fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 16:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: remove size in name of state vector and matrix types

Browse Source 
Then the state vector size can be changes without having to update the
name
This commit is contained in:
bresch
2023-09-21 08:27:52 -04:00
committed by Daniel Agar
parent 4f1682c3c8
commit ebf962bf68
15 changed files with 50 additions and 50 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/ekf_helper.cpp
+2 -2
View File
@@ -810,7 +810,7 @@ void Ekf::get_ekf_soln_status(uint16_t *status) const
*status = soln_status.value;
}
void Ekf::fuse(const Vector24f &K, float innovation)
void Ekf::fuse(const VectorState &K, float innovation)
{
_state.quat_nominal -= K.slice<State::quat_nominal.dof, 1>(State::quat_nominal.idx, 0) * innovation;
_state.quat_nominal.normalize();
@@ -909,7 +909,7 @@ Vector3f Ekf::calcRotVecVariances() const
float Ekf::getYawVar() const
{
Vector24f H_YAW;
VectorState H_YAW;
float yaw_var = 0.f;
computeYawInnovVarAndH(0.f, yaw_var, H_YAW);