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landing target estimator: initialize landing target velocity with negative of vehicle velocity

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This commit is contained in:
Nicolas de Palezieux
2018-01-24 19:39:30 +01:00
committed by Lorenz Meier
parent b7dff95782
commit ae52f74e78
2 changed files with 5 additions and 3 deletions
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src/modules/landing_target_estimator/LandingTargetEstimator.cpp
+4 -2
View File
@@ -162,8 +162,10 @@ void LandingTargetEstimator::update()
if (!_estimator_initialized) {
PX4_INFO("Init");
_kalman_filter_x.init(_rel_pos(0), 0, _params.pos_unc_init, _params.vel_unc_init);
_kalman_filter_y.init(_rel_pos(1), 0, _params.pos_unc_init, _params.vel_unc_init);
float vx_init = _vehicleLocalPosition.v_xy_valid ? -_vehicleLocalPosition.vx : 0.f;
float vy_init = _vehicleLocalPosition.v_xy_valid ? -_vehicleLocalPosition.vy : 0.f;
_kalman_filter_x.init(_rel_pos(0), vx_init, _params.pos_unc_init, _params.vel_unc_init);
_kalman_filter_y.init(_rel_pos(1), vy_init, _params.pos_unc_init, _params.vel_unc_init);
_estimator_initialized = true;
_last_update = hrt_absolute_time();
src/modules/landing_target_estimator/landing_target_estimator_params.c
+1 -1
View File
@@ -107,7 +107,7 @@ PARAM_DEFINE_FLOAT(LTEST_POS_UNC_IN, 0.1f);
*
* @group Landing target Estimator
*/
PARAM_DEFINE_FLOAT(LTEST_VEL_UNC_IN, 1.0f);
PARAM_DEFINE_FLOAT(LTEST_VEL_UNC_IN, 0.1f);
/**
* Scale factor for sensor measurements in sensor x axis