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ekf2_test: test yaw variance after reset

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This commit is contained in:
bresch
2023-08-08 12:09:56 -04:00
committed by Daniel Agar
parent b6fb95247b
commit 39a83ab138
5 changed files with 25 additions and 0 deletions
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src/modules/ekf2/EKF/ekf_helper.cpp
+9
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@@ -889,6 +889,15 @@ Vector3f Ekf::calcRotVecVariances() const
return rot_var;
}
float Ekf::getYawVar() const
{
Vector24f H_YAW;
float yaw_var = 0.f;
computeYawInnovVarAndH(0.f, yaw_var, H_YAW);
return yaw_var;
}
// initialise the quaternion covariances using rotation vector variances
// do not call before quaternion states are initialised
void Ekf::initialiseQuatCovariances(Vector3f &rot_vec_var)