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HIL bugfixing

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This commit is contained in:
Lorenz Meier 2013-04-25 17:25:42 +02:00
parent d62058eccf
commit ed9fbbce59
4 changed files with 43 additions and 30 deletions
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2
apps/examples/kalman_demo/KalmanNav.cpp
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@ -355,6 +355,8 @@ int KalmanNav::predictState(float dt)
float LDot = vN / R;
float lDot = vE / (cosLSing * R);
float rotRate = 2 * omega + lDot;
// XXX position prediction using speed
float vNDot = fN - vE * rotRate * sinL +
vD * LDot;
float vDDot = fD - vE * rotRate * cosL -