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move ekf2 Matrix helper utilities to mathlib

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Daniel Agar
2022-08-05 09:58:07 -04:00
parent 6ebc88fed7
commit bce4237963
11 changed files with 173 additions and 108 deletions
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src/modules/ekf2/EKF/common.h
+7
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@@ -45,6 +45,7 @@
#include <cstdint>
#include <matrix/math.hpp>
#include <mathlib/math/Utilities.hpp>
namespace estimator
{
@@ -58,6 +59,12 @@ using matrix::Vector2f;
using matrix::Vector3f;
using matrix::wrap_pi;
using math::Utilities::getEulerYaw;
using math::Utilities::quatToInverseRotMat;
using math::Utilities::shouldUse321RotationSequence;
using math::Utilities::sq;
using math::Utilities::updateYawInRotMat;
// maximum sensor intervals in usec
#define BARO_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between pressure altitude measurements (uSec)
#define EV_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between external vision system measurements (uSec)