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EKF: use Matrix cross product

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Daniel Agar
2019-12-17 09:35:08 +01:00
committed by Mathieu Bresciani
parent 0831c158f2
commit 98a1aae494
7 changed files with 7 additions and 22 deletions
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EKF/ekf.cpp
+1 -1
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@@ -470,7 +470,7 @@ void Ekf::calculateOutputStates()
const Vector3f ang_rate = imu.delta_ang * (1.0f / imu.delta_ang_dt);
// calculate the velocity of the IMU relative to the body origin
const Vector3f vel_imu_rel_body = cross_product(ang_rate, _params.imu_pos_body);
const Vector3f vel_imu_rel_body = ang_rate % _params.imu_pos_body;
// rotate the relative velocity into earth frame
_vel_imu_rel_body_ned = _R_to_earth_now * vel_imu_rel_body;