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EKF: Add ability to use EV and GPS data together

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Fuse external vision data using a relative position odometry method when GPS data is also being used and enable both GPOS and EV data to be fused on the same time step.
This commit is contained in:
Paul Riseborough
2017-07-26 18:06:18 +10:00
parent 74d1955dfa
commit e08da1c599
4 changed files with 79 additions and 18 deletions
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EKF/ekf_helper.cpp
+3
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@@ -98,6 +98,9 @@ bool Ekf::resetPosition()
posNE_before_reset(0) = _state.pos(0);
posNE_before_reset(1) = _state.pos(1);
// let the next odometry update know that the previous value of states cannot be used to calculate the change in position
_hpos_prev_available = false;
if (_control_status.flags.gps) {
// this reset is only called if we have new gps data at the fusion time horizon
_state.pos(0) = _gps_sample_delayed.pos(0);