From 2b0d5c28f025925956a5cbfe7f2d1c3f0cc2ad01 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Mon, 23 May 2016 20:38:49 +1000 Subject: [PATCH] EKF: capture full quaternion change for reset events --- EKF/ekf.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/EKF/ekf.h b/EKF/ekf.h index f971f8d683..0773c526bc 100644 --- a/EKF/ekf.h +++ b/EKF/ekf.h @@ -152,12 +152,12 @@ private: uint64_t velD_time_us; // time stamp of the last vertical velocity reset event (us) uint64_t posNE_time_us; // time stamp of the last horizontal position reset event (us) uint64_t posD_time_us; // time stamp of the last vertical position reset event (us) - uint64_t yaw_time_us; // time stamp of the last yaw angle reset event (us) + uint64_t quat_time_us; // time stamp of the last quaternion reset event (us) Vector2f velNE_change; // North East velocity change due to last reset (m) float velD_change; // Down velocity change due to last reset (m/s) Vector2f posNE_change; // North, East position change due to last reset (m) float posD_change; // Down position change due to last reset (m) - float yaw_change; // Yaw angle change due to last reset (rad) + Quaternion quat_change; // quaternion delta due to last reset - multiply pre-reset quaternion by this to get post-reset quaternion } _state_reset_status; float _dt_ekf_avg; // average update rate of the ekf