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add covariance matrices index aliases

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This commit is contained in:
TSC21
2018-09-18 09:52:33 +02:00
committed by Lorenz Meier
parent 1cfaccfd7b
commit cc73f214d1
7 changed files with 98 additions and 43 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+8 -6
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@@ -350,9 +350,10 @@ void AttitudeEstimatorQ::task_main()
if (orb_copy(ORB_ID(vehicle_visual_odometry), _vision_odom_sub, &vision) == PX4_OK) {
// validation check for vision attitude data
bool vision_att_valid = PX4_ISFINITE(vision.q[0])
&& (PX4_ISFINITE(vision.pose_covariance[0]) ? fabsf(sqrtf(fmaxf(vision.pose_covariance[15],
fmaxf(vision.pose_covariance[18],
vision.pose_covariance[20]))) - _eo_max_std_dev) < FLT_EPSILON : true);
&& (PX4_ISFINITE(vision.pose_covariance[vision.COVARIANCE_MATRIX_ROLL_VARIANCE]) ? fabsf(sqrtf(fmaxf(
vision.pose_covariance[vision.COVARIANCE_MATRIX_ROLL_VARIANCE],
fmaxf(vision.pose_covariance[vision.COVARIANCE_MATRIX_PITCH_VARIANCE],
vision.pose_covariance[vision.COVARIANCE_MATRIX_YAW_VARIANCE]))) - _eo_max_std_dev) < FLT_EPSILON : true);
if (vision_att_valid) {
Dcmf Rvis = Quatf(vision.q);
@@ -381,9 +382,10 @@ void AttitudeEstimatorQ::task_main()
if (orb_copy(ORB_ID(vehicle_mocap_odometry), _mocap_odom_sub, &mocap) == PX4_OK) {
// validation check for mocap attitude data
bool mocap_att_valid = PX4_ISFINITE(mocap.q[0])
&& (PX4_ISFINITE(mocap.pose_covariance[0]) ? fabsf(sqrtf(fmaxf(mocap.pose_covariance[15],
fmaxf(mocap.pose_covariance[18],
mocap.pose_covariance[20]))) - _eo_max_std_dev) < FLT_EPSILON : true);
&& (PX4_ISFINITE(mocap.pose_covariance[mocap.COVARIANCE_MATRIX_ROLL_VARIANCE]) ? fabsf(sqrtf(fmaxf(
mocap.pose_covariance[mocap.COVARIANCE_MATRIX_ROLL_VARIANCE],
fmaxf(mocap.pose_covariance[mocap.COVARIANCE_MATRIX_PITCH_VARIANCE],
mocap.pose_covariance[mocap.COVARIANCE_MATRIX_YAW_VARIANCE]))) - _eo_max_std_dev) < FLT_EPSILON : true);
if (mocap_att_valid) {
Dcmf Rmoc = Quatf(mocap.q);