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EKF: capture full quaternion change for reset events

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Paul Riseborough
2016-06-01 17:13:00 +10:00
parent b2e432e211
commit 2b0d5c28f0
1 changed files with 2 additions and 2 deletions
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EKF/ekf.h
+2 -2
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@@ -152,12 +152,12 @@ private:
uint64_t velD_time_us; // time stamp of the last vertical velocity reset event (us) 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 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 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) Vector2f velNE_change; // North East velocity change due to last reset (m)
float velD_change; // Down velocity change due to last reset (m/s) float velD_change; // Down velocity change due to last reset (m/s)
Vector2f posNE_change; // North, East position change due to last reset (m) Vector2f posNE_change; // North, East position change due to last reset (m)
float posD_change; // Down 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; } _state_reset_status;
float _dt_ekf_avg; // average update rate of the ekf float _dt_ekf_avg; // average update rate of the ekf