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Vehicle_odometry: protect angular_velocity field against aliasing

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Accumulate delta-angles between each publication to get the correct
angular velocity between two attitudes
This commit is contained in:
bresch
2025-05-26 12:24:16 +02:00
committed by Mathieu Bresciani
parent 09d734955d
commit e487d59521
4 changed files with 30 additions and 5 deletions
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src/modules/ekf2/EKF2.cpp
+1 -3
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@@ -1676,9 +1676,7 @@ void EKF2::PublishOdometry(const hrt_abstime &timestamp, const imuSample &imu_sa
_ekf.getVelocity().copyTo(odom.velocity);
// angular_velocity
const Vector3f rates{imu_sample.delta_ang / imu_sample.delta_ang_dt};
const Vector3f angular_velocity = rates - _ekf.getGyroBias();
angular_velocity.copyTo(odom.angular_velocity);
_ekf.getAngularVelocityAndResetAccumulator().copyTo(odom.angular_velocity);
// velocity covariances
_ekf.getVelocityVariance().copyTo(odom.velocity_variance);