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EKF angle constants in degrees for readability (#465)

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* EKF angle constants in degrees for readability

* EKF make FILTER_UPDATE_PERIOD_MS static constexpr and add FILTER_UPDATE_PERIOD_S

* EKF controlOpticalFlowFusion() use constants and update comments

* EKF controlMagFusion() use angle in degrees

* EKF move earth spin rate to geo and update usage

* EKF: Fix numerical constant error and clean up comments

Comments do not need to contain numerical values when the code makes these clear.
This commit is contained in:
Daniel Agar
2018-07-05 08:55:22 +10:00
committed by Paul Riseborough
parent cebdc3d829
commit 41953ab582
7 changed files with 29 additions and 29 deletions
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EKF/covariance.cpp
+3 -3
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@@ -55,7 +55,7 @@ void Ekf::initialiseCovariance()
}
// calculate average prediction time step in sec
float dt = 0.001f * (float)FILTER_UPDATE_PERIOD_MS;
float dt = FILTER_UPDATE_PERIOD_S;
// define the initial angle uncertainty as variances for a rotation vector
Vector3f rot_vec_var;
@@ -150,7 +150,7 @@ void Ekf::predictCovariance()
float dvy_b = _state.accel_bias(1);
float dvz_b = _state.accel_bias(2);
float dt = math::constrain(_imu_sample_delayed.delta_ang_dt, 0.0005f * FILTER_UPDATE_PERIOD_MS, 0.002f * FILTER_UPDATE_PERIOD_MS);
float dt = math::constrain(_imu_sample_delayed.delta_ang_dt, 0.5f * FILTER_UPDATE_PERIOD_S, 2.0f * FILTER_UPDATE_PERIOD_S);
float dt_inv = 1.0f / dt;
// compute noise variance for stationary processes
@@ -907,7 +907,7 @@ void Ekf::resetWindCovariance()
// calculate the uncertainty in wind speed and direction using the uncertainty in airspeed and sideslip angle
// used to calculate the initial wind speed
float R_spd = sq(math::constrain(_params.eas_noise, 0.5f, 5.0f) * math::constrain(_airspeed_sample_delayed.eas2tas, 0.9f, 10.0f));
float R_yaw = sq(0.1745f);
float R_yaw = sq(math::radians(10.0f));
// calculate the variance and covariance terms for the wind states
float cos_yaw = cosf(yaw);