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EKF: use Matrix cross product

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This commit is contained in:
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/estimator_interface.cpp
+1 -1
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@@ -62,7 +62,7 @@ void EstimatorInterface::setIMUData(const imuSample &imu_sample)
}
// calculate a metric which indicates the amount of coning vibration
Vector3f temp = cross_product(imu_sample.delta_ang, _delta_ang_prev);
Vector3f temp = imu_sample.delta_ang % _delta_ang_prev;
_vibe_metrics[0] = 0.99f * _vibe_metrics[0] + 0.01f * temp.norm();
// calculate a metric which indicates the amount of high frequency gyro vibration