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EKF: Rationalise use of rotation matrices and improve efficiency

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Paul Riseborough
2016-04-12 11:14:31 +10:00
parent e10093854a
commit 5bf02517a7
6 changed files with 35 additions and 25 deletions
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EKF/vel_pos_fusion.cpp
+2 -2
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@@ -135,10 +135,10 @@ void Ekf::fuseVelPosHeight()
// innovation gate size
gate_size[5] = fmaxf(_params.baro_innov_gate, 1.0f);
} else if (_control_status.flags.rng_hgt && (_R_prev(2, 2) > 0.7071f)) {
} else if (_control_status.flags.rng_hgt && (_R_to_earth(2, 2) > 0.7071f)) {
fuse_map[5] = true;
// use range finder with tilt correction
_vel_pos_innov[5] = _state.pos(2) - (-math::max(_range_sample_delayed.rng * _R_prev(2, 2),
_vel_pos_innov[5] = _state.pos(2) - (-math::max(_range_sample_delayed.rng * _R_to_earth(2, 2),
_params.rng_gnd_clearance));
// observation variance - user parameter defined
R[5] = fmaxf(_params.range_noise, 0.01f);