fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-25 07:13:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge pull request #283 from PX4/ekf_matrix_cleanup

Browse Source 
EKF matrix typedef cleanup
This commit is contained in:
Paul Riseborough
2017-07-03 21:02:24 +10:00
committed by GitHub
parent ae118940b1 c44488fdb8
commit eb1e73ec81
11 changed files with 55 additions and 53 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/common.h
+13 -9
View File
@@ -42,6 +42,15 @@
namespace estimator
{
using matrix::Dcmf;
using matrix::Eulerf;
using matrix::Matrix3f;
using matrix::Quatf;
using matrix::Vector2f;
using matrix::Vector3f;
using matrix::wrap_pi;
struct gps_message {
uint64_t time_usec;
int32_t lat; // Latitude in 1E-7 degrees
@@ -58,11 +67,6 @@ struct gps_message {
float gdop; // geometric dilution of precision
};
typedef matrix::Vector<float, 2> Vector2f;
typedef matrix::Vector<float, 3> Vector3f;
typedef matrix::Quaternion<float> Quaternion;
typedef matrix::Matrix<float, 3, 3> Matrix3f;
struct flow_message {
uint8_t quality; // Quality of Flow data
Vector2f flowdata; // Flow data received
@@ -72,13 +76,13 @@ struct flow_message {
struct ext_vision_message {
Vector3f posNED; // measured NED position relative to the local origin (m)
Quaternion quat; // measured quaternion orientation defining rotation from NED to body frame
Quatf quat; // measured quaternion orientation defining rotation from NED to body frame
float posErr; // 1-Sigma spherical position accuracy (m)
float angErr; // 1-Sigma angular error (rad)
};
struct outputSample {
Quaternion quat_nominal; // nominal quaternion describing vehicle attitude
Quatf quat_nominal; // nominal quaternion describing vehicle attitude
Vector3f vel; // NED velocity estimate in earth frame in m/s
Vector3f pos; // NED position estimate in earth frame in m/s
uint64_t time_us; // timestamp in microseconds
@@ -141,7 +145,7 @@ struct flowSample {
struct extVisionSample {
Vector3f posNED; // measured NED position relative to the local origin (m)
Quaternion quat; // measured quaternion orientation defining rotation from NED to body frame
Quatf quat; // measured quaternion orientation defining rotation from NED to body frame
float posErr; // 1-Sigma spherical position accuracy (m)
float angErr; // 1-Sigma angular error (rad)
uint64_t time_us; // timestamp of the measurement in microseconds
@@ -318,7 +322,7 @@ struct parameters {
};
struct stateSample {
Quaternion quat_nominal; // quaternion defining the rotaton from earth to body frame
Quatf quat_nominal; // quaternion defining the rotaton from earth to body frame
Vector3f vel; // NED velocity in earth frame in m/s
Vector3f pos; // NED position in earth frame in m
Vector3f gyro_bias; // delta angle bias estimate in rad