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EKF2: vision attitude error filter (#21791)

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* ekf2-ev: filter q_error for frame correction
* ekf2: filter EV attitude error centrally
This commit is contained in:
Mathieu Bresciani
2023-07-03 11:13:59 -04:00
committed by GitHub
parent 24665f10f2
commit 288e3ae74a
5 changed files with 24 additions and 6 deletions
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src/modules/ekf2/EKF/ev_vel_control.cpp
+1 -2
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@@ -80,8 +80,7 @@ void Ekf::controlEvVelFusion(const extVisionSample &ev_sample, const bool common
} else {
// rotate EV to the EKF reference frame
const Quatf q_error((_state.quat_nominal * ev_sample.quat.inversed()).normalized());
const Dcmf R_ev_to_ekf = Dcmf(q_error);
const Dcmf R_ev_to_ekf = Dcmf(_ev_q_error_filt.getState());
vel = R_ev_to_ekf * ev_sample.vel - vel_offset_earth;
vel_cov = R_ev_to_ekf * matrix::diag(ev_sample.velocity_var) * R_ev_to_ekf.transpose();