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EKF: Add IMU vibration calculation and reporting

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Add calculation and reporting of IMU delta angle and velocity coning and high frequency vibration
This commit is contained in:
Paul Riseborough
2016-10-19 21:46:55 +11:00
parent 17c195d1cd
commit b10b0184c5
4 changed files with 52 additions and 0 deletions
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EKF/ekf_helper.cpp
+11
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@@ -696,6 +696,17 @@ void Ekf::get_output_tracking_error(float error[3])
memcpy(error, _output_tracking_error, 3 * sizeof(float));
}
/*
Returns following IMU vibration metrics in the following array locations
0 : Gyro delta angle coning metric = filtered length of (delta_angle x prev_delta_angle)
1 : Gyro high frequency vibe = filtered length of (delta_angle - prev_delta_angle)
2 : Accel high frequency vibe = filtered length of (delta_velocity - prev_delta_velocity)
*/
void Ekf::get_imu_vibe_metrics(float vibe[3])
{
memcpy(vibe, _vibe_metrics, 3 * sizeof(float));
}
// get the 1-sigma horizontal and vertical position uncertainty of the ekf WGS-84 position
void Ekf::get_ekf_accuracy(float *ekf_eph, float *ekf_epv, bool *dead_reckoning)
{