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Added external vision noise parameters etc and position offset

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devbharat
2016-05-14 21:17:29 +10:00
committed by Paul Riseborough
parent ff8f03b5dd
commit b681c9a5d0
2 changed files with 9 additions and 3 deletions
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EKF/ekf.cpp
+1 -1
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@@ -311,7 +311,7 @@ bool Ekf::update()
_fuse_height = true;
// correct position and height for offset relative to IMU
Vector3f pos_offset_body = _params.visn_pos_body - _params.imu_pos_body;
Vector3f pos_offset_body = _params.ev_pos_body - _params.imu_pos_body;
Vector3f pos_offset_earth = _R_to_earth * pos_offset_body;
_ev_sample_delayed.posNED(0) -= pos_offset_earth(0);
_ev_sample_delayed.posNED(1) -= pos_offset_earth(1);