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EKF: don't interfere with quaternion covariances during tilt alignment

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Paul Riseborough
2016-05-18 19:25:19 +10:00
parent 22fba0fc6e
commit 94a63ec9d5
1 changed files with 4 additions and 2 deletions
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EKF/ekf_helper.cpp
+4 -2
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@@ -407,8 +407,10 @@ bool Ekf::resetMagHeading(Vector3f &mag_init)
// reset the quaternion variances because the yaw angle could have changed by a significant amount // reset the quaternion variances because the yaw angle could have changed by a significant amount
// by setting them to zero we avoid 'kicks' in angle when 3-D fusion starts and the imu process noise // by setting them to zero we avoid 'kicks' in angle when 3-D fusion starts and the imu process noise
// will grow them again. // will grow them again.
zeroRows(P, 0, 3); if (_control_status.flags.tilt_align) {
zeroCols(P, 0, 3); zeroRows(P, 0, 3);
zeroCols(P, 0, 3);
}
// update transformation matrix from body to world frame using the current estimate // update transformation matrix from body to world frame using the current estimate
_R_to_earth = quat_to_invrotmat(_state.quat_nominal); _R_to_earth = quat_to_invrotmat(_state.quat_nominal);