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EKF: Use matrix library for quaternion to rotation matrix conversion

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Paul Riseborough
2019-10-23 14:44:08 +03:00
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};