fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

Support 3d auxvel fusion

Browse Source
This commit is contained in:
kamilritz 2019-12-09 13:42:21 +01:00 committed by Julian Kent
parent a67229e60e
commit 90aa4bb852
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
src/modules/ekf2/ekf2_main.cpp
View File

@ -1177,8 +1177,8 @@ void Ekf2::Run()
// we can only use the landing target if it has a fixed position and a valid velocity estimate
if (landing_target_pose.is_static && landing_target_pose.rel_vel_valid) {
// velocity of vehicle relative to target has opposite sign to target relative to vehicle
float velocity[2] = { -landing_target_pose.vx_rel, -landing_target_pose.vy_rel};
float variance[2] = {landing_target_pose.cov_vx_rel, landing_target_pose.cov_vy_rel};
matrix::Vector3f velocity { -landing_target_pose.vx_rel, -landing_target_pose.vy_rel, 0.0f};
matrix::Vector3f variance {landing_target_pose.cov_vx_rel, landing_target_pose.cov_vy_rel, 0.0f};
_ekf.setAuxVelData(landing_target_pose.timestamp, velocity, variance);
}
}