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EKF: Correct for sensor noise and baro offset during alignment

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Paul Riseborough
2016-02-10 10:25:27 +11:00
parent a6515543da
commit 40e174b81c
5 changed files with 81 additions and 57 deletions
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EKF/gps_checks.cpp
+2 -1
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@@ -63,7 +63,8 @@ bool Ekf::collect_gps(uint64_t time_usec, struct gps_message *gps)
double lat = gps->lat / 1.0e7;
double lon = gps->lon / 1.0e7;
map_projection_init(&_pos_ref, lat, lon);
_gps_alt_ref = gps->alt / 1e3f;
// Take the current GPS height and subtract the filter height above origin to estimate the GPS height of the origin
_gps_alt_ref = 1e-3f * (float)gps->alt + _state.pos(2);
_NED_origin_initialised = true;
_last_gps_origin_time_us = _time_last_imu;
}