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EKF: fix spike handling in ev rotation calculation

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ChristophTobler
2018-02-08 10:20:59 +01:00
parent db5264e45c
commit 9238e2f1a2
1 changed files with 1 additions and 1 deletions
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EKF/ekf_helper.cpp
+1 -1
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@@ -1540,7 +1540,7 @@ void Ekf::calcExtVisRotMat()
Vector3f _input_delta_vec = rot_vec - _ev_rot_vec_filt;
float input_delta_mag = _input_delta_vec.norm();
if (input_delta_mag > 0.1f) {
rot_vec = _ev_rot_vec_filt + rot_vec * (0.1f / input_delta_mag);
rot_vec = _ev_rot_vec_filt + _input_delta_vec * (0.1f / input_delta_mag);
}
// Apply a first order IIR low pass filter