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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/local_position_estimator/sensors/mocap.cpp
+21 -9
View File
@@ -60,10 +60,15 @@ void BlockLocalPositionEstimator::mocapInit()
int BlockLocalPositionEstimator::mocapMeasure(Vector<float, n_y_mocap> &y)
{
if (PX4_ISFINITE(_sub_mocap_odom.get().pose_covariance[0])) {
uint8_t x_variance = _sub_mocap_odom.get().COVARIANCE_MATRIX_X_VARIANCE;
uint8_t y_variance = _sub_mocap_odom.get().COVARIANCE_MATRIX_Y_VARIANCE;
uint8_t z_variance = _sub_mocap_odom.get().COVARIANCE_MATRIX_Z_VARIANCE;
if (PX4_ISFINITE(_sub_mocap_odom.get().pose_covariance[x_variance])) {
// check if the mocap data is valid based on the covariances
_mocap_eph = sqrtf(fmaxf(_sub_mocap_odom.get().pose_covariance[0], _sub_mocap_odom.get().pose_covariance[6]));
_mocap_epv = sqrtf(_sub_mocap_odom.get().pose_covariance[11]);
_mocap_eph = sqrtf(fmaxf(_sub_mocap_odom.get().pose_covariance[x_variance],
_sub_mocap_odom.get().pose_covariance[y_variance]));
_mocap_epv = sqrtf(_sub_mocap_odom.get().pose_covariance[z_variance]);
_mocap_xy_valid = _mocap_eph <= EP_MAX_STD_DEV;
_mocap_z_valid = _mocap_epv <= EP_MAX_STD_DEV;
@@ -78,13 +83,20 @@ int BlockLocalPositionEstimator::mocapMeasure(Vector<float, n_y_mocap> &y)
return -1;
} else {
y.setZero();
y(Y_mocap_x) = _sub_mocap_odom.get().x;
y(Y_mocap_y) = _sub_mocap_odom.get().y;
y(Y_mocap_z) = _sub_mocap_odom.get().z;
_mocapStats.update(y);
_time_last_mocap = _sub_mocap_odom.get().timestamp;
return OK;
if (PX4_ISFINITE(_sub_mocap_odom.get().x)) {
y.setZero();
y(Y_mocap_x) = _sub_mocap_odom.get().x;
y(Y_mocap_y) = _sub_mocap_odom.get().y;
y(Y_mocap_z) = _sub_mocap_odom.get().z;
_mocapStats.update(y);
return OK;
} else {
return -1;
}
}
}
src/modules/local_position_estimator/sensors/vision.cpp
+21 -9
View File
@@ -65,10 +65,15 @@ void BlockLocalPositionEstimator::visionInit()
int BlockLocalPositionEstimator::visionMeasure(Vector<float, n_y_vision> &y)
{
if (PX4_ISFINITE(_sub_visual_odom.get().pose_covariance[0])) {
uint8_t x_variance = _sub_visual_odom.get().COVARIANCE_MATRIX_X_VARIANCE;
uint8_t y_variance = _sub_visual_odom.get().COVARIANCE_MATRIX_Y_VARIANCE;
uint8_t z_variance = _sub_visual_odom.get().COVARIANCE_MATRIX_Z_VARIANCE;
if (PX4_ISFINITE(_sub_visual_odom.get().pose_covariance[x_variance])) {
// check if the vision data is valid based on the covariances
_vision_eph = sqrtf(fmaxf(_sub_visual_odom.get().pose_covariance[0], _sub_visual_odom.get().pose_covariance[6]));
_vision_epv = sqrtf(_sub_visual_odom.get().pose_covariance[11]);
_vision_eph = sqrtf(fmaxf(_sub_visual_odom.get().pose_covariance[x_variance],
_sub_visual_odom.get().pose_covariance[y_variance]));
_vision_epv = sqrtf(_sub_visual_odom.get().pose_covariance[z_variance]);
_vision_xy_valid = _vision_eph <= EP_MAX_STD_DEV;
_vision_z_valid = _vision_epv <= EP_MAX_STD_DEV;
@@ -83,13 +88,20 @@ int BlockLocalPositionEstimator::visionMeasure(Vector<float, n_y_vision> &y)
return -1;
} else {
y.setZero();
y(Y_vision_x) = _sub_visual_odom.get().x;
y(Y_vision_y) = _sub_visual_odom.get().y;
y(Y_vision_z) = _sub_visual_odom.get().z;
_visionStats.update(y);
_time_last_vision_p = _sub_visual_odom.get().timestamp;
return OK;
if (PX4_ISFINITE(_sub_visual_odom.get().x)) {
y.setZero();
y(Y_vision_x) = _sub_visual_odom.get().x;
y(Y_vision_y) = _sub_visual_odom.get().y;
y(Y_vision_z) = _sub_visual_odom.get().z;
_visionStats.update(y);
return OK;
} else {
return -1;
}
}
}