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implemented prediction of states and covariance matrix

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Roman
2015-12-06 12:57:43 +01:00
parent 16eb3b0e96
commit cfc39bc2f9
4 changed files with 144 additions and 23 deletions
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EKF/estimator_base.cpp
+17 -2
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@@ -35,7 +35,7 @@
* @file estimator_base.cpp
* Definition of base class for attitude estimators
*
* @author Roman Bast <bastroman@gmail.com>
* @author Roman Bast <bapstroman@gmail.com>
*
*/
@@ -264,6 +264,21 @@ void EstimatorBase::initialiseVariables(uint64_t time_usec)
_params.airspeed_delay_ms = 0;
_params.requiredEph = 10;
_params.requiredEpv = 10;
_params.dax_noise = 0.0f;
_params.day_noise = 0.0f;
_params.daz_noise = 0.0f;
_params.dvx_noise = 0.0f;
_params.dvy_noise = 0.0f;
_params.dvz_noise = 0.0f;
_params.delta_ang_sig = 0.0f;
_params.delta_vel_sig = 0.0f;
_params.delta_pos_sig = 0.0f;
_params.delta_gyro_bias_sig = 0.0f;
_params.delta_gyro_scale_sig = 0.0f;
_params.delta_vel_bias_z_sig = 0.0f;
_params.delta_mag_body_sig = 0.0f;
_params.delta_mag_earth_sig = 0.0f;
_params.delta_wind_sig = 0.0f;
_dt_imu_avg = 0.0f;
_imu_time_last = time_usec;
@@ -400,4 +415,4 @@ void EstimatorBase::printStoredGps()
for (int i = 0; i < OBS_BUFFER_LENGTH; i++) {
printGps(&_gps_buffer[i]);
}
}
}