fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-03 08:38:53 +08:00
Code Issues Packages Projects Releases Wiki Activity

cal: transpose rotation instead of computing inverse

Browse Source 
This is equivalent for an orthonormal matrix
This commit is contained in:
bresch
2025-04-29 10:26:51 +02:00
committed by Mathieu Bresciani
parent 03c7e7aa08
commit b5f011a31f
3 changed files with 4 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/lib/sensor_calibration/Accelerometer.hpp
+1 -1
View File
@@ -88,7 +88,7 @@ public:
matrix::Vector3f BiasCorrectedSensorOffset(const matrix::Vector3f &bias) const
{
// updated calibration offset = existing offset + bias rotated to sensor frame and unscaled
return _offset + (_rotation.I() * bias).edivide(_scale);
return _offset + (_rotation.T() * bias).edivide(_scale);
}
bool ParametersLoad();
src/lib/sensor_calibration/Gyroscope.hpp
+2 -2
View File
@@ -85,14 +85,14 @@ public:
inline matrix::Vector3f Uncorrect(const matrix::Vector3f &corrected_data) const
{
return (_rotation.I() * corrected_data) + _thermal_offset + _offset;
return (_rotation.T() * corrected_data) + _thermal_offset + _offset;
}
// Compute sensor offset from bias (board frame)
matrix::Vector3f BiasCorrectedSensorOffset(const matrix::Vector3f &bias) const
{
// updated calibration offset = existing offset + bias rotated to sensor frame
return _offset + (_rotation.I() * bias);
return _offset + (_rotation.T() * bias);
}
bool ParametersLoad();
src/lib/sensor_calibration/Magnetometer.hpp
+1 -1
View File
@@ -104,7 +104,7 @@ public:
matrix::Vector3f BiasCorrectedSensorOffset(const matrix::Vector3f &bias) const
{
// updated calibration offset = existing offset + bias rotated to sensor frame and unscaled
return _offset + (_scale.I() * _rotation.I() * bias);
return _offset + (_scale.I() * _rotation.T() * bias);
}
bool ParametersLoad();