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This commit is contained in:
kamilritz
2020-07-03 16:34:20 +02:00
committed by Mathieu Bresciani
parent 01515b9a9c
commit 5ef18f8823
2 changed files with 3 additions and 3 deletions
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EKF/ekf.cpp
+2 -2
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@@ -324,7 +324,7 @@ void Ekf::calculateOutputStates()
const float dt_scale_correction = _dt_imu_avg / _dt_ekf_avg;
// Apply corrections to the delta angle required to track the quaternion states at the EKF fusion time horizon
const Vector3f delta_angle{imu.delta_ang - _state.delta_ang_bias * dt_scale_correction + _delta_angle_corr};
const Vector3f delta_angle(imu.delta_ang - _state.delta_ang_bias * dt_scale_correction + _delta_angle_corr);
// calculate a yaw change about the earth frame vertical
const float spin_del_ang_D = _R_to_earth_now(2, 0) * delta_angle(0) +
@@ -363,7 +363,7 @@ void Ekf::calculateOutputStates()
}
// save the previous velocity so we can use trapezoidal integration
const Vector3f vel_last{_output_new.vel};
const Vector3f vel_last(_output_new.vel);
// increment the INS velocity states by the measurement plus corrections
// do the same for vertical state used by alternative correction algorithm
EKF/gps_checks.cpp
+1 -1
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@@ -134,7 +134,7 @@ bool Ekf::gps_is_good(const gps_message &gps)
_gps_check_fail_status.flags.sacc = (gps.sacc > _params.req_sacc);
// check if GPS quality is degraded
_gps_error_norm = fmaxf((gps.eph / _params.req_hacc) , (gps.epv / _params.req_vacc));
_gps_error_norm = fmaxf((gps.eph / _params.req_hacc), (gps.epv / _params.req_vacc));
_gps_error_norm = fmaxf(_gps_error_norm , (gps.sacc / _params.req_sacc));
// Calculate time lapsed since last update, limit to prevent numerical errors and calculate a lowpass filter coefficient