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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/position_estimator_inav/position_estimator_inav_main.cpp
+15 -9
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@@ -792,13 +792,17 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
static float last_vision_y = 0.0f;
static float last_vision_z = 0.0f;
vision_xy_valid = PX4_ISFINITE(visual_odom.pose_covariance[0]) ? sqrtf(fmaxf(visual_odom.pose_covariance[0],
visual_odom.pose_covariance[6])) > ep_max_std_dev : true;
vision_z_valid = PX4_ISFINITE(visual_odom.pose_covariance[0]) ? visual_odom.pose_covariance[11] > ep_max_std_dev :
vision_xy_valid = PX4_ISFINITE(visual_odom.pose_covariance[visual_odom.COVARIANCE_MATRIX_X_VARIANCE]) ? sqrtf(fmaxf(
visual_odom.pose_covariance[visual_odom.COVARIANCE_MATRIX_X_VARIANCE],
visual_odom.pose_covariance[visual_odom.COVARIANCE_MATRIX_Y_VARIANCE])) > ep_max_std_dev : true;
vision_z_valid = PX4_ISFINITE(visual_odom.pose_covariance[visual_odom.COVARIANCE_MATRIX_X_VARIANCE]) ?
visual_odom.pose_covariance[visual_odom.COVARIANCE_MATRIX_Z_VARIANCE] > ep_max_std_dev :
true;
vision_vxy_valid = PX4_ISFINITE(visual_odom.velocity_covariance[0]) ? sqrtf(fmaxf(visual_odom.velocity_covariance[0],
visual_odom.velocity_covariance[6])) > ev_max_std_dev : true;
vision_vz_valid = PX4_ISFINITE(visual_odom.velocity_covariance[0]) ? visual_odom.velocity_covariance[11] >
vision_vxy_valid = PX4_ISFINITE(visual_odom.velocity_covariance[visual_odom.COVARIANCE_MATRIX_VX_VARIANCE]) ? sqrtf(
fmaxf(visual_odom.velocity_covariance[visual_odom.COVARIANCE_MATRIX_VX_VARIANCE],
visual_odom.velocity_covariance[visual_odom.COVARIANCE_MATRIX_VY_VARIANCE])) > ev_max_std_dev : true;
vision_vz_valid = PX4_ISFINITE(visual_odom.velocity_covariance[visual_odom.COVARIANCE_MATRIX_VX_VARIANCE]) ?
visual_odom.velocity_covariance[visual_odom.COVARIANCE_MATRIX_VZ_VARIANCE] >
ep_max_std_dev : true;
/* reset position estimate on first vision update */
@@ -913,9 +917,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
if (updated) {
orb_copy(ORB_ID(vehicle_mocap_odometry), mocap_position_sub, &mocap);
mocap_xy_valid = (PX4_ISFINITE(mocap.pose_covariance[0]) ? sqrtf(fmaxf(mocap.pose_covariance[0],
mocap.pose_covariance[6])) > ep_max_std_dev : true) ? false : true;
mocap_z_valid = (PX4_ISFINITE(mocap.pose_covariance[0]) ? mocap.pose_covariance[11] > ep_max_std_dev : true) ? false :
mocap_xy_valid = (PX4_ISFINITE(mocap.pose_covariance[mocap.COVARIANCE_MATRIX_X_VARIANCE]) ? sqrtf(fmaxf(
mocap.pose_covariance[mocap.COVARIANCE_MATRIX_X_VARIANCE],
mocap.pose_covariance[mocap.COVARIANCE_MATRIX_Y_VARIANCE])) > ep_max_std_dev : true) ? false : true;
mocap_z_valid = (PX4_ISFINITE(mocap.pose_covariance[mocap.COVARIANCE_MATRIX_X_VARIANCE]) ?
mocap.pose_covariance[mocap.COVARIANCE_MATRIX_Z_VARIANCE] > ep_max_std_dev : true) ? false :
true;
if (!params.disable_mocap) {