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Lorenz Meier
2014-06-07 20:16:41 +02:00
parent 33f98abf80
commit 2219dd3fc6
1 changed files with 1 additions and 2 deletions
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src/modules/ekf_att_pos_estimator/estimator_21states.cpp
+1 -2
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@@ -61,8 +61,7 @@ void AttPosEKF::UpdateStrapdownEquationsNED()
// Apply corrections for earths rotation rate and coning errors // Apply corrections for earths rotation rate and coning errors
// * and + operators have been overloaded // * and + operators have been overloaded
correctedDelAng = dAngIMU;//correctedDelAng - Tnb*earthRateNED*dtIMU + 8.333333333333333e-2f*(prevDelAng % correctedDelAng); correctedDelAng = correctedDelAng - Tnb*earthRateNED*dtIMU + 8.333333333333333e-2f*(prevDelAng % correctedDelAng);
correctedDelAng.z = 0;
// Convert the rotation vector to its equivalent quaternion // Convert the rotation vector to its equivalent quaternion
rotationMag = correctedDelAng.length(); rotationMag = correctedDelAng.length();
if (rotationMag < 1e-12f) if (rotationMag < 1e-12f)