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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/sonar.cpp
+2 -2
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@@ -112,8 +112,8 @@ void BlockLocalPositionEstimator::sonarCorrect()
Matrix<float, n_y_sonar, n_y_sonar> S = C * m_P * C.transpose() + R;
// publish innovations
_pub_innov.get().hagl_innov = r(0);
_pub_innov.get().hagl_innov_var = S(0, 0);
_pub_innov.get().hagl = r(0);
_pub_innov_var.get().hagl = S(0, 0);
// residual covariance, (inverse)
Matrix<float, n_y_sonar, n_y_sonar> S_I = inv<float, n_y_sonar>(S);