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ekf2: fix odom body rate sign bug

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This commit is contained in:
CarlOlsson
2020-09-30 11:34:37 -04:00
committed by Daniel Agar
parent b454095776
commit 98c8cbb27f
1 changed files with 1 additions and 1 deletions
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src/modules/ekf2/EKF2.cpp
+1 -1
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@@ -1251,7 +1251,7 @@ void EKF2::publish_odometry(const hrt_abstime &timestamp, const imuSample &imu,
// Vehicle odometry angular rates // Vehicle odometry angular rates
const Vector3f gyro_bias = _ekf.getGyroBias(); const Vector3f gyro_bias = _ekf.getGyroBias();
const Vector3f rates(imu.delta_ang * imu.delta_ang_dt); const Vector3f rates(imu.delta_ang / imu.delta_ang_dt);
odom.rollspeed = rates(0) - gyro_bias(0); odom.rollspeed = rates(0) - gyro_bias(0);
odom.pitchspeed = rates(1) - gyro_bias(1); odom.pitchspeed = rates(1) - gyro_bias(1);
odom.yawspeed = rates(2) - gyro_bias(2); odom.yawspeed = rates(2) - gyro_bias(2);