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EKF: Fix sign error in increaseQuatYawErrVariance function

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This commit is contained in:
Paul Riseborough
2019-01-31 09:53:57 -05:00
committed by Daniel Agar
parent a0b9cb002e
commit 911d4d8f49
1 changed files with 5 additions and 4 deletions
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EKF/ekf_helper.cpp
+5 -4
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@@ -1661,7 +1661,8 @@ void Ekf::get_ekf2ev_quaternion(float *quat)
// Argument is additional yaw variance in rad**2 // Argument is additional yaw variance in rad**2
void Ekf::increaseQuatYawErrVariance(float yaw_variance) void Ekf::increaseQuatYawErrVariance(float yaw_variance)
{ {
// See DeriveYawResetEquations.m for derivation // See DeriveYawResetEquations.m for derivation which produces code fragments in C_code4.txt file
// The auto-code was cleaned up and had terms multiplied by zero removed to give the following:
// Intermediate variables // Intermediate variables
float SG[3]; float SG[3];
@@ -1683,8 +1684,8 @@ void Ekf::increaseQuatYawErrVariance(float yaw_variance)
P[0][2] += yaw_variance*SQ[0]*SQ[2]; P[0][2] += yaw_variance*SQ[0]*SQ[2];
P[1][2] += yaw_variance*SQ[0]*SQ[1]; P[1][2] += yaw_variance*SQ[0]*SQ[1];
P[2][2] += yaw_variance*sq(SQ[0]); P[2][2] += yaw_variance*sq(SQ[0]);
P[0][3] += yaw_variance*SQ[2]*SQ[3]; P[0][3] -= yaw_variance*SQ[2]*SQ[3];
P[1][3] += yaw_variance*SQ[1]*SQ[3]; P[1][3] -= yaw_variance*SQ[1]*SQ[3];
P[2][3] += yaw_variance*SQ[0]*SQ[3]; P[2][3] -= yaw_variance*SQ[0]*SQ[3];
P[3][3] += yaw_variance*sq(SQ[3]); P[3][3] += yaw_variance*sq(SQ[3]);
} }