc*P(21,6)*SK_ACC[7] + 2*Kacc*P(21,22)*SK_ACC[6] - Kacc*P(21,23)*SK_ACC[8]);
|
||||
Kfusion(22) = -SK_ACC[0]*(Kacc*P(22,0)*SK_ACC[3] + Kacc*P(22,1)*SK_ACC[2] - Kacc*P(22,3)*SK_ACC[1] + Kacc*P(22,2)*SK_ACC[4] - Kacc*P(22,4)*SK_ACC[5] + Kacc*P(22,5)*SK_ACC[8] + Kacc*P(22,6)*SK_ACC[7] + 2*Kacc*P(22,22)*SK_ACC[6] - Kacc*P(22,23)*SK_ACC[8]);
|
||||
Kfusion(23) = -SK_ACC[0]*(Kacc*P(23,0)*SK_ACC[3] + Kacc*P(23,1)*SK_ACC[2] - Kacc*P(23,3)*SK_ACC[1] + Kacc*P(23,2)*SK_ACC[4] - Kacc*P(23,4)*SK_ACC[5] + Kacc*P(23,5)*SK_ACC[8] + Kacc*P(23,6)*SK_ACC[7] + 2*Kacc*P(23,22)*SK_ACC[6] - Kacc*P(23,23)*SK_ACC[8]);
|
||||
|
||||
// calculate the predicted acceleration and innovation measured along the Y body axis
|
||||
float drag_sign;
|
||||
@@ -246,15 +246,15 @@ void Ekf::fuseDrag()
|
||||
|
||||
for (unsigned row = 0; row < _k_num_states; row++) {
|
||||
|
||||
KH[0] = Kfusion[row] * H_ACC[0];
|
||||
KH[1] = Kfusion[row] * H_ACC[1];
|
||||
KH[2] = Kfusion[row] * H_ACC[2];
|
||||
KH[3] = Kfusion[row] * H_ACC[3];
|
||||
KH[4] = Kfusion[row] * H_ACC[4];
|
||||
KH[5] = Kfusion[row] * H_ACC[5];
|
||||
KH[6] = Kfusion[row] * H_ACC[6];
|
||||
KH[7] = Kfusion[row] * H_ACC[22];
|
||||
KH[8] = Kfusion[row] * H_ACC[23];
|
||||
KH[0] = Kfusion(row) * H_ACC[0];
|
||||
KH[1] = Kfusion(row) * H_ACC[1];
|
||||
KH[2] = Kfusion(row) * H_ACC[2];
|
||||
KH[3] = Kfusion(row) * H_ACC[3];
|
||||
KH[4] = Kfusion(row) * H_ACC[4];
|
||||
KH[5] = Kfusion(row) * H_ACC[5];
|
||||
KH[6] = Kfusion(row) * H_ACC[6];
|
||||
KH[7] = Kfusion(row) * H_ACC[22];
|
||||
KH[8] = Kfusion(row) * H_ACC[23];
|
||||
|
||||
for (unsigned column = 0; column < _k_num_states; column++) {
|
||||
float tmp = KH[0] * P(0,column);
|
||||
|
||||
@@ -670,7 +670,7 @@ private:
|
||||
|
||||
// generic function which will perform a fusion step given a kalman gain K
|
||||
// and a scalar innovation value
|
||||
void fuse(float *K, float innovation);
|
||||
void fuse(const Vector24f& K, float innovation);
|
||||
|
||||
float compensateBaroForDynamicPressure(float baro_alt_uncompensated) override;
|
||||
|
||||
|
||||
+9
-34
@@ -1126,42 +1126,17 @@ void Ekf::get_ekf_soln_status(uint16_t *status)
|
||||
*status = soln_status.value;
|
||||
}
|
||||
|
||||
// fuse measurement
|
||||
void Ekf::fuse(float *K, float innovation)
|
||||
void Ekf::fuse(const Vector24f& K, float innovation)
|
||||
{
|
||||
for (unsigned i = 0; i < 4; i++) {
|
||||
_state.quat_nominal(i) = _state.quat_nominal(i) - K[i] * innovation;
|
||||
}
|
||||
|
||||
_state.quat_nominal -= K.slice<4, 1>(0, 0) * innovation;
|
||||
_state.quat_nominal.normalize();
|
||||
|
||||
for (unsigned i = 0; i < 3; i++) {
|
||||
_state.vel(i) = _state.vel(i) - K[i + 4] * innovation;
|
||||
}
|
||||
|
||||
for (unsigned i = 0; i < 3; i++) {
|
||||
_state.pos(i) = _state.pos(i) - K[i + 7] * innovation;
|
||||
}
|
||||
|
||||
for (unsigned i = 0; i < 3; i++) {
|
||||
_state.delta_ang_bias(i) = _state.delta_ang_bias(i) - K[i + 10] * innovation;
|
||||
}
|
||||
|
||||
for (unsigned i = 0; i < 3; i++) {
|
||||
_state.delta_vel_bias(i) = _state.delta_vel_bias(i) - K[i + 13] * innovation;
|
||||
}
|
||||
|
||||
for (unsigned i = 0; i < 3; i++) {
|
||||
_state.mag_I(i) = _state.mag_I(i) - K[i + 16] * innovation;
|
||||
}
|
||||
|
||||
for (unsigned i = 0; i < 3; i++) {
|
||||
_state.mag_B(i) = _state.mag_B(i) - K[i + 19] * innovation;
|
||||
}
|
||||
|
||||
for (unsigned i = 0; i < 2; i++) {
|
||||
_state.wind_vel(i) = _state.wind_vel(i) - K[i + 22] * innovation;
|
||||
}
|
||||
_state.vel -= K.slice<3, 1>(4, 0) * innovation;
|
||||
_state.pos -= K.slice<3, 1>(7, 0) * innovation;
|
||||
_state.delta_ang_bias -= K.slice<3, 1>(10, 0) * innovation;
|
||||
_state.delta_vel_bias -= K.slice<3, 1>(13, 0) * innovation;
|
||||
_state.mag_I -= K.slice<3, 1>(16, 0) * innovation;
|
||||
_state.mag_B -= K.slice<3, 1>(19, 0) * innovation;
|
||||
_state.wind_vel -= K.slice<2, 1>(22, 0) * innovation;
|
||||
}
|
||||
|
||||
void Ekf::uncorrelateQuatFromOtherStates()
|
||||
|
||||
@@ -166,23 +166,23 @@ void Ekf::fuseGpsAntYaw()
|
||||
|
||||
// calculate the Kalman gains
|
||||
// only calculate gains for states we are using
|
||||
float Kfusion[_k_num_states] = {};
|
||||
Vector24f Kfusion;
|
||||
|
||||
for (uint8_t row = 0; row <= 15; row++) {
|
||||
for (uint8_t col = 0; col <= 3; col++) {
|
||||
Kfusion[row] += P(row,col) * H_YAW[col];
|
||||
Kfusion(row) += P(row,col) * H_YAW[col];
|
||||
}
|
||||
|
||||
Kfusion[row] *= heading_innov_var_inv;
|
||||
Kfusion(row) *= heading_innov_var_inv;
|
||||
}
|
||||
|
||||
if (_control_status.flags.wind) {
|
||||
for (uint8_t row = 22; row <= 23; row++) {
|
||||
for (uint8_t col = 0; col <= 3; col++) {
|
||||
Kfusion[row] += P(row,col) * H_YAW[col];
|
||||
Kfusion(row) += P(row,col) * H_YAW[col];
|
||||
}
|
||||
|
||||
Kfusion[row] *= heading_innov_var_inv;
|
||||
Kfusion(row) *= heading_innov_var_inv;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -219,10 +219,10 @@ void Ekf::fuseGpsAntYaw()
|
||||
|
||||
for (unsigned row = 0; row < _k_num_states; row++) {
|
||||
|
||||
KH[0] = Kfusion[row] * H_YAW[0];
|
||||
KH[1] = Kfusion[row] * H_YAW[1];
|
||||
KH[2] = Kfusion[row] * H_YAW[2];
|
||||
KH[3] = Kfusion[row] * H_YAW[3];
|
||||
KH[0] = Kfusion(row) * H_YAW[0];
|
||||
KH[1] = Kfusion(row) * H_YAW[1];
|
||||
KH[2] = Kfusion(row) * H_YAW[2];
|
||||
KH[3] = Kfusion(row) * H_YAW[3];
|
||||
|
||||
for (unsigned column = 0; column < _k_num_states; column++) {
|
||||
float tmp = KH[0] * P(0,column);
|
||||
|
||||
+119
-119
@@ -86,7 +86,7 @@ void Ekf::fuseMag()
|
||||
|
||||
// Observation jacobian and Kalman gain vectors
|
||||
float H_MAG[24];
|
||||
float Kfusion[24];
|
||||
Vector24f Kfusion;
|
||||
|
||||
// X axis innovation variance
|
||||
_mag_innov_var(0) = (P(19,19) + R_MAG + P(1,19)*SH_MAG[0] - P(2,19)*SH_MAG[1] + P(3,19)*SH_MAG[2] - P(16,19)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + (2.0f*q0*q3 + 2.0f*q1*q2)*(P(19,17) + P(1,17)*SH_MAG[0] - P(2,17)*SH_MAG[1] + P(3,17)*SH_MAG[2] - P(16,17)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,17)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,17)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,17)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - (2.0f*q0*q2 - 2.0f*q1*q3)*(P(19,18) + P(1,18)*SH_MAG[0] - P(2,18)*SH_MAG[1] + P(3,18)*SH_MAG[2] - P(16,18)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,18)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,18)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,18)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + (SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)*(P(19,0) + P(1,0)*SH_MAG[0] - P(2,0)*SH_MAG[1] + P(3,0)*SH_MAG[2] - P(16,0)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,0)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,0)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,0)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + P(17,19)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,19)*(2.0f*q0*q2 - 2.0f*q1*q3) + SH_MAG[0]*(P(19,1) + P(1,1)*SH_MAG[0] - P(2,1)*SH_MAG[1] + P(3,1)*SH_MAG[2] - P(16,1)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,1)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,1)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,1)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - SH_MAG[1]*(P(19,2) + P(1,2)*SH_MAG[0] - P(2,2)*SH_MAG[1] + P(3,2)*SH_MAG[2] - P(16,2)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,2)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,2)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,2)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + SH_MAG[2]*(P(19,3) + P(1,3)*SH_MAG[0] - P(2,3)*SH_MAG[1] + P(3,3)*SH_MAG[2] - P(16,3)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,3)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,3)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,3)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) - (SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6])*(P(19,16) + P(1,16)*SH_MAG[0] - P(2,16)*SH_MAG[1] + P(3,16)*SH_MAG[2] - P(16,16)*(SH_MAG[3] + SH_MAG[4] - SH_MAG[5] - SH_MAG[6]) + P(17,16)*(2.0f*q0*q3 + 2.0f*q1*q2) - P(18,16)*(2.0f*q0*q2 - 2.0f*q1*q3) + P(0,16)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2)) + P(0,19)*(SH_MAG[7] + SH_MAG[8] - 2.0f*magD*q2));
|
||||
@@ -198,32 +198,32 @@ void Ekf::fuseMag()
|
||||
SK_MX[4] = 2.0f*q0*q3 + 2.0f*q1*q2;
|
||||
|
||||
if (update_all_states) {
|
||||
Kfusion[0] = SK_MX[0]*(P(0,19) + P(0,1)*SH_MAG[0] - P(0,2)*SH_MAG[1] + P(0,3)*SH_MAG[2] + P(0,0)*SK_MX[2] - P(0,16)*SK_MX[1] + P(0,17)*SK_MX[4] - P(0,18)*SK_MX[3]);
|
||||
Kfusion[1] = SK_MX[0]*(P(1,19) + P(1,1)*SH_MAG[0] - P(1,2)*SH_MAG[1] + P(1,3)*SH_MAG[2] + P(1,0)*SK_MX[2] - P(1,16)*SK_MX[1] + P(1,17)*SK_MX[4] - P(1,18)*SK_MX[3]);
|
||||
Kfusion[2] = SK_MX[0]*(P(2,19) + P(2,1)*SH_MAG[0] - P(2,2)*SH_MAG[1] + P(2,3)*SH_MAG[2] + P(2,0)*SK_MX[2] - P(2,16)*SK_MX[1] + P(2,17)*SK_MX[4] - P(2,18)*SK_MX[3]);
|
||||
Kfusion[3] = SK_MX[0]*(P(3,19) + P(3,1)*SH_MAG[0] - P(3,2)*SH_MAG[1] + P(3,3)*SH_MAG[2] + P(3,0)*SK_MX[2] - P(3,16)*SK_MX[1] + P(3,17)*SK_MX[4] - P(3,18)*SK_MX[3]);
|
||||
Kfusion[4] = SK_MX[0]*(P(4,19) + P(4,1)*SH_MAG[0] - P(4,2)*SH_MAG[1] + P(4,3)*SH_MAG[2] + P(4,0)*SK_MX[2] - P(4,16)*SK_MX[1] + P(4,17)*SK_MX[4] - P(4,18)*SK_MX[3]);
|
||||
Kfusion[5] = SK_MX[0]*(P(5,19) + P(5,1)*SH_MAG[0] - P(5,2)*SH_MAG[1] + P(5,3)*SH_MAG[2] + P(5,0)*SK_MX[2] - P(5,16)*SK_MX[1] + P(5,17)*SK_MX[4] - P(5,18)*SK_MX[3]);
|
||||
Kfusion[6] = SK_MX[0]*(P(6,19) + P(6,1)*SH_MAG[0] - P(6,2)*SH_MAG[1] + P(6,3)*SH_MAG[2] + P(6,0)*SK_MX[2] - P(6,16)*SK_MX[1] + P(6,17)*SK_MX[4] - P(6,18)*SK_MX[3]);
|
||||
Kfusion[7] = SK_MX[0]*(P(7,19) + P(7,1)*SH_MAG[0] - P(7,2)*SH_MAG[1] + P(7,3)*SH_MAG[2] + P(7,0)*SK_MX[2] - P(7,16)*SK_MX[1] + P(7,17)*SK_MX[4] - P(7,18)*SK_MX[3]);
|
||||
Kfusion[8] = SK_MX[0]*(P(8,19) + P(8,1)*SH_MAG[0] - P(8,2)*SH_MAG[1] + P(8,3)*SH_MAG[2] + P(8,0)*SK_MX[2] - P(8,16)*SK_MX[1] + P(8,17)*SK_MX[4] - P(8,18)*SK_MX[3]);
|
||||
Kfusion[9] = SK_MX[0]*(P(9,19) + P(9,1)*SH_MAG[0] - P(9,2)*SH_MAG[1] + P(9,3)*SH_MAG[2] + P(9,0)*SK_MX[2] - P(9,16)*SK_MX[1] + P(9,17)*SK_MX[4] - P(9,18)*SK_MX[3]);
|
||||
Kfusion[10] = SK_MX[0]*(P(10,19) + P(10,1)*SH_MAG[0] - P(10,2)*SH_MAG[1] + P(10,3)*SH_MAG[2] + P(10,0)*SK_MX[2] - P(10,16)*SK_MX[1] + P(10,17)*SK_MX[4] - P(10,18)*SK_MX[3]);
|
||||
Kfusion[11] = SK_MX[0]*(P(11,19) + P(11,1)*SH_MAG[0] - P(11,2)*SH_MAG[1] + P(11,3)*SH_MAG[2] + P(11,0)*SK_MX[2] - P(11,16)*SK_MX[1] + P(11,17)*SK_MX[4] - P(11,18)*SK_MX[3]);
|
||||
Kfusion[12] = SK_MX[0]*(P(12,19) + P(12,1)*SH_MAG[0] - P(12,2)*SH_MAG[1] + P(12,3)*SH_MAG[2] + P(12,0)*SK_MX[2] - P(12,16)*SK_MX[1] + P(12,17)*SK_MX[4] - P(12,18)*SK_MX[3]);
|
||||
Kfusion[13] = SK_MX[0]*(P(13,19) + P(13,1)*SH_MAG[0] - P(13,2)*SH_MAG[1] + P(13,3)*SH_MAG[2] + P(13,0)*SK_MX[2] - P(13,16)*SK_MX[1] + P(13,17)*SK_MX[4] - P(13,18)*SK_MX[3]);
|
||||
Kfusion[14] = SK_MX[0]*(P(14,19) + P(14,1)*SH_MAG[0] - P(14,2)*SH_MAG[1] + P(14,3)*SH_MAG[2] + P(14,0)*SK_MX[2] - P(14,16)*SK_MX[1] + P(14,17)*SK_MX[4] - P(14,18)*SK_MX[3]);
|
||||
Kfusion[15] = SK_MX[0]*(P(15,19) + P(15,1)*SH_MAG[0] - P(15,2)*SH_MAG[1] + P(15,3)*SH_MAG[2] + P(15,0)*SK_MX[2] - P(15,16)*SK_MX[1] + P(15,17)*SK_MX[4] - P(15,18)*SK_MX[3]);
|
||||
Kfusion[22] = SK_MX[0]*(P(22,19) + P(22,1)*SH_MAG[0] - P(22,2)*SH_MAG[1] + P(22,3)*SH_MAG[2] + P(22,0)*SK_MX[2] - P(22,16)*SK_MX[1] + P(22,17)*SK_MX[4] - P(22,18)*SK_MX[3]);
|
||||
Kfusion[23] = SK_MX[0]*(P(23,19) + P(23,1)*SH_MAG[0] - P(23,2)*SH_MAG[1] + P(23,3)*SH_MAG[2] + P(23,0)*SK_MX[2] - P(23,16)*SK_MX[1] + P(23,17)*SK_MX[4] - P(23,18)*SK_MX[3]);
|
||||
Kfusion(0) = SK_MX[0]*(P(0,19) + P(0,1)*SH_MAG[0] - P(0,2)*SH_MAG[1] + P(0,3)*SH_MAG[2] + P(0,0)*SK_MX[2] - P(0,16)*SK_MX[1] + P(0,17)*SK_MX[4] - P(0,18)*SK_MX[3]);
|
||||
Kfusion(1) = SK_MX[0]*(P(1,19) + P(1,1)*SH_MAG[0] - P(1,2)*SH_MAG[1] + P(1,3)*SH_MAG[2] + P(1,0)*SK_MX[2] - P(1,16)*SK_MX[1] + P(1,17)*SK_MX[4] - P(1,18)*SK_MX[3]);
|
||||
Kfusion(2) = SK_MX[0]*(P(2,19) + P(2,1)*SH_MAG[0] - P(2,2)*SH_MAG[1] + P(2,3)*SH_MAG[2] + P(2,0)*SK_MX[2] - P(2,16)*SK_MX[1] + P(2,17)*SK_MX[4] - P(2,18)*SK_MX[3]);
|
||||
Kfusion(3) = SK_MX[0]*(P(3,19) + P(3,1)*SH_MAG[0] - P(3,2)*SH_MAG[1] + P(3,3)*SH_MAG[2] + P(3,0)*SK_MX[2] - P(3,16)*SK_MX[1] + P(3,17)*SK_MX[4] - P(3,18)*SK_MX[3]);
|
||||
Kfusion(4) = SK_MX[0]*(P(4,19) + P(4,1)*SH_MAG[0] - P(4,2)*SH_MAG[1] + P(4,3)*SH_MAG[2] + P(4,0)*SK_MX[2] - P(4,16)*SK_MX[1] + P(4,17)*SK_MX[4] - P(4,18)*SK_MX[3]);
|
||||
Kfusion(5) = SK_MX[0]*(P(5,19) + P(5,1)*SH_MAG[0] - P(5,2)*SH_MAG[1] + P(5,3)*SH_MAG[2] + P(5,0)*SK_MX[2] - P(5,16)*SK_MX[1] + P(5,17)*SK_MX[4] - P(5,18)*SK_MX[3]);
|
||||
Kfusion(6) = SK_MX[0]*(P(6,19) + P(6,1)*SH_MAG[0] - P(6,2)*SH_MAG[1] + P(6,3)*SH_MAG[2] + P(6,0)*SK_MX[2] - P(6,16)*SK_MX[1] + P(6,17)*SK_MX[4] - P(6,18)*SK_MX[3]);
|
||||
Kfusion(7) = SK_MX[0]*(P(7,19) + P(7,1)*SH_MAG[0] - P(7,2)*SH_MAG[1] + P(7,3)*SH_MAG[2] + P(7,0)*SK_MX[2] - P(7,16)*SK_MX[1] + P(7,17)*SK_MX[4] - P(7,18)*SK_MX[3]);
|
||||
Kfusion(8) = SK_MX[0]*(P(8,19) + P(8,1)*SH_MAG[0] - P(8,2)*SH_MAG[1] + P(8,3)*SH_MAG[2] + P(8,0)*SK_MX[2] - P(8,16)*SK_MX[1] + P(8,17)*SK_MX[4] - P(8,18)*SK_MX[3]);
|
||||
Kfusion(9) = SK_MX[0]*(P(9,19) + P(9,1)*SH_MAG[0] - P(9,2)*SH_MAG[1] + P(9,3)*SH_MAG[2] + P(9,0)*SK_MX[2] - P(9,16)*SK_MX[1] + P(9,17)*SK_MX[4] - P(9,18)*SK_MX[3]);
|
||||
Kfusion(10) = SK_MX[0]*(P(10,19) + P(10,1)*SH_MAG[0] - P(10,2)*SH_MAG[1] + P(10,3)*SH_MAG[2] + P(10,0)*SK_MX[2] - P(10,16)*SK_MX[1] + P(10,17)*SK_MX[4] - P(10,18)*SK_MX[3]);
|
||||
Kfusion(11) = SK_MX[0]*(P(11,19) + P(11,1)*SH_MAG[0] - P(11,2)*SH_MAG[1] + P(11,3)*SH_MAG[2] + P(11,0)*SK_MX[2] - P(11,16)*SK_MX[1] + P(11,17)*SK_MX[4] - P(11,18)*SK_MX[3]);
|
||||
Kfusion(12) = SK_MX[0]*(P(12,19) + P(12,1)*SH_MAG[0] - P(12,2)*SH_MAG[1] + P(12,3)*SH_MAG[2] + P(12,0)*SK_MX[2] - P(12,16)*SK_MX[1] + P(12,17)*SK_MX[4] - P(12,18)*SK_MX[3]);
|
||||
Kfusion(13) = SK_MX[0]*(P(13,19) + P(13,1)*SH_MAG[0] - P(13,2)*SH_MAG[1] + P(13,3)*SH_MAG[2] + P(13,0)*SK_MX[2] - P(13,16)*SK_MX[1] + P(13,17)*SK_MX[4] - P(13,18)*SK_MX[3]);
|
||||
Kfusion(14) = SK_MX[0]*(P(14,19) + P(14,1)*SH_MAG[0] - P(14,2)*SH_MAG[1] + P(14,3)*SH_MAG[2] + P(14,0)*SK_MX[2] - P(14,16)*SK_MX[1] + P(14,17)*SK_MX[4] - P(14,18)*SK_MX[3]);
|
||||
Kfusion(15) = SK_MX[0]*(P(15,19) + P(15,1)*SH_MAG[0] - P(15,2)*SH_MAG[1] + P(15,3)*SH_MAG[2] + P(15,0)*SK_MX[2] - P(15,16)*SK_MX[1] + P(15,17)*SK_MX[4] - P(15,18)*SK_MX[3]);
|
||||
Kfusion(22) = SK_MX[0]*(P(22,19) + P(22,1)*SH_MAG[0] - P(22,2)*SH_MAG[1] + P(22,3)*SH_MAG[2] + P(22,0)*SK_MX[2] - P(22,16)*SK_MX[1] + P(22,17)*SK_MX[4] - P(22,18)*SK_MX[3]);
|
||||
Kfusion(23) = SK_MX[0]*(P(23,19) + P(23,1)*SH_MAG[0] - P(23,2)*SH_MAG[1] + P(23,3)*SH_MAG[2] + P(23,0)*SK_MX[2] - P(23,16)*SK_MX[1] + P(23,17)*SK_MX[4] - P(23,18)*SK_MX[3]);
|
||||
}
|
||||
|
||||
Kfusion[16] = SK_MX[0]*(P(16,19) + P(16,1)*SH_MAG[0] - P(16,2)*SH_MAG[1] + P(16,3)*SH_MAG[2] + P(16,0)*SK_MX[2] - P(16,16)*SK_MX[1] + P(16,17)*SK_MX[4] - P(16,18)*SK_MX[3]);
|
||||
Kfusion[17] = SK_MX[0]*(P(17,19) + P(17,1)*SH_MAG[0] - P(17,2)*SH_MAG[1] + P(17,3)*SH_MAG[2] + P(17,0)*SK_MX[2] - P(17,16)*SK_MX[1] + P(17,17)*SK_MX[4] - P(17,18)*SK_MX[3]);
|
||||
Kfusion[18] = SK_MX[0]*(P(18,19) + P(18,1)*SH_MAG[0] - P(18,2)*SH_MAG[1] + P(18,3)*SH_MAG[2] + P(18,0)*SK_MX[2] - P(18,16)*SK_MX[1] + P(18,17)*SK_MX[4] - P(18,18)*SK_MX[3]);
|
||||
Kfusion[19] = SK_MX[0]*(P(19,19) + P(19,1)*SH_MAG[0] - P(19,2)*SH_MAG[1] + P(19,3)*SH_MAG[2] + P(19,0)*SK_MX[2] - P(19,16)*SK_MX[1] + P(19,17)*SK_MX[4] - P(19,18)*SK_MX[3]);
|
||||
Kfusion[20] = SK_MX[0]*(P(20,19) + P(20,1)*SH_MAG[0] - P(20,2)*SH_MAG[1] + P(20,3)*SH_MAG[2] + P(20,0)*SK_MX[2] - P(20,16)*SK_MX[1] + P(20,17)*SK_MX[4] - P(20,18)*SK_MX[3]);
|
||||
Kfusion[21] = SK_MX[0]*(P(21,19) + P(21,1)*SH_MAG[0] - P(21,2)*SH_MAG[1] + P(21,3)*SH_MAG[2] + P(21,0)*SK_MX[2] - P(21,16)*SK_MX[1] + P(21,17)*SK_MX[4] - P(21,18)*SK_MX[3]);
|
||||
Kfusion(16) = SK_MX[0]*(P(16,19) + P(16,1)*SH_MAG[0] - P(16,2)*SH_MAG[1] + P(16,3)*SH_MAG[2] + P(16,0)*SK_MX[2] - P(16,16)*SK_MX[1] + P(16,17)*SK_MX[4] - P(16,18)*SK_MX[3]);
|
||||
Kfusion(17) = SK_MX[0]*(P(17,19) + P(17,1)*SH_MAG[0] - P(17,2)*SH_MAG[1] + P(17,3)*SH_MAG[2] + P(17,0)*SK_MX[2] - P(17,16)*SK_MX[1] + P(17,17)*SK_MX[4] - P(17,18)*SK_MX[3]);
|
||||
Kfusion(18) = SK_MX[0]*(P(18,19) + P(18,1)*SH_MAG[0] - P(18,2)*SH_MAG[1] + P(18,3)*SH_MAG[2] + P(18,0)*SK_MX[2] - P(18,16)*SK_MX[1] + P(18,17)*SK_MX[4] - P(18,18)*SK_MX[3]);
|
||||
Kfusion(19) = SK_MX[0]*(P(19,19) + P(19,1)*SH_MAG[0] - P(19,2)*SH_MAG[1] + P(19,3)*SH_MAG[2] + P(19,0)*SK_MX[2] - P(19,16)*SK_MX[1] + P(19,17)*SK_MX[4] - P(19,18)*SK_MX[3]);
|
||||
Kfusion(20) = SK_MX[0]*(P(20,19) + P(20,1)*SH_MAG[0] - P(20,2)*SH_MAG[1] + P(20,3)*SH_MAG[2] + P(20,0)*SK_MX[2] - P(20,16)*SK_MX[1] + P(20,17)*SK_MX[4] - P(20,18)*SK_MX[3]);
|
||||
Kfusion(21) = SK_MX[0]*(P(21,19) + P(21,1)*SH_MAG[0] - P(21,2)*SH_MAG[1] + P(21,3)*SH_MAG[2] + P(21,0)*SK_MX[2] - P(21,16)*SK_MX[1] + P(21,17)*SK_MX[4] - P(21,18)*SK_MX[3]);
|
||||
|
||||
} else if (index == 1) {
|
||||
// Calculate Y axis observation jacobians
|
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@@ -246,32 +246,32 @@ void Ekf::fuseMag()
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SK_MY[4] = 2.0f*q0*q1 + 2.0f*q2*q3;
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if (update_all_states) {
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Kfusion[0] = SK_MY[0]*(P(0,20) + P(0,0)*SH_MAG[2] + P(0,1)*SH_MAG[1] + P(0,2)*SH_MAG[0] - P(0,3)*SK_MY[2] - P(0,17)*SK_MY[1] - P(0,16)*SK_MY[3] + P(0,18)*SK_MY[4]);
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Kfusion[1] = SK_MY[0]*(P(1,20) + P(1,0)*SH_MAG[2] + P(1,1)*SH_MAG[1] + P(1,2)*SH_MAG[0] - P(1,3)*SK_MY[2] - P(1,17)*SK_MY[1] - P(1,16)*SK_MY[3] + P(1,18)*SK_MY[4]);
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Kfusion[2] = SK_MY[0]*(P(2,20) + P(2,0)*SH_MAG[2] + P(2,1)*SH_MAG[1] + P(2,2)*SH_MAG[0] - P(2,3)*SK_MY[2] - P(2,17)*SK_MY[1] - P(2,16)*SK_MY[3] + P(2,18)*SK_MY[4]);
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Kfusion[3] = SK_MY[0]*(P(3,20) + P(3,0)*SH_MAG[2] + P(3,1)*SH_MAG[1] + P(3,2)*SH_MAG[0] - P(3,3)*SK_MY[2] - P(3,17)*SK_MY[1] - P(3,16)*SK_MY[3] + P(3,18)*SK_MY[4]);
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Kfusion[4] = SK_MY[0]*(P(4,20) + P(4,0)*SH_MAG[2] + P(4,1)*SH_MAG[1] + P(4,2)*SH_MAG[0] - P(4,3)*SK_MY[2] - P(4,17)*SK_MY[1] - P(4,16)*SK_MY[3] + P(4,18)*SK_MY[4]);
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Kfusion[5] = SK_MY[0]*(P(5,20) + P(5,0)*SH_MAG[2] + P(5,1)*SH_MAG[1] + P(5,2)*SH_MAG[0] - P(5,3)*SK_MY[2] - P(5,17)*SK_MY[1] - P(5,16)*SK_MY[3] + P(5,18)*SK_MY[4]);
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Kfusion[6] = SK_MY[0]*(P(6,20) + P(6,0)*SH_MAG[2] + P(6,1)*SH_MAG[1] + P(6,2)*SH_MAG[0] - P(6,3)*SK_MY[2] - P(6,17)*SK_MY[1] - P(6,16)*SK_MY[3] + P(6,18)*SK_MY[4]);
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Kfusion[7] = SK_MY[0]*(P(7,20) + P(7,0)*SH_MAG[2] + P(7,1)*SH_MAG[1] + P(7,2)*SH_MAG[0] - P(7,3)*SK_MY[2] - P(7,17)*SK_MY[1] - P(7,16)*SK_MY[3] + P(7,18)*SK_MY[4]);
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Kfusion[8] = SK_MY[0]*(P(8,20) + P(8,0)*SH_MAG[2] + P(8,1)*SH_MAG[1] + P(8,2)*SH_MAG[0] - P(8,3)*SK_MY[2] - P(8,17)*SK_MY[1] - P(8,16)*SK_MY[3] + P(8,18)*SK_MY[4]);
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Kfusion[9] = SK_MY[0]*(P(9,20) + P(9,0)*SH_MAG[2] + P(9,1)*SH_MAG[1] + P(9,2)*SH_MAG[0] - P(9,3)*SK_MY[2] - P(9,17)*SK_MY[1] - P(9,16)*SK_MY[3] + P(9,18)*SK_MY[4]);
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Kfusion[10] = SK_MY[0]*(P(10,20) + P(10,0)*SH_MAG[2] + P(10,1)*SH_MAG[1] + P(10,2)*SH_MAG[0] - P(10,3)*SK_MY[2] - P(10,17)*SK_MY[1] - P(10,16)*SK_MY[3] + P(10,18)*SK_MY[4]);
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Kfusion[11] = SK_MY[0]*(P(11,20) + P(11,0)*SH_MAG[2] + P(11,1)*SH_MAG[1] + P(11,2)*SH_MAG[0] - P(11,3)*SK_MY[2] - P(11,17)*SK_MY[1] - P(11,16)*SK_MY[3] + P(11,18)*SK_MY[4]);
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Kfusion[12] = SK_MY[0]*(P(12,20) + P(12,0)*SH_MAG[2] + P(12,1)*SH_MAG[1] + P(12,2)*SH_MAG[0] - P(12,3)*SK_MY[2] - P(12,17)*SK_MY[1] - P(12,16)*SK_MY[3] + P(12,18)*SK_MY[4]);
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Kfusion[13] = SK_MY[0]*(P(13,20) + P(13,0)*SH_MAG[2] + P(13,1)*SH_MAG[1] + P(13,2)*SH_MAG[0] - P(13,3)*SK_MY[2] - P(13,17)*SK_MY[1] - P(13,16)*SK_MY[3] + P(13,18)*SK_MY[4]);
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Kfusion[14] = SK_MY[0]*(P(14,20) + P(14,0)*SH_MAG[2] + P(14,1)*SH_MAG[1] + P(14,2)*SH_MAG[0] - P(14,3)*SK_MY[2] - P(14,17)*SK_MY[1] - P(14,16)*SK_MY[3] + P(14,18)*SK_MY[4]);
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Kfusion[15] = SK_MY[0]*(P(15,20) + P(15,0)*SH_MAG[2] + P(15,1)*SH_MAG[1] + P(15,2)*SH_MAG[0] - P(15,3)*SK_MY[2] - P(15,17)*SK_MY[1] - P(15,16)*SK_MY[3] + P(15,18)*SK_MY[4]);
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Kfusion[22] = SK_MY[0]*(P(22,20) + P(22,0)*SH_MAG[2] + P(22,1)*SH_MAG[1] + P(22,2)*SH_MAG[0] - P(22,3)*SK_MY[2] - P(22,17)*SK_MY[1] - P(22,16)*SK_MY[3] + P(22,18)*SK_MY[4]);
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Kfusion[23] = SK_MY[0]*(P(23,20) + P(23,0)*SH_MAG[2] + P(23,1)*SH_MAG[1] + P(23,2)*SH_MAG[0] - P(23,3)*SK_MY[2] - P(23,17)*SK_MY[1] - P(23,16)*SK_MY[3] + P(23,18)*SK_MY[4]);
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Kfusion(0) = SK_MY[0]*(P(0,20) + P(0,0)*SH_MAG[2] + P(0,1)*SH_MAG[1] + P(0,2)*SH_MAG[0] - P(0,3)*SK_MY[2] - P(0,17)*SK_MY[1] - P(0,16)*SK_MY[3] + P(0,18)*SK_MY[4]);
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Kfusion(1) = SK_MY[0]*(P(1,20) + P(1,0)*SH_MAG[2] + P(1,1)*SH_MAG[1] + P(1,2)*SH_MAG[0] - P(1,3)*SK_MY[2] - P(1,17)*SK_MY[1] - P(1,16)*SK_MY[3] + P(1,18)*SK_MY[4]);
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Kfusion(2) = SK_MY[0]*(P(2,20) + P(2,0)*SH_MAG[2] + P(2,1)*SH_MAG[1] + P(2,2)*SH_MAG[0] - P(2,3)*SK_MY[2] - P(2,17)*SK_MY[1] - P(2,16)*SK_MY[3] + P(2,18)*SK_MY[4]);
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Kfusion(3) = SK_MY[0]*(P(3,20) + P(3,0)*SH_MAG[2] + P(3,1)*SH_MAG[1] + P(3,2)*SH_MAG[0] - P(3,3)*SK_MY[2] - P(3,17)*SK_MY[1] - P(3,16)*SK_MY[3] + P(3,18)*SK_MY[4]);
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Kfusion(4) = SK_MY[0]*(P(4,20) + P(4,0)*SH_MAG[2] + P(4,1)*SH_MAG[1] + P(4,2)*SH_MAG[0] - P(4,3)*SK_MY[2] - P(4,17)*SK_MY[1] - P(4,16)*SK_MY[3] + P(4,18)*SK_MY[4]);
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Kfusion(5) = SK_MY[0]*(P(5,20) + P(5,0)*SH_MAG[2] + P(5,1)*SH_MAG[1] + P(5,2)*SH_MAG[0] - P(5,3)*SK_MY[2] - P(5,17)*SK_MY[1] - P(5,16)*SK_MY[3] + P(5,18)*SK_MY[4]);
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Kfusion(6) = SK_MY[0]*(P(6,20) + P(6,0)*SH_MAG[2] + P(6,1)*SH_MAG[1] + P(6,2)*SH_MAG[0] - P(6,3)*SK_MY[2] - P(6,17)*SK_MY[1] - P(6,16)*SK_MY[3] + P(6,18)*SK_MY[4]);
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Kfusion(7) = SK_MY[0]*(P(7,20) + P(7,0)*SH_MAG[2] + P(7,1)*SH_MAG[1] + P(7,2)*SH_MAG[0] - P(7,3)*SK_MY[2] - P(7,17)*SK_MY[1] - P(7,16)*SK_MY[3] + P(7,18)*SK_MY[4]);
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Kfusion(8) = SK_MY[0]*(P(8,20) + P(8,0)*SH_MAG[2] + P(8,1)*SH_MAG[1] + P(8,2)*SH_MAG[0] - P(8,3)*SK_MY[2] - P(8,17)*SK_MY[1] - P(8,16)*SK_MY[3] + P(8,18)*SK_MY[4]);
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Kfusion(9) = SK_MY[0]*(P(9,20) + P(9,0)*SH_MAG[2] + P(9,1)*SH_MAG[1] + P(9,2)*SH_MAG[0] - P(9,3)*SK_MY[2] - P(9,17)*SK_MY[1] - P(9,16)*SK_MY[3] + P(9,18)*SK_MY[4]);
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Kfusion(10) = SK_MY[0]*(P(10,20) + P(10,0)*SH_MAG[2] + P(10,1)*SH_MAG[1] + P(10,2)*SH_MAG[0] - P(10,3)*SK_MY[2] - P(10,17)*SK_MY[1] - P(10,16)*SK_MY[3] + P(10,18)*SK_MY[4]);
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Kfusion(11) = SK_MY[0]*(P(11,20) + P(11,0)*SH_MAG[2] + P(11,1)*SH_MAG[1] + P(11,2)*SH_MAG[0] - P(11,3)*SK_MY[2] - P(11,17)*SK_MY[1] - P(11,16)*SK_MY[3] + P(11,18)*SK_MY[4]);
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Kfusion(12) = SK_MY[0]*(P(12,20) + P(12,0)*SH_MAG[2] + P(12,1)*SH_MAG[1] + P(12,2)*SH_MAG[0] - P(12,3)*SK_MY[2] - P(12,17)*SK_MY[1] - P(12,16)*SK_MY[3] + P(12,18)*SK_MY[4]);
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Kfusion(13) = SK_MY[0]*(P(13,20) + P(13,0)*SH_MAG[2] + P(13,1)*SH_MAG[1] + P(13,2)*SH_MAG[0] - P(13,3)*SK_MY[2] - P(13,17)*SK_MY[1] - P(13,16)*SK_MY[3] + P(13,18)*SK_MY[4]);
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Kfusion(14) = SK_MY[0]*(P(14,20) + P(14,0)*SH_MAG[2] + P(14,1)*SH_MAG[1] + P(14,2)*SH_MAG[0] - P(14,3)*SK_MY[2] - P(14,17)*SK_MY[1] - P(14,16)*SK_MY[3] + P(14,18)*SK_MY[4]);
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Kfusion(15) = SK_MY[0]*(P(15,20) + P(15,0)*SH_MAG[2] + P(15,1)*SH_MAG[1] + P(15,2)*SH_MAG[0] - P(15,3)*SK_MY[2] - P(15,17)*SK_MY[1] - P(15,16)*SK_MY[3] + P(15,18)*SK_MY[4]);
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Kfusion(22) = SK_MY[0]*(P(22,20) + P(22,0)*SH_MAG[2] + P(22,1)*SH_MAG[1] + P(22,2)*SH_MAG[0] - P(22,3)*SK_MY[2] - P(22,17)*SK_MY[1] - P(22,16)*SK_MY[3] + P(22,18)*SK_MY[4]);
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Kfusion(23) = SK_MY[0]*(P(23,20) + P(23,0)*SH_MAG[2] + P(23,1)*SH_MAG[1] + P(23,2)*SH_MAG[0] - P(23,3)*SK_MY[2] - P(23,17)*SK_MY[1] - P(23,16)*SK_MY[3] + P(23,18)*SK_MY[4]);
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}
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Kfusion[16] = SK_MY[0]*(P(16,20) + P(16,0)*SH_MAG[2] + P(16,1)*SH_MAG[1] + P(16,2)*SH_MAG[0] - P(16,3)*SK_MY[2] - P(16,17)*SK_MY[1] - P(16,16)*SK_MY[3] + P(16,18)*SK_MY[4]);
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Kfusion[17] = SK_MY[0]*(P(17,20) + P(17,0)*SH_MAG[2] + P(17,1)*SH_MAG[1] + P(17,2)*SH_MAG[0] - P(17,3)*SK_MY[2] - P(17,17)*SK_MY[1] - P(17,16)*SK_MY[3] + P(17,18)*SK_MY[4]);
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Kfusion[18] = SK_MY[0]*(P(18,20) + P(18,0)*SH_MAG[2] + P(18,1)*SH_MAG[1] + P(18,2)*SH_MAG[0] - P(18,3)*SK_MY[2] - P(18,17)*SK_MY[1] - P(18,16)*SK_MY[3] + P(18,18)*SK_MY[4]);
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Kfusion[19] = SK_MY[0]*(P(19,20) + P(19,0)*SH_MAG[2] + P(19,1)*SH_MAG[1] + P(19,2)*SH_MAG[0] - P(19,3)*SK_MY[2] - P(19,17)*SK_MY[1] - P(19,16)*SK_MY[3] + P(19,18)*SK_MY[4]);
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Kfusion[20] = SK_MY[0]*(P(20,20) + P(20,0)*SH_MAG[2] + P(20,1)*SH_MAG[1] + P(20,2)*SH_MAG[0] - P(20,3)*SK_MY[2] - P(20,17)*SK_MY[1] - P(20,16)*SK_MY[3] + P(20,18)*SK_MY[4]);
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Kfusion[21] = SK_MY[0]*(P(21,20) + P(21,0)*SH_MAG[2] + P(21,1)*SH_MAG[1] + P(21,2)*SH_MAG[0] - P(21,3)*SK_MY[2] - P(21,17)*SK_MY[1] - P(21,16)*SK_MY[3] + P(21,18)*SK_MY[4]);
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Kfusion(16) = SK_MY[0]*(P(16,20) + P(16,0)*SH_MAG[2] + P(16,1)*SH_MAG[1] + P(16,2)*SH_MAG[0] - P(16,3)*SK_MY[2] - P(16,17)*SK_MY[1] - P(16,16)*SK_MY[3] + P(16,18)*SK_MY[4]);
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Kfusion(17) = SK_MY[0]*(P(17,20) + P(17,0)*SH_MAG[2] + P(17,1)*SH_MAG[1] + P(17,2)*SH_MAG[0] - P(17,3)*SK_MY[2] - P(17,17)*SK_MY[1] - P(17,16)*SK_MY[3] + P(17,18)*SK_MY[4]);
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Kfusion(18) = SK_MY[0]*(P(18,20) + P(18,0)*SH_MAG[2] + P(18,1)*SH_MAG[1] + P(18,2)*SH_MAG[0] - P(18,3)*SK_MY[2] - P(18,17)*SK_MY[1] - P(18,16)*SK_MY[3] + P(18,18)*SK_MY[4]);
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Kfusion(19) = SK_MY[0]*(P(19,20) + P(19,0)*SH_MAG[2] + P(19,1)*SH_MAG[1] + P(19,2)*SH_MAG[0] - P(19,3)*SK_MY[2] - P(19,17)*SK_MY[1] - P(19,16)*SK_MY[3] + P(19,18)*SK_MY[4]);
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Kfusion(20) = SK_MY[0]*(P(20,20) + P(20,0)*SH_MAG[2] + P(20,1)*SH_MAG[1] + P(20,2)*SH_MAG[0] - P(20,3)*SK_MY[2] - P(20,17)*SK_MY[1] - P(20,16)*SK_MY[3] + P(20,18)*SK_MY[4]);
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Kfusion(21) = SK_MY[0]*(P(21,20) + P(21,0)*SH_MAG[2] + P(21,1)*SH_MAG[1] + P(21,2)*SH_MAG[0] - P(21,3)*SK_MY[2] - P(21,17)*SK_MY[1] - P(21,16)*SK_MY[3] + P(21,18)*SK_MY[4]);
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} else if (index == 2) {
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@@ -300,32 +300,32 @@ void Ekf::fuseMag()
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SK_MZ[4] = 2.0f*q0*q2 + 2.0f*q1*q3;
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if (update_all_states) {
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Kfusion[0] = SK_MZ[0]*(P(0,21) + P(0,0)*SH_MAG[1] - P(0,1)*SH_MAG[2] + P(0,3)*SH_MAG[0] + P(0,2)*SK_MZ[2] + P(0,18)*SK_MZ[1] + P(0,16)*SK_MZ[4] - P(0,17)*SK_MZ[3]);
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Kfusion[1] = SK_MZ[0]*(P(1,21) + P(1,0)*SH_MAG[1] - P(1,1)*SH_MAG[2] + P(1,3)*SH_MAG[0] + P(1,2)*SK_MZ[2] + P(1,18)*SK_MZ[1] + P(1,16)*SK_MZ[4] - P(1,17)*SK_MZ[3]);
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Kfusion[2] = SK_MZ[0]*(P(2,21) + P(2,0)*SH_MAG[1] - P(2,1)*SH_MAG[2] + P(2,3)*SH_MAG[0] + P(2,2)*SK_MZ[2] + P(2,18)*SK_MZ[1] + P(2,16)*SK_MZ[4] - P(2,17)*SK_MZ[3]);
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Kfusion[3] = SK_MZ[0]*(P(3,21) + P(3,0)*SH_MAG[1] - P(3,1)*SH_MAG[2] + P(3,3)*SH_MAG[0] + P(3,2)*SK_MZ[2] + P(3,18)*SK_MZ[1] + P(3,16)*SK_MZ[4] - P(3,17)*SK_MZ[3]);
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Kfusion[4] = SK_MZ[0]*(P(4,21) + P(4,0)*SH_MAG[1] - P(4,1)*SH_MAG[2] + P(4,3)*SH_MAG[0] + P(4,2)*SK_MZ[2] + P(4,18)*SK_MZ[1] + P(4,16)*SK_MZ[4] - P(4,17)*SK_MZ[3]);
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Kfusion[5] = SK_MZ[0]*(P(5,21) + P(5,0)*SH_MAG[1] - P(5,1)*SH_MAG[2] + P(5,3)*SH_MAG[0] + P(5,2)*SK_MZ[2] + P(5,18)*SK_MZ[1] + P(5,16)*SK_MZ[4] - P(5,17)*SK_MZ[3]);
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||||
Kfusion[6] = SK_MZ[0]*(P(6,21) + P(6,0)*SH_MAG[1] - P(6,1)*SH_MAG[2] + P(6,3)*SH_MAG[0] + P(6,2)*SK_MZ[2] + P(6,18)*SK_MZ[1] + P(6,16)*SK_MZ[4] - P(6,17)*SK_MZ[3]);
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||||
Kfusion[7] = SK_MZ[0]*(P(7,21) + P(7,0)*SH_MAG[1] - P(7,1)*SH_MAG[2] + P(7,3)*SH_MAG[0] + P(7,2)*SK_MZ[2] + P(7,18)*SK_MZ[1] + P(7,16)*SK_MZ[4] - P(7,17)*SK_MZ[3]);
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||||
Kfusion[8] = SK_MZ[0]*(P(8,21) + P(8,0)*SH_MAG[1] - P(8,1)*SH_MAG[2] + P(8,3)*SH_MAG[0] + P(8,2)*SK_MZ[2] + P(8,18)*SK_MZ[1] + P(8,16)*SK_MZ[4] - P(8,17)*SK_MZ[3]);
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||||
Kfusion[9] = SK_MZ[0]*(P(9,21) + P(9,0)*SH_MAG[1] - P(9,1)*SH_MAG[2] + P(9,3)*SH_MAG[0] + P(9,2)*SK_MZ[2] + P(9,18)*SK_MZ[1] + P(9,16)*SK_MZ[4] - P(9,17)*SK_MZ[3]);
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||||
Kfusion[10] = SK_MZ[0]*(P(10,21) + P(10,0)*SH_MAG[1] - P(10,1)*SH_MAG[2] + P(10,3)*SH_MAG[0] + P(10,2)*SK_MZ[2] + P(10,18)*SK_MZ[1] + P(10,16)*SK_MZ[4] - P(10,17)*SK_MZ[3]);
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||||
Kfusion[11] = SK_MZ[0]*(P(11,21) + P(11,0)*SH_MAG[1] - P(11,1)*SH_MAG[2] + P(11,3)*SH_MAG[0] + P(11,2)*SK_MZ[2] + P(11,18)*SK_MZ[1] + P(11,16)*SK_MZ[4] - P(11,17)*SK_MZ[3]);
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||||
Kfusion[12] = SK_MZ[0]*(P(12,21) + P(12,0)*SH_MAG[1] - P(12,1)*SH_MAG[2] + P(12,3)*SH_MAG[0] + P(12,2)*SK_MZ[2] + P(12,18)*SK_MZ[1] + P(12,16)*SK_MZ[4] - P(12,17)*SK_MZ[3]);
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||||
Kfusion[13] = SK_MZ[0]*(P(13,21) + P(13,0)*SH_MAG[1] - P(13,1)*SH_MAG[2] + P(13,3)*SH_MAG[0] + P(13,2)*SK_MZ[2] + P(13,18)*SK_MZ[1] + P(13,16)*SK_MZ[4] - P(13,17)*SK_MZ[3]);
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||||
Kfusion[14] = SK_MZ[0]*(P(14,21) + P(14,0)*SH_MAG[1] - P(14,1)*SH_MAG[2] + P(14,3)*SH_MAG[0] + P(14,2)*SK_MZ[2] + P(14,18)*SK_MZ[1] + P(14,16)*SK_MZ[4] - P(14,17)*SK_MZ[3]);
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||||
Kfusion[15] = SK_MZ[0]*(P(15,21) + P(15,0)*SH_MAG[1] - P(15,1)*SH_MAG[2] + P(15,3)*SH_MAG[0] + P(15,2)*SK_MZ[2] + P(15,18)*SK_MZ[1] + P(15,16)*SK_MZ[4] - P(15,17)*SK_MZ[3]);
|
||||
Kfusion[22] = SK_MZ[0]*(P(22,21) + P(22,0)*SH_MAG[1] - P(22,1)*SH_MAG[2] + P(22,3)*SH_MAG[0] + P(22,2)*SK_MZ[2] + P(22,18)*SK_MZ[1] + P(22,16)*SK_MZ[4] - P(22,17)*SK_MZ[3]);
|
||||
Kfusion[23] = SK_MZ[0]*(P(23,21) + P(23,0)*SH_MAG[1] - P(23,1)*SH_MAG[2] + P(23,3)*SH_MAG[0] + P(23,2)*SK_MZ[2] + P(23,18)*SK_MZ[1] + P(23,16)*SK_MZ[4] - P(23,17)*SK_MZ[3]);
|
||||
Kfusion(0) = SK_MZ[0]*(P(0,21) + P(0,0)*SH_MAG[1] - P(0,1)*SH_MAG[2] + P(0,3)*SH_MAG[0] + P(0,2)*SK_MZ[2] + P(0,18)*SK_MZ[1] + P(0,16)*SK_MZ[4] - P(0,17)*SK_MZ[3]);
|
||||
Kfusion(1) = SK_MZ[0]*(P(1,21) + P(1,0)*SH_MAG[1] - P(1,1)*SH_MAG[2] + P(1,3)*SH_MAG[0] + P(1,2)*SK_MZ[2] + P(1,18)*SK_MZ[1] + P(1,16)*SK_MZ[4] - P(1,17)*SK_MZ[3]);
|
||||
Kfusion(2) = SK_MZ[0]*(P(2,21) + P(2,0)*SH_MAG[1] - P(2,1)*SH_MAG[2] + P(2,3)*SH_MAG[0] + P(2,2)*SK_MZ[2] + P(2,18)*SK_MZ[1] + P(2,16)*SK_MZ[4] - P(2,17)*SK_MZ[3]);
|
||||
Kfusion(3) = SK_MZ[0]*(P(3,21) + P(3,0)*SH_MAG[1] - P(3,1)*SH_MAG[2] + P(3,3)*SH_MAG[0] + P(3,2)*SK_MZ[2] + P(3,18)*SK_MZ[1] + P(3,16)*SK_MZ[4] - P(3,17)*SK_MZ[3]);
|
||||
Kfusion(4) = SK_MZ[0]*(P(4,21) + P(4,0)*SH_MAG[1] - P(4,1)*SH_MAG[2] + P(4,3)*SH_MAG[0] + P(4,2)*SK_MZ[2] + P(4,18)*SK_MZ[1] + P(4,16)*SK_MZ[4] - P(4,17)*SK_MZ[3]);
|
||||
Kfusion(5) = SK_MZ[0]*(P(5,21) + P(5,0)*SH_MAG[1] - P(5,1)*SH_MAG[2] + P(5,3)*SH_MAG[0] + P(5,2)*SK_MZ[2] + P(5,18)*SK_MZ[1] + P(5,16)*SK_MZ[4] - P(5,17)*SK_MZ[3]);
|
||||
Kfusion(6) = SK_MZ[0]*(P(6,21) + P(6,0)*SH_MAG[1] - P(6,1)*SH_MAG[2] + P(6,3)*SH_MAG[0] + P(6,2)*SK_MZ[2] + P(6,18)*SK_MZ[1] + P(6,16)*SK_MZ[4] - P(6,17)*SK_MZ[3]);
|
||||
Kfusion(7) = SK_MZ[0]*(P(7,21) + P(7,0)*SH_MAG[1] - P(7,1)*SH_MAG[2] + P(7,3)*SH_MAG[0] + P(7,2)*SK_MZ[2] + P(7,18)*SK_MZ[1] + P(7,16)*SK_MZ[4] - P(7,17)*SK_MZ[3]);
|
||||
Kfusion(8) = SK_MZ[0]*(P(8,21) + P(8,0)*SH_MAG[1] - P(8,1)*SH_MAG[2] + P(8,3)*SH_MAG[0] + P(8,2)*SK_MZ[2] + P(8,18)*SK_MZ[1] + P(8,16)*SK_MZ[4] - P(8,17)*SK_MZ[3]);
|
||||
Kfusion(9) = SK_MZ[0]*(P(9,21) + P(9,0)*SH_MAG[1] - P(9,1)*SH_MAG[2] + P(9,3)*SH_MAG[0] + P(9,2)*SK_MZ[2] + P(9,18)*SK_MZ[1] + P(9,16)*SK_MZ[4] - P(9,17)*SK_MZ[3]);
|
||||
Kfusion(10) = SK_MZ[0]*(P(10,21) + P(10,0)*SH_MAG[1] - P(10,1)*SH_MAG[2] + P(10,3)*SH_MAG[0] + P(10,2)*SK_MZ[2] + P(10,18)*SK_MZ[1] + P(10,16)*SK_MZ[4] - P(10,17)*SK_MZ[3]);
|
||||
Kfusion(11) = SK_MZ[0]*(P(11,21) + P(11,0)*SH_MAG[1] - P(11,1)*SH_MAG[2] + P(11,3)*SH_MAG[0] + P(11,2)*SK_MZ[2] + P(11,18)*SK_MZ[1] + P(11,16)*SK_MZ[4] - P(11,17)*SK_MZ[3]);
|
||||
Kfusion(12) = SK_MZ[0]*(P(12,21) + P(12,0)*SH_MAG[1] - P(12,1)*SH_MAG[2] + P(12,3)*SH_MAG[0] + P(12,2)*SK_MZ[2] + P(12,18)*SK_MZ[1] + P(12,16)*SK_MZ[4] - P(12,17)*SK_MZ[3]);
|
||||
Kfusion(13) = SK_MZ[0]*(P(13,21) + P(13,0)*SH_MAG[1] - P(13,1)*SH_MAG[2] + P(13,3)*SH_MAG[0] + P(13,2)*SK_MZ[2] + P(13,18)*SK_MZ[1] + P(13,16)*SK_MZ[4] - P(13,17)*SK_MZ[3]);
|
||||
Kfusion(14) = SK_MZ[0]*(P(14,21) + P(14,0)*SH_MAG[1] - P(14,1)*SH_MAG[2] + P(14,3)*SH_MAG[0] + P(14,2)*SK_MZ[2] + P(14,18)*SK_MZ[1] + P(14,16)*SK_MZ[4] - P(14,17)*SK_MZ[3]);
|
||||
Kfusion(15) = SK_MZ[0]*(P(15,21) + P(15,0)*SH_MAG[1] - P(15,1)*SH_MAG[2] + P(15,3)*SH_MAG[0] + P(15,2)*SK_MZ[2] + P(15,18)*SK_MZ[1] + P(15,16)*SK_MZ[4] - P(15,17)*SK_MZ[3]);
|
||||
Kfusion(22) = SK_MZ[0]*(P(22,21) + P(22,0)*SH_MAG[1] - P(22,1)*SH_MAG[2] + P(22,3)*SH_MAG[0] + P(22,2)*SK_MZ[2] + P(22,18)*SK_MZ[1] + P(22,16)*SK_MZ[4] - P(22,17)*SK_MZ[3]);
|
||||
Kfusion(23) = SK_MZ[0]*(P(23,21) + P(23,0)*SH_MAG[1] - P(23,1)*SH_MAG[2] + P(23,3)*SH_MAG[0] + P(23,2)*SK_MZ[2] + P(23,18)*SK_MZ[1] + P(23,16)*SK_MZ[4] - P(23,17)*SK_MZ[3]);
|
||||
}
|
||||
|
||||
Kfusion[16] = SK_MZ[0]*(P(16,21) + P(16,0)*SH_MAG[1] - P(16,1)*SH_MAG[2] + P(16,3)*SH_MAG[0] + P(16,2)*SK_MZ[2] + P(16,18)*SK_MZ[1] + P(16,16)*SK_MZ[4] - P(16,17)*SK_MZ[3]);
|
||||
Kfusion[17] = SK_MZ[0]*(P(17,21) + P(17,0)*SH_MAG[1] - P(17,1)*SH_MAG[2] + P(17,3)*SH_MAG[0] + P(17,2)*SK_MZ[2] + P(17,18)*SK_MZ[1] + P(17,16)*SK_MZ[4] - P(17,17)*SK_MZ[3]);
|
||||
Kfusion[18] = SK_MZ[0]*(P(18,21) + P(18,0)*SH_MAG[1] - P(18,1)*SH_MAG[2] + P(18,3)*SH_MAG[0] + P(18,2)*SK_MZ[2] + P(18,18)*SK_MZ[1] + P(18,16)*SK_MZ[4] - P(18,17)*SK_MZ[3]);
|
||||
Kfusion[19] = SK_MZ[0]*(P(19,21) + P(19,0)*SH_MAG[1] - P(19,1)*SH_MAG[2] + P(19,3)*SH_MAG[0] + P(19,2)*SK_MZ[2] + P(19,18)*SK_MZ[1] + P(19,16)*SK_MZ[4] - P(19,17)*SK_MZ[3]);
|
||||
Kfusion[20] = SK_MZ[0]*(P(20,21) + P(20,0)*SH_MAG[1] - P(20,1)*SH_MAG[2] + P(20,3)*SH_MAG[0] + P(20,2)*SK_MZ[2] + P(20,18)*SK_MZ[1] + P(20,16)*SK_MZ[4] - P(20,17)*SK_MZ[3]);
|
||||
Kfusion[21] = SK_MZ[0]*(P(21,21) + P(21,0)*SH_MAG[1] - P(21,1)*SH_MAG[2] + P(21,3)*SH_MAG[0] + P(21,2)*SK_MZ[2] + P(21,18)*SK_MZ[1] + P(21,16)*SK_MZ[4] - P(21,17)*SK_MZ[3]);
|
||||
Kfusion(16) = SK_MZ[0]*(P(16,21) + P(16,0)*SH_MAG[1] - P(16,1)*SH_MAG[2] + P(16,3)*SH_MAG[0] + P(16,2)*SK_MZ[2] + P(16,18)*SK_MZ[1] + P(16,16)*SK_MZ[4] - P(16,17)*SK_MZ[3]);
|
||||
Kfusion(17) = SK_MZ[0]*(P(17,21) + P(17,0)*SH_MAG[1] - P(17,1)*SH_MAG[2] + P(17,3)*SH_MAG[0] + P(17,2)*SK_MZ[2] + P(17,18)*SK_MZ[1] + P(17,16)*SK_MZ[4] - P(17,17)*SK_MZ[3]);
|
||||
Kfusion(18) = SK_MZ[0]*(P(18,21) + P(18,0)*SH_MAG[1] - P(18,1)*SH_MAG[2] + P(18,3)*SH_MAG[0] + P(18,2)*SK_MZ[2] + P(18,18)*SK_MZ[1] + P(18,16)*SK_MZ[4] - P(18,17)*SK_MZ[3]);
|
||||
Kfusion(19) = SK_MZ[0]*(P(19,21) + P(19,0)*SH_MAG[1] - P(19,1)*SH_MAG[2] + P(19,3)*SH_MAG[0] + P(19,2)*SK_MZ[2] + P(19,18)*SK_MZ[1] + P(19,16)*SK_MZ[4] - P(19,17)*SK_MZ[3]);
|
||||
Kfusion(20) = SK_MZ[0]*(P(20,21) + P(20,0)*SH_MAG[1] - P(20,1)*SH_MAG[2] + P(20,3)*SH_MAG[0] + P(20,2)*SK_MZ[2] + P(20,18)*SK_MZ[1] + P(20,16)*SK_MZ[4] - P(20,17)*SK_MZ[3]);
|
||||
Kfusion(21) = SK_MZ[0]*(P(21,21) + P(21,0)*SH_MAG[1] - P(21,1)*SH_MAG[2] + P(21,3)*SH_MAG[0] + P(21,2)*SK_MZ[2] + P(21,18)*SK_MZ[1] + P(21,16)*SK_MZ[4] - P(21,17)*SK_MZ[3]);
|
||||
|
||||
} else {
|
||||
return;
|
||||
@@ -339,16 +339,16 @@ void Ekf::fuseMag()
|
||||
|
||||
for (unsigned row = 0; row < _k_num_states; row++) {
|
||||
|
||||
KH[0] = Kfusion[row] * H_MAG[0];
|
||||
KH[1] = Kfusion[row] * H_MAG[1];
|
||||
KH[2] = Kfusion[row] * H_MAG[2];
|
||||
KH[3] = Kfusion[row] * H_MAG[3];
|
||||
KH[4] = Kfusion[row] * H_MAG[16];
|
||||
KH[5] = Kfusion[row] * H_MAG[17];
|
||||
KH[6] = Kfusion[row] * H_MAG[18];
|
||||
KH[7] = Kfusion[row] * H_MAG[19];
|
||||
KH[8] = Kfusion[row] * H_MAG[20];
|
||||
KH[9] = Kfusion[row] * H_MAG[21];
|
||||
KH[0] = Kfusion(row) * H_MAG[0];
|
||||
KH[1] = Kfusion(row) * H_MAG[1];
|
||||
KH[2] = Kfusion(row) * H_MAG[2];
|
||||
KH[3] = Kfusion(row) * H_MAG[3];
|
||||
KH[4] = Kfusion(row) * H_MAG[16];
|
||||
KH[5] = Kfusion(row) * H_MAG[17];
|
||||
KH[6] = Kfusion(row) * H_MAG[18];
|
||||
KH[7] = Kfusion(row) * H_MAG[19];
|
||||
KH[8] = Kfusion(row) * H_MAG[20];
|
||||
KH[9] = Kfusion(row) * H_MAG[21];
|
||||
|
||||
for (unsigned column = 0; column < _k_num_states; column++) {
|
||||
float tmp = KH[0] * P(0,column);
|
||||
@@ -630,23 +630,23 @@ void Ekf::updateQuaternion(const float innovation, const float variance, const f
|
||||
|
||||
// calculate the Kalman gains
|
||||
// only calculate gains for states we are using
|
||||
float Kfusion[_k_num_states] = {};
|
||||
Vector24f Kfusion;
|
||||
|
||||
for (uint8_t row = 0; row <= 15; row++) {
|
||||
for (uint8_t col = 0; col <= 3; col++) {
|
||||
Kfusion[row] += P(row,col) * yaw_jacobian[col];
|
||||
Kfusion(row) += P(row,col) * yaw_jacobian[col];
|
||||
}
|
||||
|
||||
Kfusion[row] *= heading_innov_var_inv;
|
||||
Kfusion(row) *= heading_innov_var_inv;
|
||||
}
|
||||
|
||||
if (_control_status.flags.wind) {
|
||||
for (uint8_t row = 22; row <= 23; row++) {
|
||||
for (uint8_t col = 0; col <= 3; col++) {
|
||||
Kfusion[row] += P(row,col) * yaw_jacobian[col];
|
||||
Kfusion(row) += P(row,col) * yaw_jacobian[col];
|
||||
}
|
||||
|
||||
Kfusion[row] *= heading_innov_var_inv;
|
||||
Kfusion(row) *= heading_innov_var_inv;
|
||||
}
|
||||
}
|
||||
|
||||
@@ -685,10 +685,10 @@ void Ekf::updateQuaternion(const float innovation, const float variance, const f
|
||||
|
||||
for (unsigned row = 0; row < _k_num_states; row++) {
|
||||
|
||||
KH[0] = Kfusion[row] * yaw_jacobian[0];
|
||||
KH[1] = Kfusion[row] * yaw_jacobian[1];
|
||||
KH[2] = Kfusion[row] * yaw_jacobian[2];
|
||||
KH[3] = Kfusion[row] * yaw_jacobian[3];
|
||||
KH[0] = Kfusion(row) * yaw_jacobian[0];
|
||||
KH[1] = Kfusion(row) * yaw_jacobian[1];
|
||||
KH[2] = Kfusion(row) * yaw_jacobian[2];
|
||||
KH[3] = Kfusion(row) * yaw_jacobian[3];
|
||||
|
||||
for (unsigned column = 0; column < _k_num_states; column++) {
|
||||
float tmp = KH[0] * P(0,column);
|
||||
@@ -938,31 +938,31 @@ void Ekf::fuseDeclination(float decl_sigma)
|
||||
H_DECL[17] = magN*t21;
|
||||
|
||||
// Calculate the Kalman gains
|
||||
float Kfusion[_k_num_states] = {};
|
||||
Kfusion[0] = -t4*t13*(P(0,16)*magE-P(0,17)*magN);
|
||||
Kfusion[1] = -t4*t13*(P(1,16)*magE-P(1,17)*magN);
|
||||
Kfusion[2] = -t4*t13*(P(2,16)*magE-P(2,17)*magN);
|
||||
Kfusion[3] = -t4*t13*(P(3,16)*magE-P(3,17)*magN);
|
||||
Kfusion[4] = -t4*t13*(P(4,16)*magE-P(4,17)*magN);
|
||||
Kfusion[5] = -t4*t13*(P(5,16)*magE-P(5,17)*magN);
|
||||
Kfusion[6] = -t4*t13*(P(6,16)*magE-P(6,17)*magN);
|
||||
Kfusion[7] = -t4*t13*(P(7,16)*magE-P(7,17)*magN);
|
||||
Kfusion[8] = -t4*t13*(P(8,16)*magE-P(8,17)*magN);
|
||||
Kfusion[9] = -t4*t13*(P(9,16)*magE-P(9,17)*magN);
|
||||
Kfusion[10] = -t4*t13*(P(10,16)*magE-P(10,17)*magN);
|
||||
Kfusion[11] = -t4*t13*(P(11,16)*magE-P(11,17)*magN);
|
||||
Kfusion[12] = -t4*t13*(P(12,16)*magE-P(12,17)*magN);
|
||||
Kfusion[13] = -t4*t13*(P(13,16)*magE-P(13,17)*magN);
|
||||
Kfusion[14] = -t4*t13*(P(14,16)*magE-P(14,17)*magN);
|
||||
Kfusion[15] = -t4*t13*(P(15,16)*magE-P(15,17)*magN);
|
||||
Kfusion[16] = -t4*t13*(P(16,16)*magE-P(16,17)*magN);
|
||||
Kfusion[17] = -t4*t13*(P(17,16)*magE-P(17,17)*magN);
|
||||
Kfusion[18] = -t4*t13*(P(18,16)*magE-P(18,17)*magN);
|
||||
Kfusion[19] = -t4*t13*(P(19,16)*magE-P(19,17)*magN);
|
||||
Kfusion[20] = -t4*t13*(P(20,16)*magE-P(20,17)*magN);
|
||||
Kfusion[21] = -t4*t13*(P(21,16)*magE-P(21,17)*magN);
|
||||
Kfusion[22] = -t4*t13*(P(22,16)*magE-P(22,17)*magN);
|
||||
Kfusion[23] = -t4*t13*(P(23,16)*magE-P(23,17)*magN);
|
||||
Vector24f Kfusion;
|
||||
Kfusion(0) = -t4*t13*(P(0,16)*magE-P(0,17)*magN);
|
||||
Kfusion(1) = -t4*t13*(P(1,16)*magE-P(1,17)*magN);
|
||||
Kfusion(2) = -t4*t13*(P(2,16)*magE-P(2,17)*magN);
|
||||
Kfusion(3) = -t4*t13*(P(3,16)*magE-P(3,17)*magN);
|
||||
Kfusion(4) = -t4*t13*(P(4,16)*magE-P(4,17)*magN);
|
||||
Kfusion(5) = -t4*t13*(P(5,16)*magE-P(5,17)*magN);
|
||||
Kfusion(6) = -t4*t13*(P(6,16)*magE-P(6,17)*magN);
|
||||
Kfusion(7) = -t4*t13*(P(7,16)*magE-P(7,17)*magN);
|
||||
Kfusion(8) = -t4*t13*(P(8,16)*magE-P(8,17)*magN);
|
||||
Kfusion(9) = -t4*t13*(P(9,16)*magE-P(9,17)*magN);
|
||||
Kfusion(10) = -t4*t13*(P(10,16)*magE-P(10,17)*magN);
|
||||
Kfusion(11) = -t4*t13*(P(11,16)*magE-P(11,17)*magN);
|
||||
Kfusion(12) = -t4*t13*(P(12,16)*magE-P(12,17)*magN);
|
||||
Kfusion(13) = -t4*t13*(P(13,16)*magE-P(13,17)*magN);
|
||||
Kfusion(14) = -t4*t13*(P(14,16)*magE-P(14,17)*magN);
|
||||
Kfusion(15) = -t4*t13*(P(15,16)*magE-P(15,17)*magN);
|
||||
Kfusion(16) = -t4*t13*(P(16,16)*magE-P(16,17)*magN);
|
||||
Kfusion(17) = -t4*t13*(P(17,16)*magE-P(17,17)*magN);
|
||||
Kfusion(18) = -t4*t13*(P(18,16)*magE-P(18,17)*magN);
|
||||
Kfusion(19) = -t4*t13*(P(19,16)*magE-P(19,17)*magN);
|
||||
Kfusion(20) = -t4*t13*(P(20,16)*magE-P(20,17)*magN);
|
||||
Kfusion(21) = -t4*t13*(P(21,16)*magE-P(21,17)*magN);
|
||||
Kfusion(22) = -t4*t13*(P(22,16)*magE-P(22,17)*magN);
|
||||
Kfusion(23) = -t4*t13*(P(23,16)*magE-P(23,17)*magN);
|
||||
|
||||
const float innovation = math::constrain(atan2f(magE, magN) - getMagDeclination(), -0.5f, 0.5f);
|
||||
|
||||
@@ -974,8 +974,8 @@ void Ekf::fuseDeclination(float decl_sigma)
|
||||
float KH[2];
|
||||
for (unsigned row = 0; row < _k_num_states; row++) {
|
||||
|
||||
KH[0] = Kfusion[row] * H_DECL[16];
|
||||
KH[1] = Kfusion[row] * H_DECL[17];
|
||||
KH[0] = Kfusion(row) * H_DECL[16];
|
||||
KH[1] = Kfusion(row) * H_DECL[17];
|
||||
|
||||
for (unsigned column = 0; column < _k_num_states; column++) {
|
||||
float tmp = KH[0] * P(16,column);
|
||||
|
||||
@@ -431,10 +431,10 @@ void Ekf::fuseOptFlow()
|
||||
for (uint8_t obs_index = 0; obs_index <= 1; obs_index++) {
|
||||
|
||||
// copy the Kalman gain vector for the axis we are fusing
|
||||
float gain[24];
|
||||
Vector24f gain;
|
||||
|
||||
for (unsigned row = 0; row <= 23; row++) {
|
||||
gain[row] = Kfusion[row][obs_index];
|
||||
gain(row) = Kfusion[row][obs_index];
|
||||
}
|
||||
|
||||
// apply covariance correction via P_new = (I -K*H)*P
|
||||
@@ -445,13 +445,13 @@ void Ekf::fuseOptFlow()
|
||||
|
||||
for (unsigned row = 0; row < _k_num_states; row++) {
|
||||
|
||||
KH[0] = gain[row] * H_LOS[obs_index][0];
|
||||
KH[1] = gain[row] * H_LOS[obs_index][1];
|
||||
KH[2] = gain[row] * H_LOS[obs_index][2];
|
||||
KH[3] = gain[row] * H_LOS[obs_index][3];
|
||||
KH[4] = gain[row] * H_LOS[obs_index][4];
|
||||
KH[5] = gain[row] * H_LOS[obs_index][5];
|
||||
KH[6] = gain[row] * H_LOS[obs_index][6];
|
||||
KH[0] = gain(row) * H_LOS[obs_index][0];
|
||||
KH[1] = gain(row) * H_LOS[obs_index][1];
|
||||
KH[2] = gain(row) * H_LOS[obs_index][2];
|
||||
KH[3] = gain(row) * H_LOS[obs_index][3];
|
||||
KH[4] = gain(row) * H_LOS[obs_index][4];
|
||||
KH[5] = gain(row) * H_LOS[obs_index][5];
|
||||
KH[6] = gain(row) * H_LOS[obs_index][6];
|
||||
|
||||
for (unsigned column = 0; column < _k_num_states; column++) {
|
||||
float tmp = KH[0] * P(0,column);
|
||||
|
||||
+34
-35
@@ -49,7 +49,7 @@ void Ekf::fuseSideslip()
|
||||
float SH_BETA[13] = {}; // Variable used to optimise calculations of measurement jacobian
|
||||
float H_BETA[24] = {}; // Observation Jacobian
|
||||
float SK_BETA[8] = {}; // Variable used to optimise calculations of the Kalman gain vector
|
||||
float Kfusion[24] = {}; // Kalman gain vector
|
||||
Vector24f Kfusion; // Kalman gain vector
|
||||
float R_BETA = _params.beta_noise;
|
||||
|
||||
// get latest estimated orientation
|
||||
@@ -149,38 +149,37 @@ void Ekf::fuseSideslip()
|
||||
|
||||
// Calculate Kalman gains
|
||||
if (!update_wind_only) {
|
||||
|
||||
Kfusion[0] = SK_BETA[0]*(P(0,0)*SK_BETA[5] + P(0,1)*SK_BETA[4] - P(0,4)*SK_BETA[1] + P(0,5)*SK_BETA[2] + P(0,2)*SK_BETA[6] + P(0,6)*SK_BETA[3] - P(0,3)*SK_BETA[7] + P(0,22)*SK_BETA[1] - P(0,23)*SK_BETA[2]);
|
||||
Kfusion[1] = SK_BETA[0]*(P(1,0)*SK_BETA[5] + P(1,1)*SK_BETA[4] - P(1,4)*SK_BETA[1] + P(1,5)*SK_BETA[2] + P(1,2)*SK_BETA[6] + P(1,6)*SK_BETA[3] - P(1,3)*SK_BETA[7] + P(1,22)*SK_BETA[1] - P(1,23)*SK_BETA[2]);
|
||||
Kfusion[2] = SK_BETA[0]*(P(2,0)*SK_BETA[5] + P(2,1)*SK_BETA[4] - P(2,4)*SK_BETA[1] + P(2,5)*SK_BETA[2] + P(2,2)*SK_BETA[6] + P(2,6)*SK_BETA[3] - P(2,3)*SK_BETA[7] + P(2,22)*SK_BETA[1] - P(2,23)*SK_BETA[2]);
|
||||
Kfusion[3] = SK_BETA[0]*(P(3,0)*SK_BETA[5] + P(3,1)*SK_BETA[4] - P(3,4)*SK_BETA[1] + P(3,5)*SK_BETA[2] + P(3,2)*SK_BETA[6] + P(3,6)*SK_BETA[3] - P(3,3)*SK_BETA[7] + P(3,22)*SK_BETA[1] - P(3,23)*SK_BETA[2]);
|
||||
Kfusion[4] = SK_BETA[0]*(P(4,0)*SK_BETA[5] + P(4,1)*SK_BETA[4] - P(4,4)*SK_BETA[1] + P(4,5)*SK_BETA[2] + P(4,2)*SK_BETA[6] + P(4,6)*SK_BETA[3] - P(4,3)*SK_BETA[7] + P(4,22)*SK_BETA[1] - P(4,23)*SK_BETA[2]);
|
||||
Kfusion[5] = SK_BETA[0]*(P(5,0)*SK_BETA[5] + P(5,1)*SK_BETA[4] - P(5,4)*SK_BETA[1] + P(5,5)*SK_BETA[2] + P(5,2)*SK_BETA[6] + P(5,6)*SK_BETA[3] - P(5,3)*SK_BETA[7] + P(5,22)*SK_BETA[1] - P(5,23)*SK_BETA[2]);
|
||||
Kfusion[6] = SK_BETA[0]*(P(6,0)*SK_BETA[5] + P(6,1)*SK_BETA[4] - P(6,4)*SK_BETA[1] + P(6,5)*SK_BETA[2] + P(6,2)*SK_BETA[6] + P(6,6)*SK_BETA[3] - P(6,3)*SK_BETA[7] + P(6,22)*SK_BETA[1] - P(6,23)*SK_BETA[2]);
|
||||
Kfusion[7] = SK_BETA[0]*(P(7,0)*SK_BETA[5] + P(7,1)*SK_BETA[4] - P(7,4)*SK_BETA[1] + P(7,5)*SK_BETA[2] + P(7,2)*SK_BETA[6] + P(7,6)*SK_BETA[3] - P(7,3)*SK_BETA[7] + P(7,22)*SK_BETA[1] - P(7,23)*SK_BETA[2]);
|
||||
Kfusion[8] = SK_BETA[0]*(P(8,0)*SK_BETA[5] + P(8,1)*SK_BETA[4] - P(8,4)*SK_BETA[1] + P(8,5)*SK_BETA[2] + P(8,2)*SK_BETA[6] + P(8,6)*SK_BETA[3] - P(8,3)*SK_BETA[7] + P(8,22)*SK_BETA[1] - P(8,23)*SK_BETA[2]);
|
||||
Kfusion[9] = SK_BETA[0]*(P(9,0)*SK_BETA[5] + P(9,1)*SK_BETA[4] - P(9,4)*SK_BETA[1] + P(9,5)*SK_BETA[2] + P(9,2)*SK_BETA[6] + P(9,6)*SK_BETA[3] - P(9,3)*SK_BETA[7] + P(9,22)*SK_BETA[1] - P(9,23)*SK_BETA[2]);
|
||||
Kfusion[10] = SK_BETA[0]*(P(10,0)*SK_BETA[5] + P(10,1)*SK_BETA[4] - P(10,4)*SK_BETA[1] + P(10,5)*SK_BETA[2] + P(10,2)*SK_BETA[6] + P(10,6)*SK_BETA[3] - P(10,3)*SK_BETA[7] + P(10,22)*SK_BETA[1] - P(10,23)*SK_BETA[2]);
|
||||
Kfusion[11] = SK_BETA[0]*(P(11,0)*SK_BETA[5] + P(11,1)*SK_BETA[4] - P(11,4)*SK_BETA[1] + P(11,5)*SK_BETA[2] + P(11,2)*SK_BETA[6] + P(11,6)*SK_BETA[3] - P(11,3)*SK_BETA[7] + P(11,22)*SK_BETA[1] - P(11,23)*SK_BETA[2]);
|
||||
Kfusion[12] = SK_BETA[0]*(P(12,0)*SK_BETA[5] + P(12,1)*SK_BETA[4] - P(12,4)*SK_BETA[1] + P(12,5)*SK_BETA[2] + P(12,2)*SK_BETA[6] + P(12,6)*SK_BETA[3] - P(12,3)*SK_BETA[7] + P(12,22)*SK_BETA[1] - P(12,23)*SK_BETA[2]);
|
||||
Kfusion[13] = SK_BETA[0]*(P(13,0)*SK_BETA[5] + P(13,1)*SK_BETA[4] - P(13,4)*SK_BETA[1] + P(13,5)*SK_BETA[2] + P(13,2)*SK_BETA[6] + P(13,6)*SK_BETA[3] - P(13,3)*SK_BETA[7] + P(13,22)*SK_BETA[1] - P(13,23)*SK_BETA[2]);
|
||||
Kfusion[14] = SK_BETA[0]*(P(14,0)*SK_BETA[5] + P(14,1)*SK_BETA[4] - P(14,4)*SK_BETA[1] + P(14,5)*SK_BETA[2] + P(14,2)*SK_BETA[6] + P(14,6)*SK_BETA[3] - P(14,3)*SK_BETA[7] + P(14,22)*SK_BETA[1] - P(14,23)*SK_BETA[2]);
|
||||
Kfusion[15] = SK_BETA[0]*(P(15,0)*SK_BETA[5] + P(15,1)*SK_BETA[4] - P(15,4)*SK_BETA[1] + P(15,5)*SK_BETA[2] + P(15,2)*SK_BETA[6] + P(15,6)*SK_BETA[3] - P(15,3)*SK_BETA[7] + P(15,22)*SK_BETA[1] - P(15,23)*SK_BETA[2]);
|
||||
Kfusion(0) = SK_BETA[0]*(P(0,0)*SK_BETA[5] + P(0,1)*SK_BETA[4] - P(0,4)*SK_BETA[1] + P(0,5)*SK_BETA[2] + P(0,2)*SK_BETA[6] + P(0,6)*SK_BETA[3] - P(0,3)*SK_BETA[7] + P(0,22)*SK_BETA[1] - P(0,23)*SK_BETA[2]);
|
||||
Kfusion(1) = SK_BETA[0]*(P(1,0)*SK_BETA[5] + P(1,1)*SK_BETA[4] - P(1,4)*SK_BETA[1] + P(1,5)*SK_BETA[2] + P(1,2)*SK_BETA[6] + P(1,6)*SK_BETA[3] - P(1,3)*SK_BETA[7] + P(1,22)*SK_BETA[1] - P(1,23)*SK_BETA[2]);
|
||||
Kfusion(2) = SK_BETA[0]*(P(2,0)*SK_BETA[5] + P(2,1)*SK_BETA[4] - P(2,4)*SK_BETA[1] + P(2,5)*SK_BETA[2] + P(2,2)*SK_BETA[6] + P(2,6)*SK_BETA[3] - P(2,3)*SK_BETA[7] + P(2,22)*SK_BETA[1] - P(2,23)*SK_BETA[2]);
|
||||
Kfusion(3) = SK_BETA[0]*(P(3,0)*SK_BETA[5] + P(3,1)*SK_BETA[4] - P(3,4)*SK_BETA[1] + P(3,5)*SK_BETA[2] + P(3,2)*SK_BETA[6] + P(3,6)*SK_BETA[3] - P(3,3)*SK_BETA[7] + P(3,22)*SK_BETA[1] - P(3,23)*SK_BETA[2]);
|
||||
Kfusion(4) = SK_BETA[0]*(P(4,0)*SK_BETA[5] + P(4,1)*SK_BETA[4] - P(4,4)*SK_BETA[1] + P(4,5)*SK_BETA[2] + P(4,2)*SK_BETA[6] + P(4,6)*SK_BETA[3] - P(4,3)*SK_BETA[7] + P(4,22)*SK_BETA[1] - P(4,23)*SK_BETA[2]);
|
||||
Kfusion(5) = SK_BETA[0]*(P(5,0)*SK_BETA[5] + P(5,1)*SK_BETA[4] - P(5,4)*SK_BETA[1] + P(5,5)*SK_BETA[2] + P(5,2)*SK_BETA[6] + P(5,6)*SK_BETA[3] - P(5,3)*SK_BETA[7] + P(5,22)*SK_BETA[1] - P(5,23)*SK_BETA[2]);
|
||||
Kfusion(6) = SK_BETA[0]*(P(6,0)*SK_BETA[5] + P(6,1)*SK_BETA[4] - P(6,4)*SK_BETA[1] + P(6,5)*SK_BETA[2] + P(6,2)*SK_BETA[6] + P(6,6)*SK_BETA[3] - P(6,3)*SK_BETA[7] + P(6,22)*SK_BETA[1] - P(6,23)*SK_BETA[2]);
|
||||
Kfusion(7) = SK_BETA[0]*(P(7,0)*SK_BETA[5] + P(7,1)*SK_BETA[4] - P(7,4)*SK_BETA[1] + P(7,5)*SK_BETA[2] + P(7,2)*SK_BETA[6] + P(7,6)*SK_BETA[3] - P(7,3)*SK_BETA[7] + P(7,22)*SK_BETA[1] - P(7,23)*SK_BETA[2]);
|
||||
Kfusion(8) = SK_BETA[0]*(P(8,0)*SK_BETA[5] + P(8,1)*SK_BETA[4] - P(8,4)*SK_BETA[1] + P(8,5)*SK_BETA[2] + P(8,2)*SK_BETA[6] + P(8,6)*SK_BETA[3] - P(8,3)*SK_BETA[7] + P(8,22)*SK_BETA[1] - P(8,23)*SK_BETA[2]);
|
||||
Kfusion(9) = SK_BETA[0]*(P(9,0)*SK_BETA[5] + P(9,1)*SK_BETA[4] - P(9,4)*SK_BETA[1] + P(9,5)*SK_BETA[2] + P(9,2)*SK_BETA[6] + P(9,6)*SK_BETA[3] - P(9,3)*SK_BETA[7] + P(9,22)*SK_BETA[1] - P(9,23)*SK_BETA[2]);
|
||||
Kfusion(10) = SK_BETA[0]*(P(10,0)*SK_BETA[5] + P(10,1)*SK_BETA[4] - P(10,4)*SK_BETA[1] + P(10,5)*SK_BETA[2] + P(10,2)*SK_BETA[6] + P(10,6)*SK_BETA[3] - P(10,3)*SK_BETA[7] + P(10,22)*SK_BETA[1] - P(10,23)*SK_BETA[2]);
|
||||
Kfusion(11) = SK_BETA[0]*(P(11,0)*SK_BETA[5] + P(11,1)*SK_BETA[4] - P(11,4)*SK_BETA[1] + P(11,5)*SK_BETA[2] + P(11,2)*SK_BETA[6] + P(11,6)*SK_BETA[3] - P(11,3)*SK_BETA[7] + P(11,22)*SK_BETA[1] - P(11,23)*SK_BETA[2]);
|
||||
Kfusion(12) = SK_BETA[0]*(P(12,0)*SK_BETA[5] + P(12,1)*SK_BETA[4] - P(12,4)*SK_BETA[1] + P(12,5)*SK_BETA[2] + P(12,2)*SK_BETA[6] + P(12,6)*SK_BETA[3] - P(12,3)*SK_BETA[7] + P(12,22)*SK_BETA[1] - P(12,23)*SK_BETA[2]);
|
||||
Kfusion(13) = SK_BETA[0]*(P(13,0)*SK_BETA[5] + P(13,1)*SK_BETA[4] - P(13,4)*SK_BETA[1] + P(13,5)*SK_BETA[2] + P(13,2)*SK_BETA[6] + P(13,6)*SK_BETA[3] - P(13,3)*SK_BETA[7] + P(13,22)*SK_BETA[1] - P(13,23)*SK_BETA[2]);
|
||||
Kfusion(14) = SK_BETA[0]*(P(14,0)*SK_BETA[5] + P(14,1)*SK_BETA[4] - P(14,4)*SK_BETA[1] + P(14,5)*SK_BETA[2] + P(14,2)*SK_BETA[6] + P(14,6)*SK_BETA[3] - P(14,3)*SK_BETA[7] + P(14,22)*SK_BETA[1] - P(14,23)*SK_BETA[2]);
|
||||
Kfusion(15) = SK_BETA[0]*(P(15,0)*SK_BETA[5] + P(15,1)*SK_BETA[4] - P(15,4)*SK_BETA[1] + P(15,5)*SK_BETA[2] + P(15,2)*SK_BETA[6] + P(15,6)*SK_BETA[3] - P(15,3)*SK_BETA[7] + P(15,22)*SK_BETA[1] - P(15,23)*SK_BETA[2]);
|
||||
|
||||
// Only update the magnetometer states if we are airborne and using 3D mag fusion
|
||||
if (_control_status.flags.mag_3D && _control_status.flags.in_air) {
|
||||
Kfusion[16] = SK_BETA[0]*(P(16,0)*SK_BETA[5] + P(16,1)*SK_BETA[4] - P(16,4)*SK_BETA[1] + P(16,5)*SK_BETA[2] + P(16,2)*SK_BETA[6] + P(16,6)*SK_BETA[3] - P(16,3)*SK_BETA[7] + P(16,22)*SK_BETA[1] - P(16,23)*SK_BETA[2]);
|
||||
Kfusion[17] = SK_BETA[0]*(P(17,0)*SK_BETA[5] + P(17,1)*SK_BETA[4] - P(17,4)*SK_BETA[1] + P(17,5)*SK_BETA[2] + P(17,2)*SK_BETA[6] + P(17,6)*SK_BETA[3] - P(17,3)*SK_BETA[7] + P(17,22)*SK_BETA[1] - P(17,23)*SK_BETA[2]);
|
||||
Kfusion[18] = SK_BETA[0]*(P(18,0)*SK_BETA[5] + P(18,1)*SK_BETA[4] - P(18,4)*SK_BETA[1] + P(18,5)*SK_BETA[2] + P(18,2)*SK_BETA[6] + P(18,6)*SK_BETA[3] - P(18,3)*SK_BETA[7] + P(18,22)*SK_BETA[1] - P(18,23)*SK_BETA[2]);
|
||||
Kfusion[19] = SK_BETA[0]*(P(19,0)*SK_BETA[5] + P(19,1)*SK_BETA[4] - P(19,4)*SK_BETA[1] + P(19,5)*SK_BETA[2] + P(19,2)*SK_BETA[6] + P(19,6)*SK_BETA[3] - P(19,3)*SK_BETA[7] + P(19,22)*SK_BETA[1] - P(19,23)*SK_BETA[2]);
|
||||
Kfusion[20] = SK_BETA[0]*(P(20,0)*SK_BETA[5] + P(20,1)*SK_BETA[4] - P(20,4)*SK_BETA[1] + P(20,5)*SK_BETA[2] + P(20,2)*SK_BETA[6] + P(20,6)*SK_BETA[3] - P(20,3)*SK_BETA[7] + P(20,22)*SK_BETA[1] - P(20,23)*SK_BETA[2]);
|
||||
Kfusion[21] = SK_BETA[0]*(P(21,0)*SK_BETA[5] + P(21,1)*SK_BETA[4] - P(21,4)*SK_BETA[1] + P(21,5)*SK_BETA[2] + P(21,2)*SK_BETA[6] + P(21,6)*SK_BETA[3] - P(21,3)*SK_BETA[7] + P(21,22)*SK_BETA[1] - P(21,23)*SK_BETA[2]);
|
||||
Kfusion(16) = SK_BETA[0]*(P(16,0)*SK_BETA[5] + P(16,1)*SK_BETA[4] - P(16,4)*SK_BETA[1] + P(16,5)*SK_BETA[2] + P(16,2)*SK_BETA[6] + P(16,6)*SK_BETA[3] - P(16,3)*SK_BETA[7] + P(16,22)*SK_BETA[1] - P(16,23)*SK_BETA[2]);
|
||||
Kfusion(17) = SK_BETA[0]*(P(17,0)*SK_BETA[5] + P(17,1)*SK_BETA[4] - P(17,4)*SK_BETA[1] + P(17,5)*SK_BETA[2] + P(17,2)*SK_BETA[6] + P(17,6)*SK_BETA[3] - P(17,3)*SK_BETA[7] + P(17,22)*SK_BETA[1] - P(17,23)*SK_BETA[2]);
|
||||
Kfusion(18) = SK_BETA[0]*(P(18,0)*SK_BETA[5] + P(18,1)*SK_BETA[4] - P(18,4)*SK_BETA[1] + P(18,5)*SK_BETA[2] + P(18,2)*SK_BETA[6] + P(18,6)*SK_BETA[3] - P(18,3)*SK_BETA[7] + P(18,22)*SK_BETA[1] - P(18,23)*SK_BETA[2]);
|
||||
Kfusion(19) = SK_BETA[0]*(P(19,0)*SK_BETA[5] + P(19,1)*SK_BETA[4] - P(19,4)*SK_BETA[1] + P(19,5)*SK_BETA[2] + P(19,2)*SK_BETA[6] + P(19,6)*SK_BETA[3] - P(19,3)*SK_BETA[7] + P(19,22)*SK_BETA[1] - P(19,23)*SK_BETA[2]);
|
||||
Kfusion(20) = SK_BETA[0]*(P(20,0)*SK_BETA[5] + P(20,1)*SK_BETA[4] - P(20,4)*SK_BETA[1] + P(20,5)*SK_BETA[2] + P(20,2)*SK_BETA[6] + P(20,6)*SK_BETA[3] - P(20,3)*SK_BETA[7] + P(20,22)*SK_BETA[1] - P(20,23)*SK_BETA[2]);
|
||||
Kfusion(21) = SK_BETA[0]*(P(21,0)*SK_BETA[5] + P(21,1)*SK_BETA[4] - P(21,4)*SK_BETA[1] + P(21,5)*SK_BETA[2] + P(21,2)*SK_BETA[6] + P(21,6)*SK_BETA[3] - P(21,3)*SK_BETA[7] + P(21,22)*SK_BETA[1] - P(21,23)*SK_BETA[2]);
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
Kfusion[22] = SK_BETA[0]*(P(22,0)*SK_BETA[5] + P(22,1)*SK_BETA[4] - P(22,4)*SK_BETA[1] + P(22,5)*SK_BETA[2] + P(22,2)*SK_BETA[6] + P(22,6)*SK_BETA[3] - P(22,3)*SK_BETA[7] + P(22,22)*SK_BETA[1] - P(22,23)*SK_BETA[2]);
|
||||
Kfusion[23] = SK_BETA[0]*(P(23,0)*SK_BETA[5] + P(23,1)*SK_BETA[4] - P(23,4)*SK_BETA[1] + P(23,5)*SK_BETA[2] + P(23,2)*SK_BETA[6] + P(23,6)*SK_BETA[3] - P(23,3)*SK_BETA[7] + P(23,22)*SK_BETA[1] - P(23,23)*SK_BETA[2]);
|
||||
Kfusion(22) = SK_BETA[0]*(P(22,0)*SK_BETA[5] + P(22,1)*SK_BETA[4] - P(22,4)*SK_BETA[1] + P(22,5)*SK_BETA[2] + P(22,2)*SK_BETA[6] + P(22,6)*SK_BETA[3] - P(22,3)*SK_BETA[7] + P(22,22)*SK_BETA[1] - P(22,23)*SK_BETA[2]);
|
||||
Kfusion(23) = SK_BETA[0]*(P(23,0)*SK_BETA[5] + P(23,1)*SK_BETA[4] - P(23,4)*SK_BETA[1] + P(23,5)*SK_BETA[2] + P(23,2)*SK_BETA[6] + P(23,6)*SK_BETA[3] - P(23,3)*SK_BETA[7] + P(23,22)*SK_BETA[1] - P(23,23)*SK_BETA[2]);
|
||||
|
||||
// Calculate predicted sideslip angle and innovation using small angle approximation
|
||||
_beta_innov = rel_wind_body(1) / rel_wind_body(0);
|
||||
@@ -207,15 +206,15 @@ void Ekf::fuseSideslip()
|
||||
float KH[9];
|
||||
|
||||
for (unsigned row = 0; row < _k_num_states; row++) {
|
||||
KH[0] = Kfusion[row] * H_BETA[0];
|
||||
KH[1] = Kfusion[row] * H_BETA[1];
|
||||
KH[2] = Kfusion[row] * H_BETA[2];
|
||||
KH[3] = Kfusion[row] * H_BETA[3];
|
||||
KH[4] = Kfusion[row] * H_BETA[4];
|
||||
KH[5] = Kfusion[row] * H_BETA[5];
|
||||
KH[6] = Kfusion[row] * H_BETA[6];
|
||||
KH[7] = Kfusion[row] * H_BETA[22];
|
||||
KH[8] = Kfusion[row] * H_BETA[23];
|
||||
KH[0] = Kfusion(row) * H_BETA[0];
|
||||
KH[1] = Kfusion(row) * H_BETA[1];
|
||||
KH[2] = Kfusion(row) * H_BETA[2];
|
||||
KH[3] = Kfusion(row) * H_BETA[3];
|
||||
KH[4] = Kfusion(row) * H_BETA[4];
|
||||
KH[5] = Kfusion(row) * H_BETA[5];
|
||||
KH[6] = Kfusion(row) * H_BETA[6];
|
||||
KH[7] = Kfusion(row) * H_BETA[22];
|
||||
KH[8] = Kfusion(row) * H_BETA[23];
|
||||
|
||||
for (unsigned column = 0; column < _k_num_states; column++) {
|
||||
float tmp = KH[0] * P(0,column);
|
||||
|
||||
@@ -153,19 +153,19 @@ bool Ekf::fuseVerticalPosition(const Vector3f &innov, const Vector2f &innov_gate
|
||||
void Ekf::fuseVelPosHeight(const float innov, const float innov_var, const int obs_index)
|
||||
{
|
||||
|
||||
float Kfusion[24]; // Kalman gain vector for any single observation - sequential fusion is used.
|
||||
Vector24f Kfusion; // Kalman gain vector for any single observation - sequential fusion is used.
|
||||
const unsigned state_index = obs_index + 4; // we start with vx and this is the 4. state
|
||||
|
||||
// calculate kalman gain K = PHS, where S = 1/innovation variance
|
||||
for (int row = 0; row < _k_num_states; row++) {
|
||||
Kfusion[row] = P(row, state_index) / innov_var;
|
||||
Kfusion(row) = P(row, state_index) / innov_var;
|
||||
}
|
||||
|
||||
SquareMatrix24f KHP;
|
||||
|
||||
for (unsigned row = 0; row < _k_num_states; row++) {
|
||||
for (unsigned column = 0; column < _k_num_states; column++) {
|
||||
KHP(row, column) = Kfusion[row] * P(state_index, column);
|
||||
KHP(row, column) = Kfusion(row) * P(state_index, column);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
+346
-346
@@ -3,349 +3,349 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
|
||||
85000,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
||||
185000,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
||||
285000,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
|
||||
385000,0.982906,-0.00775222,-0.0134292,0.183453,0.000445836,0.000257906,-0.00515775,3.74516e-06,5.43776e-06,-7.479e-05,0,0,0,0,0,0,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,0.000168954,0.00247418,0.00247368,0.00483311,25.0004,25.0004,0.562573,0.259374,0.259374,4.00051,1e-06,1e-06,1e-06,0,0,4e-06,0,0,0,0,0,0,0,0
|
||||
485000,0.983207,-0.00779267,-0.0137988,0.181806,0.00149517,0.000487557,-0.0226199,0.000128857,3.88732e-05,0.012004,3.89714e-08,1.38181e-10,1.63937e-06,0,0,5.50648e-08,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,9.05599e-05,0.00251394,0.0025137,0.00257812,25.0144,25.0144,0.56266,0.609418,0.609418,0.802449,9.99999e-07,1e-06,9.98121e-07,0,0,4.00001e-06,0,0,0,0,0,0,0,0
|
||||
585000,0.983235,-0.00781283,-0.0140176,0.181633,0.000142816,0.000425494,-0.0407873,4.57242e-05,1.65577e-05,0.00559437,4.92311e-08,-1.10894e-10,2.06609e-06,0,0,1.69579e-07,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,6.31735e-05,0.00260317,0.00260303,0.00179033,7.81663,7.81663,0.56147,0.228172,0.228172,0.451638,9.99994e-07,9.99999e-07,9.91443e-07,0,0,4e-06,0,0,0,0,0,0,0,0
|
||||
685000,0.983166,-0.00784229,-0.0143846,0.181978,0.00273131,0.00149319,-0.0490413,0.00022836,0.000116917,0.0168581,1.00718e-08,-3.07713e-10,4.61954e-07,0,0,-3.88273e-07,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,4.99494e-05,0.00274313,0.00274301,0.00140913,7.85794,7.85794,0.557235,0.486139,0.486139,0.322026,9.99986e-07,9.99999e-07,9.77538e-07,0,0,3.99989e-06,0,0,0,0,0,0,0,0
|
||||
785000,0.983129,-0.00784217,-0.0146116,0.18216,0.00372337,0.00338268,-0.0598125,0.000120916,8.73528e-05,0.0131548,-2.03634e-08,-5.71334e-09,-8.26504e-07,0,0,-6.61608e-07,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,4.27469e-05,0.00292596,0.00292586,0.00120115,2.60141,2.60142,0.548781,0.195736,0.195736,0.259034,9.99886e-07,9.99914e-07,9.55188e-07,0,0,3.99951e-06,0,0,0,0,0,0,0,0
|
||||
885000,0.983035,-0.0078867,-0.0149611,0.182637,0.00537375,0.00623853,-0.0766231,0.000540952,0.000537907,-0.000216638,-1.6477e-07,-9.61094e-09,-6.50681e-06,0,0,9.87685e-08,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,3.8706e-05,0.00316567,0.00316556,0.00108283,2.66545,2.66547,0.534815,0.329581,0.329582,0.225286,9.99866e-07,9.99914e-07,9.23082e-07,0,0,3.99856e-06,0,0,0,0,0,0,0,0
|
||||
985000,0.982858,-0.00782901,-0.0152572,0.183566,0.00823653,0.00902617,-0.0901081,0.00123166,0.00123919,-0.00832501,-4.8827e-07,-1.48091e-08,-1.91202e-05,0,0,-1.56205e-07,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,3.82299e-05,0.00345539,0.00345524,0.00106637,2.75673,2.75676,0.521629,0.517615,0.517616,0.218362,9.99846e-07,9.99914e-07,8.92597e-07,0,0,3.99721e-06,0,0,0,0,0,0,0,0
|
||||
1085000,0.982942,-0.00793611,-0.0154438,0.183097,0.0140873,0.00748821,-0.109262,0.0013254,0.00114805,-0.0271139,-2.76347e-07,-7.16624e-08,-1.19198e-05,0,0,2.02263e-06,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,3.69739e-05,0.00376377,0.00376359,0.00102686,1.29637,1.29641,0.497696,0.244345,0.244346,0.207776,9.98973e-07,9.99074e-07,8.44402e-07,0,0,3.99418e-06,0,0,0,0,0,0,0,0
|
||||
1185000,0.982986,-0.00789683,-0.0157172,0.182837,0.0200033,0.00774763,-0.10944,0.00300045,0.00190009,-0.0224507,-1.67139e-07,-5.74794e-08,-7.66243e-06,0,0,-3.17895e-06,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,3.64378e-05,0.00415181,0.00415156,0.00100717,1.42437,1.42444,0.469193,0.352138,0.352141,0.202802,9.98935e-07,9.99074e-07,7.89548e-07,0,0,3.98936e-06,0,0,0,0,0,0,0,0
|
||||
1285000,0.983228,-0.0078191,-0.0159541,0.181511,0.0248719,0.00741285,-0.118106,0.00314531,0.00131956,-0.0274477,4.83611e-07,-3.64063e-07,1.44704e-05,0,0,-5.99276e-06,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,3.61687e-05,0.00448529,0.00448496,0.000997098,0.899467,0.899538,0.437026,0.197243,0.197244,0.200584,9.94637e-07,9.94818e-07,7.29674e-07,0,0,3.98218e-06,0,0,0,0,0,0,0,0
|
||||
1385000,0.983298,-0.00779835,-0.0161705,0.181118,0.0336815,0.00815884,-0.117744,0.00609986,0.00212856,-0.0250338,6.08978e-07,-3.33023e-07,1.90588e-05,0,0,-1.3188e-05,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,3.60413e-05,0.00496644,0.00496601,0.000990509,1.07437,1.07449,0.402816,0.274389,0.274394,0.199431,9.9459e-07,9.94818e-07,6.67293e-07,0,0,3.97225e-06,0,0,0,0,0,0,0,0
|
||||
1485000,0.983221,-0.00778091,-0.0161964,0.181532,0.0329266,0.0073408,-0.131168,0.0054041,0.00161758,-0.0377952,3.25739e-07,-1.54916e-06,1.05514e-05,0,0,-1.32214e-05,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,3.58838e-05,0.00520925,0.00520879,0.000984313,0.83815,0.83827,0.368572,0.171805,0.171809,0.198527,9.80091e-07,9.80363e-07,6.05295e-07,0,0,3.95945e-06,0,0,0,0,0,0,0,0
|
||||
1585000,0.983218,-0.00787221,-0.0165617,0.181513,0.0407794,0.00829227,-0.142897,0.00908255,0.00236705,-0.0487389,3.18958e-07,-1.53709e-06,1.02514e-05,0,0,-1.50662e-05,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,3.74386e-05,0.00576907,0.00576849,0.00102231,1.06615,1.06633,0.345438,0.239486,0.239496,0.207551,9.80056e-07,9.80363e-07,5.60027e-07,0,0,3.94785e-06,0,0,0,0,0,0,0,0
|
||||
1685000,0.983244,-0.00798178,-0.0164415,0.181374,0.0397497,0.00800313,-0.149395,0.00739772,0.0017971,-0.0545586,4.6202e-08,-4.39663e-06,1.25201e-05,0,0,-2.08158e-05,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,3.70135e-05,0.00572877,0.00572826,0.00100996,0.909047,0.909223,0.313729,0.160449,0.160456,0.205396,9.44133e-07,9.44473e-07,5.02322e-07,0,0,3.92954e-06,0,0,0,0,0,0,0,0
|
||||
1785000,0.983211,-0.00812528,-0.0167314,0.181525,0.0500155,0.00828672,-0.150961,0.0119333,0.00261026,-0.0574123,-6.28354e-08,-4.33172e-06,8.13572e-06,0,0,-2.95762e-05,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,3.67506e-05,0.00633743,0.00633678,0.00099398,1.18508,1.18535,0.284486,0.229233,0.22925,0.202407,9.44093e-07,9.44472e-07,4.48612e-07,0,0,3.90791e-06,0,0,0,0,0,0,0,0
|
||||
1885000,0.983329,-0.008071,-0.0162732,0.180926,0.0439592,0.0090128,-0.152979,0.00905303,0.00190364,-0.0623796,-6.43505e-07,-9.51365e-06,1.69789e-05,0,0,-3.75597e-05,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,3.58606e-05,0.00582732,0.00582685,0.000975148,0.997286,0.997509,0.258346,0.157537,0.157547,0.198874,8.7715e-07,8.7754e-07,3.99727e-07,0,0,3.88319e-06,0,0,0,0,0,0,0,0
|
||||
1985000,0.983356,-0.00817263,-0.0166403,0.18074,0.0524563,0.0100551,-0.151652,0.0138997,0.00281357,-0.0616902,-5.74937e-07,-9.39286e-06,1.86427e-05,0,0,-5.10333e-05,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,3.54401e-05,0.00644038,0.00643974,0.000953698,1.3017,1.30203,0.235188,0.231153,0.231176,0.194764,8.77119e-07,8.77538e-07,3.55598e-07,0,0,3.85509e-06,0,0,0,0,0,0,0,0
|
||||
2085000,0.983278,-0.00824902,-0.0159796,0.181223,0.0423132,0.00766311,-0.150052,0.00962686,0.00189525,-0.0592164,-1.97343e-06,-1.64931e-05,1.03499e-05,0,0,-6.7451e-05,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,3.41814e-05,0.00545387,0.00545355,0.000930439,1.032,1.03222,0.215118,0.157316,0.157327,0.190412,7.81977e-07,7.8238e-07,3.16277e-07,0,0,3.82386e-06,0,0,0,0,0,0,0,0
|
||||
2185000,0.983296,-0.00821786,-0.0163173,0.181093,0.04997,0.00842153,-0.151875,0.014255,0.00276072,-0.0637417,-1.93572e-06,-1.63949e-05,1.09415e-05,0,0,-7.80004e-05,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,3.3645e-05,0.00602725,0.00602675,0.000905951,1.33555,1.33586,0.19779,0.234207,0.234233,0.185808,7.81957e-07,7.82377e-07,2.81393e-07,0,0,3.78909e-06,0,0,0,0,0,0,0,0
|
||||
2285000,0.983449,-0.00829694,-0.0155482,0.180329,0.0363964,0.00624904,-0.149364,0.00912444,0.00173221,-0.0631072,-3.0946e-06,-2.41594e-05,2.03233e-05,0,0,-9.45512e-05,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,3.34002e-05,0.00478277,0.00478261,0.000917772,0.993006,0.993186,0.188684,0.15558,0.155591,0.189826,6.74557e-07,6.74939e-07,2.57848e-07,0,0,3.76059e-06,0,0,0,0,0,0,0,0
|
||||
2385000,0.983469,-0.00835843,-0.0157261,0.1802,0.0434516,0.00562692,-0.149239,0.0131524,0.00231492,-0.0614994,-3.04482e-06,-2.40114e-05,2.09017e-05,0,0,-0.000112629,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,3.26692e-05,0.00529044,0.00529018,0.000890197,1.27336,1.27361,0.175645,0.231693,0.231716,0.184795,6.74544e-07,6.74936e-07,2.2987e-07,0,0,3.71943e-06,0,0,0,0,0,0,0,0
|
||||
2485000,0.983603,-0.00828275,-0.0150001,0.17953,0.0292549,0.00376069,-0.150956,0.00801572,0.00132731,-0.0648776,-4.27566e-06,-3.10751e-05,2.90696e-05,0,0,-0.00012596,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,3.10759e-05,0.00405365,0.00405362,0.000862728,0.907778,0.907908,0.164701,0.151099,0.151107,0.179986,5.7159e-07,5.71939e-07,2.05298e-07,0,0,3.67475e-06,0,0,0,0,0,0,0,0
|
||||
2585000,0.983643,-0.00840973,-0.0151349,0.179296,0.0323444,0.00229608,-0.153886,0.0110928,0.00167313,-0.0690117,-4.24885e-06,-3.09813e-05,2.90764e-05,0,0,-0.000139431,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,3.02731e-05,0.0044909,0.0044908,0.000835868,1.15351,1.15368,0.155524,0.223054,0.223072,0.175337,5.7158e-07,5.71936e-07,1.83745e-07,0,0,3.62596e-06,0,0,0,0,0,0,0,0
|
||||
2685000,0.98371,-0.00847264,-0.0145356,0.178976,0.0217588,0.00156793,-0.153275,0.00655817,0.000880252,-0.0681838,-5.45799e-06,-3.64499e-05,3.15754e-05,0,0,-0.000161173,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,2.87528e-05,0.00341288,0.00341295,0.000809219,0.808183,0.808272,0.147821,0.144645,0.144652,0.170893,4.81467e-07,4.81778e-07,1.64742e-07,0,0,3.57283e-06,0,0,0,0,0,0,0,0
|
||||
2785000,0.983691,-0.00842791,-0.0146958,0.17907,0.0271296,0.00123461,-0.150514,0.00913905,0.00102508,-0.0647037,-5.47642e-06,-3.62672e-05,2.79785e-05,0,0,-0.000187638,0.203406,-9.31323e-10,0.43452,0,0,0,0,0,2.79807e-05,0.00378709,0.00378709,0.000783899,1.01998,1.02011,0.141514,0.210823,0.210836,0.166798,4.8146e-07,4.81775e-07,1.48141e-07,0,0,3.51578e-06,0,0,0,0,0,0,0,0
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34185000,0.983989,-0.00949597,-0.0125523,0.177535,-0.000557626,-0.0720846,-0.0911517,0.0824956,-0.0359514,-0.0525244,-1.32082e-05,-5.50465e-05,6.57224e-06,0.000135507,-0.000334795,-0.00108403,0.204188,0.000818139,0.434409,0,0,0,0,0,3.74504e-06,1.31853e-05,1.31692e-05,0.000112117,0.0223369,0.0223444,0.0073291,0.0409881,0.0409918,0.0559176,4.79079e-11,4.78906e-11,7.38358e-10,0,0,5.00037e-08,0,0,0,0,0,0,0,0
|
||||
34285000,0.983993,-0.00938737,-0.0126179,0.177511,-0.000463402,-0.07513,-0.09012,0.0824746,-0.0433533,-0.0597905,-1.32067e-05,-5.5048e-05,6.64252e-06,0.000135507,-0.000334795,-0.00108413,0.204188,0.000818139,0.434409,0,0,0,0,0,3.74038e-06,1.33988e-05,1.33821e-05,0.00011198,0.0243404,0.0243491,0.00736562,0.0458218,0.0458267,0.0557376,4.80043e-11,4.79873e-11,7.29972e-10,0,0,5.0004e-08,0,0,0,0,0,0,0,0
|
||||
34385000,0.984016,-0.009172,-0.012612,0.177397,-0.00423628,-0.0644127,-0.0851106,0.081643,-0.0351595,-0.0629528,-1.34491e-05,-5.49631e-05,6.63465e-06,0.000135507,-0.000334795,-0.0010856,0.204188,0.000818139,0.434409,0,0,0,0,0,3.72961e-06,1.222e-05,1.22031e-05,0.000111844,0.0220676,0.022075,0.00731997,0.0411681,0.0411718,0.0551905,4.60517e-11,4.60304e-11,7.21638e-10,0,0,5.0001e-08,0,0,0,0,0,0,0,0
|
||||
34485000,0.984021,-0.00925498,-0.0125463,0.177371,-0.007074,-0.0676514,-0.0836306,0.0810774,-0.041831,-0.06646,-1.34475e-05,-5.49647e-05,6.70801e-06,0.000135507,-0.000334795,-0.00108596,0.204188,0.000818139,0.434409,0,0,0,0,0,3.72473e-06,1.24209e-05,1.24043e-05,0.000111698,0.0239922,0.0240005,0.00737897,0.046006,0.0460109,0.0550251,4.61481e-11,4.61272e-11,7.13363e-10,0,0,5e-08,0,0,0,0,0,0,0,0
|
||||
34585000,0.984025,-0.00906187,-0.0123568,0.17737,-0.00890071,-0.057164,0.662278,0.0804976,-0.034945,-0.0413402,-1.36365e-05,-5.48822e-05,6.66072e-06,0.000135507,-0.000334795,-0.00108732,0.204188,0.000818139,0.434409,0,0,0,0,0,3.71752e-06,1.13245e-05,1.13082e-05,0.00011155,0.0204659,0.0204723,0.00735249,0.0412641,0.0412677,0.0545081,4.43922e-11,4.4368e-11,7.05144e-10,0,0,5e-08,0,0,0,0,0,0,0,0
|
||||
34685000,0.98403,-0.00904623,-0.0120747,0.177361,-0.0116234,-0.0543526,1.65294,0.0794808,-0.0405185,0.0715094,-1.36375e-05,-5.48812e-05,6.61413e-06,0.000135507,-0.000334795,-0.00108705,0.204188,0.000818139,0.434409,0,0,0,0,0,3.7104e-06,1.15138e-05,1.14983e-05,0.000111399,0.0205706,0.0205772,0.0074294,0.0458986,0.0459033,0.0543635,4.44886e-11,4.44649e-11,6.96987e-10,0,0,5e-08,0,0,0,0,0,0,0,0
|
||||
34785000,0.984043,-0.00889566,-0.011839,0.177316,-0.0132575,-0.044032,2.61944,0.0793678,-0.0338317,0.233583,-1.37842e-05,-5.48032e-05,6.65673e-06,0.000135507,-0.000334795,-0.00106108,0.204188,0.000818139,0.434409,0,0,0,0,0,3.72176e-06,1.0623e-05,1.0608e-05,0.000111815,0.0173849,0.0173899,0.00746971,0.0411363,0.0411398,0.0546148,4.3082e-11,4.30559e-11,6.90927e-10,0,0,5.0002e-08,0,0,0,0,0,0,0,0
|
||||
34885000,0.984048,-0.00887879,-0.0115583,0.177307,-0.0159183,-0.041206,3.60502,0.0779599,-0.0380687,0.523439,-1.37858e-05,-5.48017e-05,6.61248e-06,0.000135507,-0.000334795,-0.00105884,0.204188,0.000818139,0.434409,0,0,0,0,0,3.71432e-06,1.0804e-05,1.07897e-05,0.000111653,0.0174925,0.0174975,0.00756433,0.0454521,0.0454565,0.0544929,4.31784e-11,4.31529e-11,6.82876e-10,0,0,5.0001e-08,0,0,0,0,0,0,0,0
|
||||
|
||||
|
Reference in New Issue
Block a user