fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-17 22:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: Rationalise use of rotation matrices and improve efficiency

Browse Source
This commit is contained in:
Paul Riseborough
2016-04-12 11:14:31 +10:00
parent e10093854a
commit 5bf02517a7
6 changed files with 35 additions and 25 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/terrain_estimator.cpp
+3 -3
View File
@@ -88,9 +88,9 @@ void Ekf::predictHagl()
void Ekf::fuseHagl()
{
// If the vehicle is excessively tilted, do not try to fuse range finder observations
if (_R_prev(2, 2) > 0.7071f) {
if (_R_to_earth(2, 2) > 0.7071f) {
// get a height above ground measurement from the range finder assuming a flat earth
float meas_hagl = _range_sample_delayed.rng * _R_prev(2, 2);
float meas_hagl = _range_sample_delayed.rng * _R_to_earth(2, 2);
// predict the hagl from the vehicle position and terrain height
float pred_hagl = _terrain_vpos - _state.pos(2);
@@ -99,7 +99,7 @@ void Ekf::fuseHagl()
_hagl_innov = pred_hagl - meas_hagl;
// calculate the observation variance adding the variance of the vehicles own height uncertainty and factoring in the effect of tilt on measurement error
float obs_variance = fmaxf(P[8][8], 0.0f) + sq(_params.range_noise / _R_prev(2, 2));
float obs_variance = fmaxf(P[8][8], 0.0f) + sq(_params.range_noise / _R_to_earth(2, 2));
// calculate the innovation variance - limiting it to prevent a badly conditioned fusion
_hagl_innov_var = fmaxf(_terrain_var + obs_variance, obs_variance);