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welford mean: convert to matrix only template

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This commit is contained in:
Thomas Stastny
2022-09-29 14:14:16 -04:00
committed by Daniel Agar
parent d4e5876d4c
commit d3849c0265
4 changed files with 15 additions and 15 deletions
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src/modules/gyro_calibration/GyroCalibration.hpp
+1 -1
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@@ -93,7 +93,7 @@ private:
uORB::SubscriptionMultiArray<sensor_gyro_s, MAX_SENSORS> _sensor_gyro_subs{ORB_ID::sensor_gyro};
calibration::Gyroscope _gyro_calibration[MAX_SENSORS] {};
math::WelfordMean<matrix::Vector3f> _gyro_mean[MAX_SENSORS] {};
math::WelfordMean<float, 3> _gyro_mean[MAX_SENSORS] {};
float _temperature[MAX_SENSORS] {};
hrt_abstime _gyro_last_update[MAX_SENSORS] {};
src/modules/sensors/vehicle_imu/VehicleIMU.hpp
+5 -5
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@@ -119,13 +119,13 @@ private:
hrt_abstime _gyro_timestamp_sample_last{0};
hrt_abstime _gyro_timestamp_last{0};
math::WelfordMean<matrix::Vector3f> _raw_accel_mean{};
math::WelfordMean<matrix::Vector3f> _raw_gyro_mean{};
math::WelfordMean<float, 3> _raw_accel_mean{};
math::WelfordMean<float, 3> _raw_gyro_mean{};
math::WelfordMean<matrix::Vector2f> _accel_interval_mean{};
math::WelfordMean<matrix::Vector2f> _gyro_interval_mean{};
math::WelfordMean<float, 2> _accel_interval_mean{};
math::WelfordMean<float, 2> _gyro_interval_mean{};
math::WelfordMean<matrix::Vector2f> _gyro_update_latency_mean{};
math::WelfordMean<float, 2> _gyro_update_latency_mean{};
float _accel_interval_best_variance{(float)INFINITY};
float _gyro_interval_best_variance{(float)INFINITY};