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EKF: correct outputs for IMU offset

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This commit is contained in:
Paul Riseborough
2016-04-12 11:14:31 +10:00
parent b46053415f
commit e10093854a
4 changed files with 66 additions and 6 deletions
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EKF/ekf_helper.cpp
+38
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@@ -449,3 +449,41 @@ bool Ekf::global_position_is_valid()
// TODO implement proper check based on published GPS accuracy, innovation consistency checks and timeout status
return (_NED_origin_initialised && ((_time_last_imu - _time_last_gps) < 5e6) && _control_status.flags.gps);
}
// perform a vector cross product
Vector3f EstimatorInterface::cross_product(const Vector3f &vecIn1, const Vector3f &vecIn2)
{
Vector3f vecOut;
vecOut(0) = vecIn1(1)*vecIn2(2) - vecIn1(2)*vecIn2(1);
vecOut(1) = vecIn1(2)*vecIn2(0) - vecIn1(0)*vecIn2(2);
vecOut(2) = vecIn1(0)*vecIn2(1) - vecIn1(1)*vecIn2(0);
return vecOut;
}
// calculate the inverse rotation matrix from a quaternion rotation
Matrix3f EstimatorInterface::quat_to_invrotmat(const Quaternion quat)
{
float q00 = quat(0) * quat(0);
float q11 = quat(1) * quat(1);
float q22 = quat(2) * quat(2);
float q33 = quat(3) * quat(3);
float q01 = quat(0) * quat(1);
float q02 = quat(0) * quat(2);
float q03 = quat(0) * quat(3);
float q12 = quat(1) * quat(2);
float q13 = quat(1) * quat(3);
float q23 = quat(2) * quat(3);
Matrix3f dcm;
dcm(0,0) = q00 + q11 - q22 - q33;
dcm(1,1) = q00 - q11 + q22 - q33;
dcm(2,2) = q00 - q11 - q22 + q33;
dcm(0,1) = 2.0f * (q12 - q03);
dcm(0,2) = 2.0f * (q13 + q02);
dcm(1,0) = 2.0f * (q12 + q03);
dcm(1,2) = 2.0f * (q23 - q01);
dcm(2,0) = 2.0f * (q13 - q02);
dcm(2,1) = 2.0f * (q23 + q01);
return dcm;
}