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Refactor velocity reset (#788)

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* Refactor velocity reset

* Add unit tests for velocity resets

* Expand updates to vertical buffer to velocity resets outside of resetHeight

* Improve matrix library usage

* Improve naming of vertical output samples

* Fix update of output_vert_new during reset

* Improve naming of vertical output samples 2
This commit is contained in:
kritz
2020-04-08 16:39:15 +02:00
committed by GitHub
parent 47624a0f02
commit fa5a00d871
13 changed files with 259 additions and 78 deletions
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EKF/estimator_interface.h
+1 -1
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@@ -302,7 +302,7 @@ public:
// get the derivative of the vertical position of the body frame origin in local NED earth frame
float getVerticalPositionDerivative() const
{
return _output_vert_new.vel_d - _vel_imu_rel_body_ned(2);
return _output_vert_new.vert_vel - _vel_imu_rel_body_ned(2);
}
// get the position of the body frame origin in local earth frame