fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 15:23:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: Fix sign error in earth rotation rate correction (#763)

Browse Source 
* EKF: Fix sign error in earth rotation rate correction

Addresses issue https://github.com/PX4/ecl/issues/759

* Update change indication output

Co-authored-by: kritz <kritz@ethz.ch>
This commit is contained in:
Paul Riseborough
2020-03-03 20:16:49 +01:00
committed by GitHub
co-authored by kritz
parent 4fab6057a7
commit b4ecfb7723
2 changed files with 248 additions and 248 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/ekf.cpp
+2 -2
View File
@@ -245,8 +245,8 @@ void Ekf::predictState()
Vector3f corrected_delta_ang = _imu_sample_delayed.delta_ang - _state.delta_ang_bias;
const Vector3f corrected_delta_vel = _imu_sample_delayed.delta_vel - _state.delta_vel_bias;
// correct delta angles for earth rotation rate
corrected_delta_ang -= -_R_to_earth.transpose() * _earth_rate_NED * _imu_sample_delayed.delta_ang_dt;
// subtract component of angular rate due to earth rotation
corrected_delta_ang -= _R_to_earth.transpose() * _earth_rate_NED * _imu_sample_delayed.delta_ang_dt;
const Quatf dq(AxisAnglef{corrected_delta_ang});