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EKF: Remove use of of quaternion self product operator and fix delta rotation sign

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Paul Riseborough
2019-06-17 19:24:55 +10:00
committed by Paul Riseborough
parent 0e946f25fd
commit a036cf82cc
3 changed files with 9 additions and 11 deletions
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EKF/ekf_helper.cpp
+5 -5
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@@ -378,8 +378,8 @@ void Ekf::resetHeight()
// align output filter states to match EKF states at the fusion time horizon
void Ekf::alignOutputFilter()
{
// calculate the quaternion delta between the output and EKF quaternions at the EKF fusion time horizon
Quatf q_delta = _output_sample_delayed.quat_nominal.inversed() * _state.quat_nominal;
// calculate the quaternion rotation delta from the EKF to output observer states at the EKF fusion time horizon
Quatf q_delta = _state.quat_nominal * _output_sample_delayed.quat_nominal.inversed();
q_delta.normalize();
// calculate the velocity and position deltas between the output and EKF at the EKF fusion time horizon
@@ -388,16 +388,16 @@ void Ekf::alignOutputFilter()
// loop through the output filter state history and add the deltas
for (uint8_t i = 0; i < _output_buffer.get_length(); i++) {
_output_buffer[i].quat_nominal *= q_delta;
_output_buffer[i].quat_nominal = q_delta * _output_buffer[i].quat_nominal;
_output_buffer[i].quat_nominal.normalize();
_output_buffer[i].vel += vel_delta;
_output_buffer[i].pos += pos_delta;
}
_output_new.quat_nominal *= q_delta;
_output_new.quat_nominal = q_delta * _output_new.quat_nominal;
_output_new.quat_nominal.normalize();
_output_sample_delayed.quat_nominal *= q_delta;
_output_sample_delayed.quat_nominal = q_delta * _output_sample_delayed.quat_nominal;
_output_sample_delayed.quat_nominal.normalize();
}