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kamilritz
2019-09-24 07:48:46 +10:00
committed by Paul Riseborough
parent cea053820d
commit 4f6ca3a74c
2 changed files with 58 additions and 58 deletions
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EKF/ekf.h
+1 -1
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@@ -310,7 +310,7 @@ private:
Vector3f _ev_rot_vec_filt; ///< filtered rotation vector defining the rotation EV to EKF reference, initiliazied to zero rotation (rad)
Dcmf _ev_rot_mat; ///< transformation matrix that rotates observations from the EV to the EKF navigation frame, initialized with Identity
uint64_t _ev_rot_last_time_us{0}; ///< previous time that the calculation of the EV to EKF rotation matrix was updated (uSec)
bool _ev_rot_mat_initialised{0}; ///< _ev_rot_mat should only be initialised once in the beginning through the reset function
bool _ev_rot_mat_initialised{0}; ///< _ev_rot_mat should only be initialised once in the beginning through the reset function
// booleans true when fresh sensor data is available at the fusion time horizon
bool _gps_data_ready{false}; ///< true when new GPS data has fallen behind the fusion time horizon and is available to be fused