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Merge pull request #283 from PX4/ekf_matrix_cleanup

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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
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EKF/ekf.h
+3 -3
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@@ -222,7 +222,7 @@ private:
float velD_change; // Down velocity change due to last reset (m/s)
Vector2f posNE_change; // North, East position change due to last reset (m)
float posD_change; // Down position change due to last reset (m)
Quaternion quat_change; // quaternion delta due to last reset - multiply pre-reset quaternion by this to get post-reset quaternion
Quatf quat_change; // quaternion delta due to last reset - multiply pre-reset quaternion by this to get post-reset quaternion
} _state_reset_status{};
float _dt_ekf_avg{0.001f * FILTER_UPDATE_PERIOD_MS}; // average update rate of the ekf
@@ -265,7 +265,7 @@ private:
Vector3f _earth_rate_NED; // earth rotation vector (NED) in rad/s
matrix::Dcm<float> _R_to_earth; // transformation matrix from body frame to earth frame from last EKF predition
Dcmf _R_to_earth; // transformation matrix from body frame to earth frame from last EKF predition
// used by magnetometer fusion mode selection
Vector2f _accel_lpf_NE; // Low pass filtered horizontal earth frame acceleration (m/s**2)
@@ -307,7 +307,7 @@ private:
// output predictor states
Vector3f _delta_angle_corr; // delta angle correction vector
imuSample _imu_down_sampled{}; // down sampled imu data (sensor rate -> filter update rate)
Quaternion _q_down_sampled; // down sampled quaternion (tracking delta angles between ekf update steps)
Quatf _q_down_sampled; // down sampled quaternion (tracking delta angles between ekf update steps)
Vector3f _vel_err_integ; // integral of velocity tracking error
Vector3f _pos_err_integ; // integral of position tracking error
float _output_tracking_error[3] {}; // contains the magnitude of the angle, velocity and position track errors (rad, m/s, m)