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EKF: Use matrix library for quaternion to rotation matrix conversion

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This commit is contained in:
Paul Riseborough
2019-08-22 09:27:01 +10:00
committed by Roman Bapst
parent 1a4ab069c9
commit 36de2b3dc1
3 changed files with 12 additions and 12 deletions
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EKF/ekf.cpp
+3 -3
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@@ -251,7 +251,7 @@ bool Ekf::initialiseFilter()
_state.quat_nominal = Quatf(euler_init);
// update transformation matrix from body to world frame
_R_to_earth = quat_to_invrotmat(_state.quat_nominal);
_R_to_earth = Dcmf(_state.quat_nominal);
// calculate the initial magnetic field and yaw alignment
_control_status.flags.yaw_align = resetMagHeading(_mag_filt_state, false, false);
@@ -331,7 +331,7 @@ void Ekf::predictState()
Vector3f vel_last = _state.vel;
// update transformation matrix from body to world frame
_R_to_earth = quat_to_invrotmat(_state.quat_nominal);
_R_to_earth = Dcmf(_state.quat_nominal);
// Calculate an earth frame delta velocity
Vector3f corrected_delta_vel_ef = _R_to_earth * corrected_delta_vel;
@@ -474,7 +474,7 @@ void Ekf::calculateOutputStates()
_output_new.quat_nominal.normalize();
// calculate the rotation matrix from body to earth frame
_R_to_earth_now = quat_to_invrotmat(_output_new.quat_nominal);
_R_to_earth_now = Dcmf(_output_new.quat_nominal);
// correct delta velocity for bias offsets
const Vector3f delta_vel{imu.delta_vel - _state.accel_bias * dt_scale_correction};
EKF/ekf_helper.cpp
+8 -8
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@@ -454,7 +454,7 @@ bool Ekf::realignYawGPS()
Quatf quat_before_reset = _state.quat_nominal;
// update transformation matrix from body to world frame using the current state estimate
_R_to_earth = quat_to_invrotmat(_state.quat_nominal);
_R_to_earth = Dcmf(_state.quat_nominal);
// get quaternion from existing filter states and calculate roll, pitch and yaw angles
Eulerf euler321(_state.quat_nominal);
@@ -486,7 +486,7 @@ bool Ekf::realignYawGPS()
_velpos_reset_request = badMagYaw;
// update transformation matrix from body to world frame using the current state estimate
_R_to_earth = quat_to_invrotmat(_state.quat_nominal);
_R_to_earth = Dcmf(_state.quat_nominal);
// Use the last magnetometer measurements to reset the field states
_state.mag_B.zero();
@@ -594,7 +594,7 @@ bool Ekf::resetMagHeading(Vector3f &mag_init, bool increase_yaw_var, bool update
Quatf quat_after_reset = _state.quat_nominal;
// update transformation matrix from body to world frame using the current estimate
_R_to_earth = quat_to_invrotmat(_state.quat_nominal);
_R_to_earth = Dcmf(_state.quat_nominal);
// calculate the initial quaternion
// determine if a 321 or 312 Euler sequence is best
@@ -707,8 +707,8 @@ bool Ekf::resetMagHeading(Vector3f &mag_init, bool increase_yaw_var, bool update
}
// set the earth magnetic field states using the updated rotation
Dcmf _R_to_earth_after = quat_to_invrotmat(quat_after_reset);
_state.mag_I = _R_to_earth_after * mag_init;
Dcmf R_to_earth_after(quat_after_reset);
_state.mag_I = R_to_earth_after * mag_init;
// reset the corresponding rows and columns in the covariance matrix and set the variances on the magnetic field states to the measurement variance
zeroRows(P, 16, 21);
@@ -739,7 +739,7 @@ bool Ekf::resetMagHeading(Vector3f &mag_init, bool increase_yaw_var, bool update
_state_reset_status.quat_change = q_error;
// update transformation matrix from body to world frame using the current estimate
_R_to_earth = quat_to_invrotmat(_state.quat_nominal);
_R_to_earth = Dcmf(_state.quat_nominal);
// reset the rotation from the EV to EKF frame of reference if it is being used
if ((_params.fusion_mode & MASK_ROTATE_EV) && !_control_status.flags.ev_yaw) {
@@ -1638,7 +1638,7 @@ void Ekf::calcExtVisRotMat()
// convert filtered vector to a quaternion and then to a rotation matrix
q_error.from_axis_angle(_ev_rot_vec_filt);
_ev_rot_mat = quat_to_invrotmat(q_error); // rotation from EV reference to EKF reference
_ev_rot_mat = Dcmf(q_error); // rotation from EV reference to EKF reference
}
@@ -1663,7 +1663,7 @@ void Ekf::resetExtVisRotMat()
}
// reset the rotation matrix
_ev_rot_mat = quat_to_invrotmat(q_error); // rotation from EV reference to EKF reference
_ev_rot_mat = Dcmf(q_error); // rotation from EV reference to EKF reference
}
// return the quaternions for the rotation from External Vision system reference frame to the EKF reference frame
EKF/gps_yaw_fusion.cpp
+1 -1
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@@ -395,7 +395,7 @@ bool Ekf::resetGpsAntYaw()
_state_reset_status.quat_change = q_error;
// update transformation matrix from body to world frame using the current estimate
_R_to_earth = quat_to_invrotmat(_state.quat_nominal);
_R_to_earth = Dcmf(_state.quat_nominal);
// reset the rotation from the EV to EKF frame of reference if it is being used
if ((_params.fusion_mode & MASK_ROTATE_EV) && (_params.fusion_mode & MASK_USE_EVPOS)) {