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Shift variable definition inside calculateOutputStates

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kamilritz
2020-07-02 15:55:24 +02:00
committed by Mathieu Bresciani
parent f59343b343
commit 430497e2f7
1 changed files with 7 additions and 8 deletions
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EKF/ekf.cpp
+7 -8
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@@ -418,15 +418,7 @@ void Ekf::calculateOutputStates()
// calculate a corrrection to the delta angle // calculate a corrrection to the delta angle
// that will cause the INS to track the EKF quaternions // that will cause the INS to track the EKF quaternions
_delta_angle_corr = delta_ang_error * att_gain; _delta_angle_corr = delta_ang_error * att_gain;
// calculate velocity and position tracking errors
const Vector3f vel_err(_state.vel - _output_sample_delayed.vel);
const Vector3f pos_err(_state.pos - _output_sample_delayed.pos);
// collect magnitude tracking error for diagnostics
_output_tracking_error(0) = delta_ang_error.norm(); _output_tracking_error(0) = delta_ang_error.norm();
_output_tracking_error(1) = vel_err.norm();
_output_tracking_error(2) = pos_err.norm();
/* /*
* Loop through the output filter state history and apply the corrections to the velocity and position states. * Loop through the output filter state history and apply the corrections to the velocity and position states.
@@ -495,6 +487,13 @@ void Ekf::calculateOutputStates()
* the fusion time horizon. This option provides the most accurate tracking of EKF states. * the fusion time horizon. This option provides the most accurate tracking of EKF states.
*/ */
// calculate velocity and position tracking errors
const Vector3f vel_err(_state.vel - _output_sample_delayed.vel);
const Vector3f pos_err(_state.pos - _output_sample_delayed.pos);
_output_tracking_error(1) = vel_err.norm();
_output_tracking_error(2) = pos_err.norm();
// calculate a velocity correction that will be applied to the output state history // calculate a velocity correction that will be applied to the output state history
_vel_err_integ += vel_err; _vel_err_integ += vel_err;
const Vector3f vel_correction = vel_err * vel_gain + _vel_err_integ * sq(vel_gain) * 0.1f; const Vector3f vel_correction = vel_err * vel_gain + _vel_err_integ * sq(vel_gain) * 0.1f;