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replace geo _wrap_pi with matrix::wrap_pi

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This commit is contained in:
Daniel Agar
2018-06-12 09:00:52 +02:00
committed by Lorenz Meier
parent 518daa4a8d
commit d0bde9ab2a
14 changed files with 60 additions and 313 deletions
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src/modules/attitude_estimator_q/attitude_estimator_q_main.cpp
+4 -3
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@@ -65,6 +65,7 @@ using matrix::Dcmf;
using matrix::Eulerf;
using matrix::Quatf;
using matrix::Vector3f;
using matrix::wrap_pi;
class AttitudeEstimatorQ;
@@ -572,7 +573,7 @@ bool AttitudeEstimatorQ::update(float dt)
// Vision heading correction
// Project heading to global frame and extract XY component
Vector3f vision_hdg_earth = _q.conjugate(_vision_hdg);
float vision_hdg_err = _wrap_pi(atan2f(vision_hdg_earth(1), vision_hdg_earth(0)));
float vision_hdg_err = wrap_pi(atan2f(vision_hdg_earth(1), vision_hdg_earth(0)));
// Project correction to body frame
corr += _q.conjugate_inversed(Vector3f(0.0f, 0.0f, -vision_hdg_err)) * _w_ext_hdg;
}
@@ -581,7 +582,7 @@ bool AttitudeEstimatorQ::update(float dt)
// Mocap heading correction
// Project heading to global frame and extract XY component
Vector3f mocap_hdg_earth = _q.conjugate(_mocap_hdg);
float mocap_hdg_err = _wrap_pi(atan2f(mocap_hdg_earth(1), mocap_hdg_earth(0)));
float mocap_hdg_err = wrap_pi(atan2f(mocap_hdg_earth(1), mocap_hdg_earth(0)));
// Project correction to body frame
corr += _q.conjugate_inversed(Vector3f(0.0f, 0.0f, -mocap_hdg_err)) * _w_ext_hdg;
}
@@ -591,7 +592,7 @@ bool AttitudeEstimatorQ::update(float dt)
// Magnetometer correction
// Project mag field vector to global frame and extract XY component
Vector3f mag_earth = _q.conjugate(_mag);
float mag_err = _wrap_pi(atan2f(mag_earth(1), mag_earth(0)) - _mag_decl);
float mag_err = wrap_pi(atan2f(mag_earth(1), mag_earth(0)) - _mag_decl);
float gainMult = 1.0f;
const float fifty_dps = 0.873f;