fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 09:33:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

msg/vehicle_odometry.msg: simplify covariance handling and update all usage (#19966)

Browse Source 
- replace float32[21] URT covariances with smaller dedicated position/velocity/orientation variances (the crossterms are unused, awkward, and relatively costly)
 - these are easier to casually inspect and more representative of what's actually being used currently and reduces the size of vehicle_odometry_s quite a bit
 - ekf2: add new helper to get roll/pitch/yaw covariances
 - mavlink: receiver ODOMETRY handle more frame types for both pose (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU) and velocity (MAV_FRAME_LOCAL_NED, MAV_FRAME_LOCAL_ENU, MAV_FRAME_LOCAL_FRD, MAV_FRAME_LOCAL_FLU, MAV_FRAME_BODY_FRD)
 - mavlink: delete unused ATT_POS_MOCAP stream (this is just a passthrough)

Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>
This commit is contained in:
Daniel Agar
2022-08-04 12:55:21 -04:00
committed by GitHub
co-authored by Mathieu Bresciani
parent 61f390b0dd
commit dfdfbbfa9c
21 changed files with 838 additions and 646 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/ekf.h
+2
View File
@@ -201,6 +201,8 @@ public:
// get the orientation (quaterion) covariances
matrix::SquareMatrix<float, 4> orientation_covariances() const { return P.slice<4, 4>(0, 0); }
matrix::SquareMatrix<float, 3> orientation_covariances_euler() const;
// get the linear velocity covariances
matrix::SquareMatrix<float, 3> velocity_covariances() const { return P.slice<3, 3>(4, 4); }