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EKF: correct range finder data for sensor position offset

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Paul Riseborough
2016-04-12 11:14:31 +10:00
parent e89dbb9f63
commit 48b105b748
1 changed files with 5 additions and 0 deletions
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EKF/ekf.cpp
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@@ -218,6 +218,11 @@ bool Ekf::update()
// not tilted too much to use it
if (_range_buffer.pop_first_older_than(_imu_sample_delayed.time_us, &_range_sample_delayed)
&& (_R_prev(2, 2) > 0.7071f)) {
// correct the range data for position offset relative to the IMU
Vector3f pos_offset_body = _params.rng_pos_body - _params.imu_pos_body;
Vector3f pos_offset_earth = _R_prev.transpose() * pos_offset_body;
_range_sample_delayed.rng += pos_offset_earth(2) / _R_prev(2, 2);
// if we have range data we always try to estimate terrain height
_fuse_hagl_data = true;