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ECL: Clean velPos logging, deprecate ekf2_innovations msg

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kamilritz
2019-12-05 11:29:29 +01:00
committed by Julian Kent
parent 22e4e85eeb
commit b73c80428e
24 changed files with 298 additions and 138 deletions
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src/modules/local_position_estimator/sensors/flow.cpp
+4 -4
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@@ -172,10 +172,10 @@ void BlockLocalPositionEstimator::flowCorrect()
Matrix<float, n_y_flow, n_y_flow> S = C * m_P * C.transpose() + R;
// publish innovations
_pub_innov.get().flow_innov[0] = r(0);
_pub_innov.get().flow_innov[1] = r(1);
_pub_innov.get().flow_innov_var[0] = S(0, 0);
_pub_innov.get().flow_innov_var[1] = S(1, 1);
_pub_innov.get().flow[0] = r(0);
_pub_innov.get().flow[1] = r(1);
_pub_innov_var.get().flow[0] = S(0, 0);
_pub_innov_var.get().flow[1] = S(1, 1);
// residual covariance, (inverse)
Matrix<float, n_y_flow, n_y_flow> S_I = inv<float, n_y_flow>(S);